This project involves the development of a wheelchair mounted, gravity balanced, mechanical arm whose end-point is controlled and powered by a functional body part of a person who can not use his/her arms. Two important design features are adaptability to different user input sites and ability to provide external power augmentation.
A prosthesis is a replacement for a missing body part. For example, if someone's arm is amputated after severe trauma, a prosthesis may be attached to the remaining limb. The prosthesis may provide cosmetic value or it may provide some functional abilities such as grasping and wrist rotation. Two methods are commonly used to power these articulations. The most common is the use of a cable to apply forces from a body member (e.g., the shoulder) the person can still use, to one of the prosthesis' articulations. Recently, EMG (elecro-myograph) signals have been used to control an external power source (usually an electric motor) for powering a prosthesis' articulations. Cable actuated prostheses have been used successfully for many years. Three primary reasons for their success are the following:
In 1963, researchers in New Zealand developed a spoon feeder called the Distaff. It was a spoon mechanically linked to a foot-operated lever. Reportedly [1], it was difficult to use. In 1983 the Oxford Orthopaedic Engineering Center (OOEC) developed a cable-driven mechanical feeder (called "Magpie"), where spoon position (output) was proportional to foot position (input). This device couples 4 input motions (1 at the knee, 1 at the hip, and 2 at the ankle) to 4 spoon motions. After one month of using Magpie, it was reported that 12 of the original 16 patients fitted still used it for feeding at least once a day. The magpie was an effort to apply the successful concepts (primarily those given above) from the prosthetics field to the rehabilitation robotics field.
The goal of the Chameleon project is to develop a device conceptually similar to the Magpie, but functionally more general. It should enable the user to perform tasks such as lifting light-weight objects, operating switches, feeding, and simple manipulation. A range of input devices should be available for controlling the arm, where each one matches the abilities of a particular user. The project has been named Chameleon because of its adaptability.The goal of this work is to develop a technologically simple, wheelchair mounted manipulator to allow a person with no or very little arm function to interact with his surroundings. It has been shown that a system which combines visual feedback with sensory feedback is superior to visual feedback alone [2]. The population that would most benefit from this device are people with spinal chord injury, multiple sclerosis, and stroke. The following four features highlight the design objectives.
To date, several arm (slave) prototypes have been developed. Additionally, several head interface (master) units and one hand interface unit have been developed. We decided to focus on head input, since this would serve the largest population of potential users. The general idea, for the case of head input, is that the user engages to the master by biting onto the mouthpiece. When the user moves his head, the master moves in a corresponding fashion. Cable connections and electrical connections exist between the master and slave so that movement of the user's head ultimately results in movement of the slave's arm. Below is a photograph showing one of our engineers using the device to lift blocks from the box and then stacking them.
One of the design objectives is to have an end-point controlled,
mechanical arm which kinematically resembles the human arm. To
facilitate this objective, the slave's kinematics were designed around a
spherical coordinate system {øy, øp, r}
defined in the following drawing.
The radial motion required by the user, denoted by R, is quite minute. In fact, this motion is close to isometric. The user applies anterior/posterior forces to the mouthpiece, causing deflection of a cantilever beam (located inside of the radial link), which in turn activates Force Sensitive Resistor (FSR®) sensors. The signals from the FSRs® are used to activate the motor located at the back of the slave (radial motor) to cause radial motion, r, of the arm. Since this motion (r) is controlled electronically, the amount of force required by the user to cause this motion can be adjusted. The radial link is made from clear Lucite® (an acrylic plastic) so that it interferes as little as possible with the user's vision. Between the radial link and the mouthpiece mount is a universal joint to:
The design of the mouthpiece is quite involved and therefore just a few of the important ideas are mentioned below. A mouthpiece comfortable to the user, stiff enough to transmit forces and torques from the user to the master, and machinable for easy attachment to the master and joystick were three requirements. We worked with Dodd Dental Laboratory [4] in making custom and generic acrylic mouthpieces (lined with silicone). A custom mouthpiece has indentations (for the upper teeth) that fit the dentition of the user (after molds of his/her teeth and modifications have been made). The advantage of a custom mouthpiece is that less biting force is required by the user to engage with the mouthpiece, thus reducing fatigue during operation. However, for the purposes of prototype testing, the cost and time associated with making custom mouthpieces for several testers/evaluators is not justified, so Dodd Dental Laboratories made several generic mouthpieces to meet our application needs.
A MICROJOYSTICK is used as a tongue control input for controlling the gripper. The joystick is mounted on the mouthpiece mount and the joystick's shaft passes through the mouthpiece. The user presses with his tongue on a teflon ball placed on the shaft's end. The MICROJOYSTICK uses FSR® technology developed by Interlink Electronics; it is the same joystick used on many laptop PCs. Two of the co-linear directions (e.g., North and South) correspond to opening/closing the gripper while the other two co-linear directions (orthogonal to the previous ones) correspond to rotating the gripper, øg, as shown in the above diagram.
Interface Between Master and SlaveBowden cables link the the yaw (Øy) and pitch (Øp) axes of the head master to that of the yaw (øy) and pitch (øp) axes of the slave, respectively. This enforces a direct position mapping at these joints between the two units. Currently, the cable system is comprised of three components. A teflon® coated steel wire runs inside of a polyethylene liner which in turn runs inside a long, 1/8" diameter extension spring. The components have been carefully chosen to obtain a flexible (not stiff) transmission system, but to minimize friction.
Present Work
The following photo shows the test-bed setup with a motor, FSRs®, pulleys and weight. The user applies an input force (shown as the hand pulling up) which is sensed as a voltage at the FSR®. The voltage is then sent to the PC and the corresponding motor voltage is calculated and output to the motor. The current design utilizes LabVIEW®, a PC based program, to calculate a voltage to send to the motor. Recent improvements to the system include the reduction of oscillations of the motor, and verification of the control algorithm. Once this phase of the design is complete, the force amplifier will be incorporated into the Chameleon. The cables in the existing system will be replaced by the Bowden cables, and the pulleys at the pitch joints of the master and slave will replace the two pulleys in the test-bed.
So far, the Chameleon has been tested on an informal basis by several people in our laboratory and one person with athrogryposis who is a mouthstick user. Since then, many changes have been made to address the concerns and comments made by the testers. Please refer to the following critique to see details of the evaluation. Although the robotic system's design has been guided by consumer input and the evaluator's comments, several issues still need to be resolved.
Tariq Rahman, Ph.D. (Primary Investigator)
Kelly McClenathan (Graduate Student)
Last Updated: January 15, 1998 by Sean Stroud <stroud@asel.udel.edu>