Design and Construction of a Robotic Gripper for Activities of Daily Living for People with Disabilities

Author

Alqasemi, Redwan ; Mahler, Sebastian ; Dubey, Rajiv

Author_Institution

Univ. of South Florida, Tampa

fYear

2007

fDate

13-15 June 2007

Firstpage

432

Lastpage

437

Abstract

A new robotic gripper was designed and constructed for activities of daily living (ADL) to be used with the new wheelchair-mounted robotic arm developed at USF. Two aspects of the new gripper made it unique; one is the design of the paddles, and the other is the design of the actuation mechanism that produces parallel motion for effective gripping. The paddles of the gripper were designed to grasp a wide variety objects with different shapes and sizes that are used in every day life. The driving mechanism was designed to be simple, light, effective, safe, self content, and independent of the robotic arm attached to it.

Keywords

handicapped aids; medical robotics; patient care; patient rehabilitation; activities of daily living; disabled people; patient rehabilitation; robotic gripper; wheelchair-mounted robotic arm; Arm; Fingers; Grippers; Mechanical engineering; Mobile robots; Prototypes; Rehabilitation robotics; Robotic assembly; USA Councils; Wheelchairs; ADL; Assistive; Gripper; Rehabilitation; Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on

Conference_Location

Noordwijk

Print_ISBN

978-1-4244-1320-1

Electronic_ISBN

978-1-4244-1320-1

Type

conf

DOI

10.1109/ICORR.2007.4428461

Filename

4428461