Advancements in iTAD: Intelligent Telepresence and Assistive Devices 2020-2021

The iTAD project presents significant achievements in the development of assistive technologies, including Mobile Manipulator, Versatile Assistive Roaming System, and Remote Assessment of High-Risk Patients. Key accomplishments include patient interaction research, drivetrain and frame design, electronics overhaul, and innovative gripper and arm designs. The project aims to continue its progress with updates in design iterations, structural analysis, cooling solutions, and software frameworks. For more information, visit the provided link.

• iTAD project
• Assistive technologies
• Mobile Manipulator
• High-Risk Patients
• Robotics

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1. iTAD Intelligent Telepresence and Assistive Devices 2020 - 2021 Dr. Mojtaba Ahmadi, PhD; Dr. Ala Qadi, PhD Date:2021/03/26 1

2. iTAD 2020 - 2021 Three Teams Mobile Manipulator (MM) Versatile Assistive Roaming System (VARS) Remote Assessment of High-Risk Patients (RAHP) Date: 2021/03/26 2

3. Mobile Manipulator Mobile Manipulator ITAD 3.0 Automated Bedside Assistant (Fall Concept) ITAD 4.0 Date:2021/03/26 Presenter Name: Matthew Soulodre 3

4. Mobile Manipulator 2020 2021 Accomplishments Patient interaction research & analysis Omni-directional drivetrain design Frame and Shell design Electronics overhaul and shelving design Designed a tendon driven arm Improved gripper design 3D vision & Point cloud mapping Object recognition using deep learning mega- architecture Created a foundation for real-time app control Date:2021/03/26 Presenter Name: Matthew Soulodre 4

5. Mobile Manipulator Date:2021/03/26 Presenter Name: Matthew Soulodre 5

6. Mobile Manipulator Roles Drivetrain Design and Human Factors (1 member) Frame/Shell Design and Human Factors(1 member) Arm Design (1 member) Gripper Design (1 member) Electronics (1 member) Controls and Sensing (2 members) Systems and Software (2 members) Date:2021/03/26 Presenter Name: Matthew Soulodre 6

7. Mobile Manipulator Goals Roadmap for 2021-2022 Update design Iterations Head design Robot Build FEA on structural components Vibration & resonance analysis Internal cooling solution Continuation on software frameworks Navigation simulations & implementation Related Courses to Take Feedback Control Systems MAAE-3500 Introduction to Robotics MECH-4503 Mechatronics MECH-4806 More information and Videos: https://carleton.ca/mae/itad/ Date:2021/03/26 Presenter Name: Matthew Soulodre 7

8. VARS Versatile Assistive Roaming System Date:2021/03/26 Presenter Name: Jessica Mayenburg 8

9. VARS Alinker Date:2021/03/26 Presenter Name: Jessica Mayenburg 9

10. VARS Variation 1 Variation 3 Variation 2 Date:2021/03/26 Presenter Name: Jessica Mayenburg 10

11. VARS 2020 2021 Accomplishments Alinker survey Biomechanical analysis Three design variations Vortex Studio simulations Electronic hardware design and fabrication Software redesign and organization Date:2021/03/26 Presenter Name: Jessica Mayenburg 11

12. VARS Roles Biomechanics and Human Factors (2 members) Dynamics and Kinematics (1 member) Mechanical and Electrical Design (2 members) Controls and Sensing (0.5 members) Systems and Software (0.5 members) Date:2021/03/26 Presenter Name: Jessica Mayenburg 12

13. VARS Goals Roadmap for 2021-2022 Revisit simulation capabilities Choose design variation Collect in-person user data Create an obstacle course for VARS prototype Overall system transfer function Thorough controls testing Date:2021/03/26 Presenter Name: Jessica Mayenburg 13

14. RAHP Remote Assessment of High-Risk Patients Date:2021/03/26 Presenter Name: James Anawati 14

15. RAHP 2020 2021 Accomplishments Designed UV disinfection drawer Designed robot head Designed robot shell Designed auto-docking system Simulated dynamics model of MiCA Designed testing procedures for human interactions in hospitals Date:2021/03/26 Presenter Name: James Anawati 15

16. RAHP Date:2021/03/26 Presenter Name: James Anawati 16

17. RAHP Roles Human Factors and Shell Design (1 member) Human Factors and Head Design (1 member) Dynamics and Kinematics (1 member) Electronics and Controls (1 member) Date:2021/03/26 Presenter Name: James Anawati 17

18. Team Integration Three teams one working meeting per week Focus on technical work Full project one meeting per week with lead engineers Feedback from lead engineers Feedback from other teams Date:2021/03/26 Presenter Name: James Anawati 18

19. iTAD Thank you Questions? More information and Videos: https://carleton.ca/mae/itad/ Date: 2021/03/26 19