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A Master Thesis in rehabilitation engineering, for the Department of Production and Materials Engineering and Certec - Center for Rehabilitation Engineering Research at Lund University.
Abstract
The aim of this thesis has been to make a literature study in the field of rehabilitation robotics, and to make modifications to an existing computer program regarding communication with peripheral units within a mobile robot system. Some research concerning collision avoidance and some aspects of navigation are also presented in this thesis.
The intention is to use the mobile robot as a means to give people with spinal cord injuries increased motivation to rehabilitation, and a major goal is to evaluate the system at Rehab Center Lund-Orup.
The mobile robot itself consists of the mobile base Labmate®, a small industrial robot, SCORBOT, and a sensor system with ultrasonic transducers. The user manipulates the robot using a stationary computer with a computer program that communicates with the mobile robot through a radio modem.
The existing system has been extended with a laptop on the mobile robot, to further the system’s autonomy. The software for navigation and collision avoidance will be placed on the mobile robot. This has required major changes of the communication sections of the computer program.
The software reconstruction has so far resulted in communication modules for communication between the laptop and the stationary computer, as well as a communication interface. The software is written in Borland C++ 4.51 for Windows. As a feature a simulation program for testing purposes has been developed, imitating the behavior of the Labmate® mobile robot base.
© Kirre, the page created January 30 1998