Kinematic Optimization and Comparison of Wheelchair-mounted Assistive Robots for Activities of Daily Living

Elias Jose Munoz Montenegro; Md Samiul Haque Sunny; Javier Dario Sanjuan De Caro; Brahim Brahmi; Jawhar Ghommam; Maarouf Saad; Helal Uddin Ahmed; Mohammad H. Rahman

doi:10.1109/PEDS57185.2023.10246520

Kinematic Optimization and Comparison of Wheelchair-mounted Assistive Robots for Activities of Daily Living

Elias Jose Munoz Montenegro^*
, Md Samiul Haque Sunny
, Javier Dario Sanjuan De Caro
, Brahim Brahmi
, Jawhar Ghommam
, Maarouf Saad
, Helal Uddin Ahmed
, Mohammad H. Rahman

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The number of wheelchair users has increased at an alarming rate throughout the last decade due to the increased number of individuals with upper/lower extremity dysfunctions resulting from a stroke, spinal cord injury, trauma, accident, or workplace injuries. Wheelchair-mounted assistive robots have been playing an important role in assisting the activities of daily living (ADLs) of these individuals. This research focuses on the design optimization of wheelchair-mounted assisted robots for essential ADLs. The genetic algorithm (GA) was used to estimate the link length parameters of 5 degrees of freedom (DoFs), 6DoFs, and 7DoFs wheelchair-mounted robots to cover the seven workspaces commonly used in ADLs. The objective function used in the GA includes singularity avoidance, collision avoidance, and ADL coverage. The results show that the proposed optimized 5DoFs robot can cover 25%, 6 DoFs robot can cover 69%, and 7 DoFs robot can cover 71% of essential ADL workspaces.

Original language	English
Title of host publication	14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350399967
DOIs	https://doi.org/10.1109/PEDS57185.2023.10246520
State	Published - 2023
Externally published	Yes
Event	14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023 - Montreal, Canada Duration: 7 Aug 2023 → 10 Aug 2023

Publication series

Name	Proceedings of the International Conference on Power Electronics and Drive Systems
Volume	2023-August
ISSN (Print)	2164-5256
ISSN (Electronic)	2164-5264

Conference

Conference	14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023
Country/Territory	Canada
City	Montreal
Period	7/08/23 → 10/08/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

Activities of daily living
Assistive robots
Collision constraints
Optimization

ASJC Scopus subject areas

Electrical and Electronic Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/PEDS57185.2023.10246520

Cite this

Munoz Montenegro, E. J., Haque Sunny, M. S., De Caro, J. D. S., Brahmi, B., Ghommam, J., Saad, M., Ahmed, H. U., & Rahman, M. H. (2023). Kinematic Optimization and Comparison of Wheelchair-mounted Assistive Robots for Activities of Daily Living. In 14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023 (Proceedings of the International Conference on Power Electronics and Drive Systems; Vol. 2023-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/PEDS57185.2023.10246520

Munoz Montenegro, Elias Jose ; Haque Sunny, Md Samiul ; De Caro, Javier Dario Sanjuan et al. / Kinematic Optimization and Comparison of Wheelchair-mounted Assistive Robots for Activities of Daily Living. 14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (Proceedings of the International Conference on Power Electronics and Drive Systems).

@inproceedings{e408cdeffdf8487188362c2f0e8ba25b,

title = "Kinematic Optimization and Comparison of Wheelchair-mounted Assistive Robots for Activities of Daily Living",

abstract = "The number of wheelchair users has increased at an alarming rate throughout the last decade due to the increased number of individuals with upper/lower extremity dysfunctions resulting from a stroke, spinal cord injury, trauma, accident, or workplace injuries. Wheelchair-mounted assistive robots have been playing an important role in assisting the activities of daily living (ADLs) of these individuals. This research focuses on the design optimization of wheelchair-mounted assisted robots for essential ADLs. The genetic algorithm (GA) was used to estimate the link length parameters of 5 degrees of freedom (DoFs), 6DoFs, and 7DoFs wheelchair-mounted robots to cover the seven workspaces commonly used in ADLs. The objective function used in the GA includes singularity avoidance, collision avoidance, and ADL coverage. The results show that the proposed optimized 5DoFs robot can cover 25\%, 6 DoFs robot can cover 69\%, and 7 DoFs robot can cover 71\% of essential ADL workspaces.",

keywords = "Activities of daily living, Assistive robots, Collision constraints, Optimization",

author = "\{Munoz Montenegro\}, \{Elias Jose\} and \{Haque Sunny\}, \{Md Samiul\} and \{De Caro\}, \{Javier Dario Sanjuan\} and Brahim Brahmi and Jawhar Ghommam and Maarouf Saad and Ahmed, \{Helal Uddin\} and Rahman, \{Mohammad H.\}",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023 ; Conference date: 07-08-2023 Through 10-08-2023",

year = "2023",

doi = "10.1109/PEDS57185.2023.10246520",

language = "English",

series = "Proceedings of the International Conference on Power Electronics and Drive Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023",

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}

Munoz Montenegro, EJ, Haque Sunny, MS, De Caro, JDS, Brahmi, B, Ghommam, J, Saad, M, Ahmed, HU & Rahman, MH 2023, Kinematic Optimization and Comparison of Wheelchair-mounted Assistive Robots for Activities of Daily Living. in 14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023. Proceedings of the International Conference on Power Electronics and Drive Systems, vol. 2023-August, Institute of Electrical and Electronics Engineers Inc., 14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023, Montreal, Canada, 7/08/23. https://doi.org/10.1109/PEDS57185.2023.10246520

Kinematic Optimization and Comparison of Wheelchair-mounted Assistive Robots for Activities of Daily Living. / Munoz Montenegro, Elias Jose; Haque Sunny, Md Samiul; De Caro, Javier Dario Sanjuan et al.
14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (Proceedings of the International Conference on Power Electronics and Drive Systems; Vol. 2023-August).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Kinematic Optimization and Comparison of Wheelchair-mounted Assistive Robots for Activities of Daily Living

AU - Munoz Montenegro, Elias Jose

AU - Haque Sunny, Md Samiul

AU - De Caro, Javier Dario Sanjuan

AU - Brahmi, Brahim

AU - Ghommam, Jawhar

AU - Saad, Maarouf

AU - Ahmed, Helal Uddin

AU - Rahman, Mohammad H.

PY - 2023

Y1 - 2023

N2 - The number of wheelchair users has increased at an alarming rate throughout the last decade due to the increased number of individuals with upper/lower extremity dysfunctions resulting from a stroke, spinal cord injury, trauma, accident, or workplace injuries. Wheelchair-mounted assistive robots have been playing an important role in assisting the activities of daily living (ADLs) of these individuals. This research focuses on the design optimization of wheelchair-mounted assisted robots for essential ADLs. The genetic algorithm (GA) was used to estimate the link length parameters of 5 degrees of freedom (DoFs), 6DoFs, and 7DoFs wheelchair-mounted robots to cover the seven workspaces commonly used in ADLs. The objective function used in the GA includes singularity avoidance, collision avoidance, and ADL coverage. The results show that the proposed optimized 5DoFs robot can cover 25%, 6 DoFs robot can cover 69%, and 7 DoFs robot can cover 71% of essential ADL workspaces.

AB - The number of wheelchair users has increased at an alarming rate throughout the last decade due to the increased number of individuals with upper/lower extremity dysfunctions resulting from a stroke, spinal cord injury, trauma, accident, or workplace injuries. Wheelchair-mounted assistive robots have been playing an important role in assisting the activities of daily living (ADLs) of these individuals. This research focuses on the design optimization of wheelchair-mounted assisted robots for essential ADLs. The genetic algorithm (GA) was used to estimate the link length parameters of 5 degrees of freedom (DoFs), 6DoFs, and 7DoFs wheelchair-mounted robots to cover the seven workspaces commonly used in ADLs. The objective function used in the GA includes singularity avoidance, collision avoidance, and ADL coverage. The results show that the proposed optimized 5DoFs robot can cover 25%, 6 DoFs robot can cover 69%, and 7 DoFs robot can cover 71% of essential ADL workspaces.

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KW - Collision constraints

KW - Optimization

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DO - 10.1109/PEDS57185.2023.10246520

M3 - Conference contribution

AN - SCOPUS:85174042913

T3 - Proceedings of the International Conference on Power Electronics and Drive Systems

BT - 14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023

Y2 - 7 August 2023 through 10 August 2023

ER -

Munoz Montenegro EJ, Haque Sunny MS, De Caro JDS, Brahmi B, Ghommam J, Saad M et al. Kinematic Optimization and Comparison of Wheelchair-mounted Assistive Robots for Activities of Daily Living. In 14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023. Institute of Electrical and Electronics Engineers Inc. 2023. (Proceedings of the International Conference on Power Electronics and Drive Systems). doi: 10.1109/PEDS57185.2023.10246520

Kinematic Optimization and Comparison of Wheelchair-mounted Assistive Robots for Activities of Daily Living

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

UN SDGs

Access to Document

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Cite this