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Feasibility of a Mobile Robot With Alternative Control System for a Child With Cerebral Palsy

By Dennis, Carole W.; Stansfield, Sharon; Larin, Helene M.; RESNA/ICTA 2011: Advancing Rehabilitation Technologies for an Aging Society, June 5-8, 2011, Toronto, Canada,
Publication Date: 2011

Case report describes the development of a safe robotic mobility device with an alternative control system designed for a 3-year-old boy with cerebral palsy and significant motor impairment. The mobile robot consists of a commercial Pioneer 3DX robot with two onboard computers, one controlling the robot and the other running custom software. Sonar rings containing 8 sonar sensors each are attached to the front of the robot and are used to detect obstacles and prevent collisions. A wireless gaming joystick allows an adult to control the robot for additional safety. The robot is surrounded by a custom fabricated carriage with 6 casters that supports a commercially available seat. The seat has been modified with the addition of a pelvic strap and a head support. The seat supports the robot’s control system, which consists of four Buddy Buttons for forward, reverse, left, and right movements arranged on a tray placed in front of the child at chest level. The buttons communicate with the robot’s onboard computer through a commercially available USB switch interface. A program was developed based on motor learning principles for training the child in the use of the control system, with fading prompts, verbal reinforcements to provide knowledge of performance, and a data system to provide knowledge of results to the child. Training sessions with the child using the robot were recorded using a digital video recorder. The system’s performance showed to be persistent and reliable. Directions for further development of the robot are discussed.
Published by: Rehabilitation Engineering & Assistive Technology Society of North America (RESNA)   (Website:http://www.resna.org)

Rehabilitation Engineering & Assistive Technology Society of North America (RESNA)    (Web Site: http://www.resna.org )
Link to text: http://web.resna.org/conference/proceedings/2011/RESNA_ICTA/dennis-69705.pdf
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