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Sensor experiments to facilitate robot use in assistive environments

In this paper, we describe the mobile robot and sensor research and development toward assistive devices ongoing at the National Institute of Standards and Technology (NIST). Through mobility research projects, NIST has been studying advanced sensor navigation technology for indoor mobile robots and a novel Home Lift, Position, and Rehabilitation (HLPR) Chair. This assistive device can provide independent patient mobility for indoor tasks, such as moving to and placing a person on a toilet or bed, and lift assistance for tasks, such as accessing kitchen or other tall shelves. These functionalities are currently out of reach of most wheelchair users. One of the design motivations of the HLPR Chair is to reduce back injury, typically, an important issue in the care of this group. The HLPR Chair is currently being extended to be an autonomous mobility device to assist cognition by route and trajectory planning. Localization sensor technologies are being studied for use in combination with the HLPR Chair. This paper briefly describes a mobile robot (HLPR Chair) and its onboard sensors. We then describe performance measurements of absolute positioning and obstacle detection sensor technologies towards combining them with the mobile robot into a cost effective home or assistive care facility, patient transfer and rehabilitation system.