Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients
This paper delineates the design and realization of a Wheelchair-Mounted Robotic Arm (WMRA), envisioned as an autonomous assistance apparatus for individuals encountering motor difficulties and/or upper limb paralysis. The proposed design solution is based on employing a 3D printing process coupled...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-02-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/13/3/38 |
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| author | Simone Leone Luigi Giunta Vincenzo Rino Simone Mellace Alessio Sozzi Francesco Lago Elio Matteo Curcio Doina Pisla Giuseppe Carbone |
| author_facet | Simone Leone Luigi Giunta Vincenzo Rino Simone Mellace Alessio Sozzi Francesco Lago Elio Matteo Curcio Doina Pisla Giuseppe Carbone |
| author_sort | Simone Leone |
| collection | DOAJ |
| description | This paper delineates the design and realization of a Wheelchair-Mounted Robotic Arm (WMRA), envisioned as an autonomous assistance apparatus for individuals encountering motor difficulties and/or upper limb paralysis. The proposed design solution is based on employing a 3D printing process coupled with optimization design techniques to achieve a cost-oriented and user-friendly solution. The proposed design is based on utilizing commercial Arduino control hardware. The proposed device has been named Pick&Eat. The proposed device embodies reliability, functionality, and cost-effectiveness, and features a modular structure housing a 4-degrees-of-freedom robotic arm with a fixing frame that can be attached to commercial wheelchairs. The arm is integrated with an interchangeable end-effector facilitating the use of various tools such as spoons or forks tailored to different food types. Electrical and sensor components were meticulously designed, incorporating sensors to ensure user safety throughout operations. Smooth and secure operations are achieved through a sequential procedure that is depicted in a specific flowchart. Experimental tests have been carried out to demonstrate the engineering feasibility and effectiveness of the proposed design solution as an innovative assistive solution for individuals grappling with upper limb impairment. Its capacity to aid patients during the eating process holds promise for enhancing their quality of life, particularly among the elderly and those with disabilities. |
| first_indexed | 2024-04-24T17:50:59Z |
| format | Article |
| id | doaj.art-c8209e9af4e14892969ca0ccb23f1075 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-04-24T17:50:59Z |
| publishDate | 2024-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-c8209e9af4e14892969ca0ccb23f10752024-03-27T14:03:09ZengMDPI AGRobotics2218-65812024-02-011333810.3390/robotics13030038Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired PatientsSimone Leone0Luigi Giunta1Vincenzo Rino2Simone Mellace3Alessio Sozzi4Francesco Lago5Elio Matteo Curcio6Doina Pisla7Giuseppe Carbone8DIMEG, Department of Mechanics, Energy, and Management Engineering, University of Calabria, 87036 Rende, ItalyDIMEG, Department of Mechanics, Energy, and Management Engineering, University of Calabria, 87036 Rende, ItalyDIMEG, Department of Mechanics, Energy, and Management Engineering, University of Calabria, 87036 Rende, ItalyDIMEG, Department of Mechanics, Energy, and Management Engineering, University of Calabria, 87036 Rende, ItalyDIMEG, Department of Mechanics, Energy, and Management Engineering, University of Calabria, 87036 Rende, ItalyDIMEG, Department of Mechanics, Energy, and Management Engineering, University of Calabria, 87036 Rende, ItalyDIMEG, Department of Mechanics, Energy, and Management Engineering, University of Calabria, 87036 Rende, ItalyCESTER, Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 400641 Cluj-Napoca, RomaniaDIMEG, Department of Mechanics, Energy, and Management Engineering, University of Calabria, 87036 Rende, ItalyThis paper delineates the design and realization of a Wheelchair-Mounted Robotic Arm (WMRA), envisioned as an autonomous assistance apparatus for individuals encountering motor difficulties and/or upper limb paralysis. The proposed design solution is based on employing a 3D printing process coupled with optimization design techniques to achieve a cost-oriented and user-friendly solution. The proposed design is based on utilizing commercial Arduino control hardware. The proposed device has been named Pick&Eat. The proposed device embodies reliability, functionality, and cost-effectiveness, and features a modular structure housing a 4-degrees-of-freedom robotic arm with a fixing frame that can be attached to commercial wheelchairs. The arm is integrated with an interchangeable end-effector facilitating the use of various tools such as spoons or forks tailored to different food types. Electrical and sensor components were meticulously designed, incorporating sensors to ensure user safety throughout operations. Smooth and secure operations are achieved through a sequential procedure that is depicted in a specific flowchart. Experimental tests have been carried out to demonstrate the engineering feasibility and effectiveness of the proposed design solution as an innovative assistive solution for individuals grappling with upper limb impairment. Its capacity to aid patients during the eating process holds promise for enhancing their quality of life, particularly among the elderly and those with disabilities.https://www.mdpi.com/2218-6581/13/3/38assistive robotsupper limbfeeding assistancewheelchair-mounted robotic arm |
| spellingShingle | Simone Leone Luigi Giunta Vincenzo Rino Simone Mellace Alessio Sozzi Francesco Lago Elio Matteo Curcio Doina Pisla Giuseppe Carbone Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients Robotics assistive robots upper limb feeding assistance wheelchair-mounted robotic arm |
| title | Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients |
| title_full | Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients |
| title_fullStr | Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients |
| title_full_unstemmed | Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients |
| title_short | Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients |
| title_sort | design of a wheelchair mounted robotic arm for feeding assistance of upper limb impaired patients |
| topic | assistive robots upper limb feeding assistance wheelchair-mounted robotic arm |
| url | https://www.mdpi.com/2218-6581/13/3/38 |
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