The aim of this project is using eye tracking as one of the controlling ways to move the robot parts and combining this controlling system with medical robots for paralyzed patients. For implementation of this controlling system, a robot should be developed which provides wrist movements. The development of this system is restricted by demanding technical requirements on different aspects such as the size and weight of the actuators. Moreover, it has to guarantee the stability of the system to provide a comfortable system for patients. It is necessary to develop a design and control concept for the device which supplies the platform by taking the given restrictions into account. Thus, the first step of the work is the mechanical part and designing a system for the wrist flexion/extension movement. Considering the design, the next step is finding the appropriate actuators for the system.
Due to the fact that paralyzed patients can control the movements just by moving their eyes, the eye tracking system is a useful way to help them for doing their works. It is important to be sure about the robustness of the system. For that reason, the development should include the analysis of possible disturbances.
To fulfill the requirements of the project, it demands innovative solutions in different technological domains. The development is therefore structured into six main sub-functions, to help the project to an effective outcome.
The sub-function of …
Mechanism Design includes the design of a system to provide the purposed DOFs. To reach this aim, the requirements of the system such as forces, range of movements, and kinematic of the system should be considered. For this purpose the first design could be done only for one degree of freedom
.Control includes the design of a controlling system that uses the commands from eyes as its inputs and moves the actuators according to these commands
Eye Tracking System enables the system to provide the possibility for the patient to control the movements of his/her hand by eye.
Sensor and Actuator Design considers new designs for sensors and actuators to make a comfortable system for patients.