SMART Mounts: independent positioning of mounted devices by people with severe di

描述(由申请人提供)： 拟议的智能坐骑是一种电动安装和定位系统，为严重残疾人士提供接近和控制其周围环境的途径。它允许上肢功能很少或没有上肢功能的人从床上或轮椅上独立重新定位设备。凭借智能坐垫的移动、旋转和倾斜设备和托盘的能力，一个人可以将必要的物品移动到可用的位置，使他们能够轻松而独立地改变活动。例如，他们可以从使用通讯设备改变为喝一杯，或者将物品从他们的视野转移到更适合驾驶轮椅的位置--而不需要等待援助。安装设备的定位通过可选择的方法进行控制，例如开关、语音或操纵杆控制。无障碍的可编程控制器允许设置定制的“最佳位置”，以便快速、轻松地移动到特定位置。该系统协调运动，同步调整手臂的位置、倾斜和高度。如果需要，关节处的旋转、倾斜和高度可以通过所选的辅助控制进行有选择的调整。智能坐骑是可扩展、模块化和可访问的机器人技术。智能安装的主要构件是智能关节，这是机壳内的一个集成组件，由电机、齿轮组、轴承和专有电机控制器组成，包括位置传感器和无线收发器。这种智能关节包括一个蜗轮组，以提供移动高达15磅的相当大的负载所需的扭矩，并在人倾斜在轮椅上时将其保持在适当的位置。每个手臂由两个智能关节组成，由挤出的手臂线段连接。将智能关节重新定向90度可提供倾斜功能。智能悬置系统由一个或两个臂段、倾斜和高度可调、可访问的控制器和用户界面组成。可以使用用于倾斜和高度调整的智能模块，并将其与手动操作支架结合在一起，提供经济实惠的动力功能。第一阶段的重点是：1)智能关节模块设计和坚固性；2a)定位技术、准确性和可重复性；2b)保护终端用户的移动策略；以及3)整合和测试无线功能。研究方法：1)使用SolidWorks设计和开发关节；建立原型；使用测力计进行测试；使用索引环记录关节运动；使用电子水平仪测量挠度；2-3)电子设计和固件开发和测试：2a)定位：使用重复搜索命令进行测试；2b)开发和测试运动算法，以远离最终用户空间；2c)开发和测试当支架遇到障碍时的回退响应；3)实施和测试无线信号强度和传输完整性；引入噪声并重新测试以确定对噪声的敏感性。 公共卫生相关性： 四肢瘫痪的人，他们不能在肩膀以下移动身体，和/或不能有效地移动身体，需要寻求他人的帮助才能接触到任何不直接在他们面前的东西。至关重要的是，这些人能够容易地接触到食物、饮料、语音设备、控制器、电话和计算机。有了这项技术，他们将能够通过随时随地移动物品来管理自己的需求，从而获得更大的独立性，并显著改善他们的社会和心理健康。

DESCRIPTION (provided by applicant): The proposed SMART mount, a powered mounting and positioning system, provides individuals with significant disabilities access to and control over their immediate environment. It enables independent repositioning of devices by a person with little or no upper extremity function-from their bed or a wheelchair. With the SMART mount's ability to move, rotate and tilt devices and trays, a person can move essential items into usable positions, allowing them to easily and independently change activities. For example, they can change from using a communication device to taking a drink, or move things out of their visual field and into a better position for driving their wheelchair-without waiting for assistance. Positioning of mounted devices is controlled through an accessible method of choice, such as a switch, voice or joystick control. The accessible and programmable controller allows the setting of custom "sweet spots" for quick and easy movement to reach specific positions. The system moves in a coordinated motion, synchronously adjusting the position of the arms, tilt and height. When preferred, rotation at the joints, tilt and height may be selectively adjusted with the chosen accessible controls. SMART mounts are Scalable, Modular, and Accessible Robotic Technologies. The principal building block of the SMART mount is the SMART joint-an integrated package within housing, consisting of a motor, gear set, bearings, and proprietary motor controller, including a position sensor and wireless transceiver. The SMART joint includes a worm gear set in order to provide the torque required to move a sizable load, up to 15 pounds, and to hold it place when a person tilts in their wheelchair. Each arm consists of two SMART joints connected by an extruded arm segment. Reorienting the SMART joint ninety degrees provides a tilt function. A SMART mount system consists of one or two arm segments, tilt and height adjustability, an accessible controller and user interface. SMART modules for tilt and height adjustment can be used and incorporated with manually-operated mounts, providing cost-effective powered functionality. Phase 1 focuses on: 1) SMART joint module design and robustness; 2a) positioning technology, accuracy and repeatability; 2b) movement strategies to safeguard the end user; and 3) incorporating and testing wireless capabilities. Research methods: 1) Design and develop joint using SolidWorks; build prototypes; test using force gauges; index collars to register joint movement; electronic levels to measure deflection; 2-3) Electronics design and firmware development and testing: 2a) positioning: test with repeated seek commands; 2b) develop and test movement algorithms to stay out of the end user space; test with a series of go-to commands; 2c) develop and test back-off response when mounts meet obstacles; 3) implement and test wireless signal strength and transmission integrity; introduce noise and retest to determine susceptibility to noise. PUBLIC HEALTH RELEVANCE: People who are quadriplegic, who cannot move their body below their shoulders, and/or cannot move their body effectively, need to ask others for help to access anything that is not directly in front of them. It is essential that these individuals are able to readily access food, drinks, speech devices, controls, phones, and computers. With this technology, they would be able to manage their own needs by being able to move things where and when they need them, resulting in greater independence and a significant improvement in their social and psychological well-being.