A Scooter-Mounted Robot Arm to Assist with Activities of Daily Life

09/25/2018

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by   Dian Wang, et al.

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Many people with motor disabilities struggle with activities of daily life (ADLs), limiting their ability to live independently. This paper details a robotic mobility scooter developed to assist with manipulation-based ADLs to increase independence. We present a system comprised of a Universal Robotics UR5 robotic arm, a mobility scooter, five depth sensors, and a user interface which utilizes laser pointers. The system provides pick-and-drop and pick-and-place functionality in open world environments without modeling the objects or environment. We evaluate our system over several experimental scenarios and show an improvement relative to a baseline established for a similar system.