Rahman S M Mizanoor
IEEE Int Conf Rehabil Robot. 2025 May;2025:1570-1575. doi: 10.1109/ICORR66766.2025.11063153.
We present the design and evaluation of a solarpowered robotic object maneuvering (reaching, grasping and manipulating) system for assistance to sick, weak, and disabled people. The system is $\mathbf{0.78 m}$ long and $\mathbf{0.4 kg}$ heavy. The structure is made of lightweight PLA material. The front side of the system (device) acts as an end-effector, which is made of a 2-parallel jaw gripper actuated by a servomotor via a spur gear mechanism. Additional components can be attached to the inner sides of the jaws to help the gripper adjust its gripping strategies with objects of different shapes, sizes and surface textures. The back side of the device includes a rectangular groove that holds electronics circuit components such as the Arduino board, wires, batteries, etc. A solar panel is placed on the groove, which can harvest solar energy and charge the batteries to power the electronics circuit. A rotary potentiometer placed on the handle is connected to the Arduino board, which is used as a haptic input knob to control the servomotor for opening and closing the jaw-type gripper. We present the CAD model and the proof-ofconcept physical prototype of the system. We experimentally evaluate the prototype for its performance (technical specifications) and human-robot interactions using healthy subjects. The results show that the system can assist humans maneuvering objects of different shapes and surface textures and produce satisfactory human-robot interactions. The proposed system can assist sick, weak and disabled people in maneuvering objects in their daily activities, facilitate people needing upper arm rehabilitation and thus significantly improve their quality of life (QoL) even in remote areas where electricity is scarce or unavailable.
我们展示了一种太阳能机器人物体操纵（抓取、握持和操作）系统的设计与评估，该系统用于辅助病人、体弱者和残疾人。该系统长0.78米，重0.4千克。其结构由轻质聚乳酸材料制成。系统（设备）的正面充当末端执行器，它由一个双平行爪式夹具组成，通过正齿轮机构由伺服电机驱动。可以在爪的内侧连接附加组件，以帮助夹具针对不同形状、尺寸和表面纹理的物体调整其抓取策略。设备的背面包括一个矩形凹槽，用于容纳诸如 Arduino 板、电线、电池等电子电路组件。一块太阳能板放置在该凹槽上，它可以收集太阳能并为电池充电，以为电子电路供电。一个置于手柄上的旋转电位器与 Arduino 板相连，用作触觉输入旋钮来控制伺服电机，以打开和关闭爪式夹具。我们展示了该系统的CAD模型和概念验证物理原型。我们使用健康受试者对该原型的性能（技术规格）和人机交互进行了实验评估。结果表明，该系统可以辅助人类操纵不同形状和表面纹理的物体，并产生令人满意的人机交互。所提出的系统可以在日常活动中辅助病人、体弱者和残疾人操纵物体，方便需要上臂康复的人群，从而显著提高他们的生活质量（QoL），即使在电力稀缺或无法获取的偏远地区也是如此。
