四肢麻痺者のための脚式移動支援ロボット
Cybathlon -- Legged Mobile Assistance for Quadriplegics
車椅子利用者の日常生活を支援するため、口で操作するジョイスティックと音声コマンドで制御するアーム付き四足歩行ロボットを開発し、Cybathlon 2024で優勝した。
著者: Carmen Scheidemann, Andrei Cramariuc, Marco Hutter
分類: cs.RO
原文アブストラクト
Assistance robots are the future for people who need daily care due to limited mobility or being wheelchair-bound. Current solutions of attaching robotic arms to motorized wheelchairs only provide limited additional mobility at the cost of increased size. We present a mouth joystick control interface, augmented with voice commands, for an independent quadrupedal assistance robot with an arm. We validate and showcase our system in the Cybathlon Challenges February 2024 Assistance Robot Race, where we solve four everyday tasks in record time, winning first place. Our system remains generic and sets the basis for a platform that could help and provide independence in the everyday lives of people in wheelchairs.
