Portable robot for disable assistance.: Concept, control architecture and clinical trials

Historically the kind of technologies used in homes has been in the form of electrical appliances such as washing machines, ovens, etc. Later was introduced the classic Home Automation concept, which involves improvements like computer-controlled devices such as lights, alarms, different sensors, etc. This article presents a next step in home technologies inclusion. The classic devices have always been static, this means they are installed in the house and stay there during all their useful life doing always the same task. ASIBOT robot is a,'mobile white appliance different to traditional mobile robots due its ability to travel around the house between fixed or mobile stations its usefulness to assist motion impaired to perform by themselves a wide variety of tasks: eating, cooking, washing, transportation, etc. Also this paper presents the results of the clinical trials usability assessment of the prototype helping to the severely disabled in DLAs (Daily Life Activities), developed as part of the ASIBOT Program at the Universidad Carlos III in Madrid in collaboration with the National Paraplegic Hospital in Toledo (Hospital Nacional de Paraplejicos de Toledo). Copyright (C) 2008 CEA-IFAC.