Social Robotics –The MIMERMotion Interactive Medical Exercise Robot

Trevor Pier John Allison

2

Overview• Goal: Develop a robot for clinical use

with underdeveloped children that mimics and encourages movement to help with motor and neural development

• Components• Kinect for Windows • Microcontrollers (Arduino)• Laptop for processing• Robot body and motors

3

Background• The Mirror Neuron Unit

• Studies say that watching movements while doing them develops MNUs

• MNUs are thought to be tied with higher brain function

4

BackgroundSystems in use:• Motion games for stroke patients

• Physical therapy - If some of this time can be spent with this robot, costs can be reduced

• Clinical need was discovered by a nurse in the Anchutz Medical center observing positive results from a child with Autism with a similar device

5

Mechanical Side –The robot• Degrees of movement – Shoulder and elbow joints

must be able to rotate and extend (hands being developed later)

• Motors – Must keep track of position (servos), and have enough torque to lift the arms, run off of 5V from the Arduino

6

7

CAD & DOF

8

Objective Priority

Method of

Measure

Objective

Direction

Target

Cost 8 USD Minimize

< $ 1,500

Size 9 Height (in)

Minimize

< 24 in.

React. Speed

10 Time (ms) Minimize

< 2,000 ms

Movement 10 DOF Maximize

≥ 5 DOF/arm

Weight 8 lbs Minimize

< 1 lb/per arm

Autonomy 8 # of Interv.

Minimize

< 2/session

Attractive 10 Time (min)

Maximize

Holds attention of 50% of children

>10mins

Objectives

9

Constraint Method of Measure

Limit

Cost USD < $ 2,000Size Height (in) < 36 in.Time Limit Time (Months) Functioning Robot by

MayEase of operation

# of interventions

0 interventions by engineer

Safety Modes of serious injury

0

Constraints

10

Success Indicators

Skeleton Design CompletedMicrocontroller SelectedSensor Selected70% Code Completed Meeting Cost ExpectationsRobot with moving arms taking input from sensor andoutputs to motors

End of Fall Semester

Evaluation Plan

11

Success Indicators

Physical Robot CompleteCircuitry CompleteCode CompleteCost Expectations MetCan respond to Specific Patient Movement (Physical and Audio Response)Robot Completes Successful* Trial With at Least One PatientAesthetically Pleasing ( Children do Not Cry)

End of Spring Semester

*Successful- Determined by Doctor or Sponsor

Evaluation Plan

Questions?