Introducing DOOR-E™ Your Portable Door Assistant

My Build2gether 2.0 Contest Entry

This is my entry for the Build2gether 2.0 — Inclusive Innovation Challenge. This contest spotlights the transformative role of assistive technologies for people with disabilities. Despite advancements, the quest for a fully accessible and inclusive world continues.

UPDATE: DOOR-E™ is coming soon! Stay informed, get exclusive offers, and be the first in line. Go to https://door-e.com and join our community today!

Why I built it

I have a very close friend who had polio as a child. He has always struggled with mobility, but things have become worse as he's gotten older. Today, in his 70s, he uses a wheelchair or scooter to get around most of the time.

When I showed him a robot I built to open and close my office door, my friend was intrigued. He said he would love to have devices like that on the doors in his house. Most of us never consider that simple tasks like opening and closing doors in our homes and offices can be very challenging for people with mobility limitations.

My friend had previously considered getting automatic door openers for his house, but they were expensive, required professional installation, damaged the door and frame, and were ugly (his words). Here's what they look like:

My invention, DOOR-E™ (patent pending), attaches to the bottom of the door without causing damage. It is easy to install and wireless! The door can be opened and closed using a smartphone app, Amazon Alexa®, and I even integrated an RF remote control for those who don't use smartphones.

When I submitted my idea to the Build2gether 2.0 contest, the judge's first comment was,

"I will buy this tomorrow!"

They went on to say,

"This is one of the hardest things for me to do is close a door behind me. I am constantly getting my fingers pinched in the door trying to close it from the hinge space. I have almost broken several fingers trying to do this, especially on an unfamiliar door."

After getting feedback from my friend, the contest judges, and several potential users, I developed these requirements:

Must Haves

• It must be small and unobtrusive (not ugly). It must "hide behind the door."
• It must be easy to attach and detach without professional installation.
• It must contain a rechargeable battery and not require a permanent connection to an electrical outlet.
• It must be portable so users can move it from one door to another and even take it along when traveling.
• Users must be able to open and close their doors using multiple trigger methods.
• Users must be notified when the device battery is low. Optionally include notifications for door opening and closing.

Sponsors

To support the generous sponsors of Build2Gether 2.0, I used the following components to build DOOR-E:

1.Seeed Studio

I chose the small but powerful XIAO ESP32C3 by Seeed Studio as the brains of my device. Its compact size, low power requirements, built-in WiFi, and available IO pins made this the perfect choice.

2.DFRobot

The MiniQ Motor Wheel Set with Encoder kit from DFRobot includes two each of metal gear motors, motor mounts, encoders, and wheels. They were the perfect size and power for DOOR-E to open and close doors on various floor surfaces.

3.PCBWay

I had my Custom Circuit Board developed by PCBWay. Their intuitive interface, great prices, and quick service made it possible to iterate my circuit board design as it evolved without breaking a hobbyist's budget.

Door Attachment Methods

I tested several methods of attaching DOOR-E with little effort and without damaging the door. I experimented with various doors and floor surfaces and came up with two methods of attachment:

1. Door Clamp

The first method uses a spring-loaded clamp that attaches to the door by sliding it under the edge of the door and letting the clamp hold it in place.

2. Plate & Magnets

The second method includes a stainless steel plate with adhesive on one side, which attaches to the bottom back of the door and a series of Neodymium Disc Magnets on the face of the device to hold it in place.

Trigger Options

I found that people with different physical limitations have different preferences when it comes to opening and closing doors. So, I wanted to offer as many options as possible. Here's what I came up with:

1. Voice Control using Amazon Alexa®

2. Native Phone App (iOS and Android)

3. Remote control key fob

I also plan to integrate DOOR-E with Google Assistant®, Google Home®, Apple HomeKit®, and other popular home automation systems.

Notifications

I added Push and email notifications via the Arduino Cloud platform:

1. Door Opened/Closed Notification

2. Low Battery Alert

Services

I used the following services and websites to build my prototypes:

1. ArduinoCloud

Arduino Cloud "Lets you bring your IoT projects to life quickly." It's a great platform for makers to get their devices on-line without a lot of headaches. I used Arduino Cloud for the Alexa® integration, notifications, and Over The Air (OTA) updates.

2.Blynk

Blynk's Low-code IoT cloud platform with user experience at its core. I used Blynk's platform to build my native app and web dashboard.

3.Stufficity

Stufficity is "The simplest way to document, keep track of, and share your stuff." I use Stufficity to keep track of all my electronic components, what I have on hand, part details including image, weblink, and data sheet, where they are located in my shop, how much I paid for them, and what project they're currently on.

Challenges

1.Door Latch

One obvious challenge with a door-opening robot is what to do about the door latch. When a door is closed, the latch snaps into the strike plate holding the door shut.

How can the robot open the door if it is latched? There are electric door latches available, but they require a power source and modification of the door frame. So, they are not portable or movable, which are in list of my "Must Haves" above.

My solution is to block the latch using one of two methods. The first method is to place a magnetic strip over the strike plate.

The second method is to install a blank strike plate (available on Walmart.com).

Both methods keep the latch from snapping into the strike plate, which allows DOOR-E to open and close the door. The weight of the robot and its friction with the floor keep the door shut. The DC motors still allow the user to manually open and close the door with very little resistance. I am considering adding some type of locking mechanism to hold the door closed against more force. I would also be willing to integrate with an existing electronic door latch via Bluetooth or a web API.

2. Door Position

I needed a way for DOOR-E to "know" when the door was completely opened or closed so the motors wouldn't keep running. I tried using a timed loop, motor encoders, and various position sensors, but the results were inconsistent. Finally, I settled on a current sensor to indicate when the motors are being restricted from movement. When the motors reach their peak current (controlled by an app setting), they are turned off. This seems to work well for fully open or fully closed doors as well as random obstructions in its path (such as children or pets).

3. Charging

Another challenge is keeping the robot charged. A rechargeable LiPo battery powers DOOR-E, so users must top it off occasionally. The low battery alert (mentioned above) will notify the user when a charge is needed.

I included a standard USB-C port so DOOR-E can be charged from a cable plugged into a nearby wall outlet or a power bank.

I also included a Qi Wireless Charging Receiver Coil inside the case so the device can be charged using a wireless power bank. Just place the power bank on top of DOOR-E as shown.

Next Steps

After getting a lot of positive feedback for this idea, I decided I would like to try and bring DOOR-E to the market as a product. I'm also open to a licensing deal.

I submitted a Provisional Patent Application (PPA) and I'm in the process of building a team to take my prototypes to the next level. I've been investigating Assistive Technology, Assistive Products, and Disability Tech and making contacts in the industry. Next, I'll get quotes for manufacturing and assembling DOOR-E.

There seems to be a need for a product like this in the market and I would love to make it available to all who could use it to make their lives easier!