Mooshika

The Story

In my college days, I formed a close bond with a kind grandmother who ran a charming hotel. We'd chat while I helped with busy orders, and I learned about her husband's paralysis from an accident. She shared stories of their love for travel, now hindered by the challenges of pushing his wheelchair in public places. Promising a solution, I embarked on a journey to build a mobile robot that could make their travel dreams come true. Through dedication and inspiration from their love story, I'm close to completing the robot, a testament to technology's ability to transform lives. This experience has taught me the impact of determination, empathy, and using skills for meaningful change. I eagerly await the day I can unveil the robot, symbolizing the positive difference we can make for others.

About project

My project introduces an innovative duo of specialized robots that I believe will revolutionize accessibility. The indoor assistant is intricately designed to expertly navigate and maneuver wheelchairs within confined spaces, employing cutting-edge techniques like pushing, pulling, and lifting functionalities. Its outdoor counterpart, on the other hand, is engineered to tackle rugged terrains with unmatched stability, thanks to advanced gimbals, enabling it to conquer challenging landscapes such as snow, beaches, and rocky paths effortlessly. My robots pride themselves on autonomous wheelchair recognition and communication abilities, utilizing voice and gesture recognition to empower users without the need to switch between chairs, ensuring a unified accessibility experience across diverse environments. A standout feature is their autonomous recognition of wheelchairs and advanced communication capabilities, leveraging voice and gesture recognition technologies to enable users without requiring chair transitions, guaranteeing a seamless experience across various environments. My ultimate goal with this project is to provide comprehensive accessibility solutions that seamlessly adapt to users' diverse needs in both indoor and outdoor settings. Additionally, the adjustable seating system significantly enhances the quality of life for individuals with conditions requiring such adaptations. While it doesn't automatically adjust seating to maintain balance on uneven terrain, this complex task is understandably challenging to implement.

Project Animation

Core Components In Robot

Electric Actuator

• Adjustable Limit Switch, 500 lbs. Load, 12" Stroke Length, 24V DC
• Full Load Current 12A
• Dynamic Pull Load Capacity 500 lbs.
• Dynamic Push Load Capacity 500 lbs.

BLDC Hub motor with off-road tires

• 300 w hub motor
• 200 kg payload

Intel NUC

• Intel® Core™ i5-10210U Processor
• ubuntu 22 with ros2 humble
• atonomus navigation setup installed
• RMF frame work for scheduling and planning robot fleet

Velodyne lidar sensor (puck lidar)

• 16 channel
• 300,000 points/sec
• 360° horizontal field of view
• 30° vertical field of view
• +/- 15° up and down

Frame

• Mild steel easy to weld application 1" * 2" inch channel
• Wall thickness 3 mm

Hardware Integration for outdoor robot

In the context of this robotic project, the Electric Actuator plays a pivotal role in the cradle mechanism designed to lift the wheelchair. The Adjustable Limit Switch, with its 500 lbs. Load capacity and 12" Stroke Length, ensures precise and controlled lifting, providing a reliable solution for assisting individuals in wheelchairs. The actuator's 24V DC power supply and Dynamic Pull and Push Load Capacities of 500 lbs. each contribute to the robustness of the lifting mechanism.

Moreover, the Velodyne Lidar Sensor is integrated into the system with a telescopic actuator for height adjustment. This telescopic actuator allows the Lidar to dynamically alter its height, ensuring optimal positioning for effective environmental perception. The Lidar's 16-channel configuration, 300,000 points per second capture rate, and wide field of view are then leveraged to provide accurate and detailed spatial information at varying heights, enhancing the robot's awareness and adaptability in different scenarios. Overall, the coordinated operation of these components enables the robot to perform lifting and height-adjustment tasks with precision and versatility, making it a valuable aid in wheelchair assistance scenarios.

In addition to the existing components, the inclusion of an ultrasonic sensor and an emergency button further enhances the safety and functionality of the robotic system. The ultrasonic sensor, strategically placed on the robot, serves as a proximity detector. It actively monitors the surroundings, providing real-time distance measurements and enabling the robot to detect obstacles or potential hazards in its path. This information is crucial for autonomous navigation, allowing the robot to navigate and maneuver safely, especially in confined or crowded spaces.

The emergency button acts as a fail-safe mechanism, providing an immediate and manual shutdown in case of unforeseen circumstances or emergencies. When pressed, the emergency button triggers an instant halt to all robotic activities, ensuring a quick response to any critical situation. This safety feature is essential for both the well-being of users and the protection of the robot itself.

Together, the ultrasonic sensor and emergency button contribute to the overall safety and reliability of the robotic system, making it well-equipped to handle diverse environments and respond promptly to unexpected events. These additional components emphasize the importance of user safety and system integrity in the design and operation of the robot.

Purpose Of This Project

The purpose of this robot is to revolutionize accessibility for individuals with limited mobility, inspired by a personal connection with a couple facing challenges due to paralysis. The project aims to fulfill their travel dreams by creating a duo of specialized robots. The indoor assistant excels in navigating wheelchairs within confined spaces, employing advanced techniques like pushing, pulling, and lifting functionalities. Its outdoor counterpart is engineered to tackle rugged terrains with stability, conquering challenging landscapes such as snow, beaches, and rocky paths effortlessly. Both robots boast autonomous wheelchair recognition and communication abilities, utilizing voice and gesture recognition to empower users without the need to switch between chairs. The ultimate goal is to provide comprehensive accessibility solutions adaptable to diverse indoor and outdoor environments, enhancing the quality of life for individuals with mobility conditions. The project reflects a blend of empathy, determination, and technology to make a positive difference in the lives of those facing mobility challenges.

Conclusion

From a heartfelt promise in my college days to the creation of innovative robots, this project, inspired by a resilient couple's love story and driven by empathy, has evolved into a transformative force for accessibility. Integrating cutting-edge components like the Electric Actuator, Velodyne Lidar Sensor, BLDC Hub Motor, and Intel NUC with ROS2 Humble, the indoor and outdoor robots offer unparalleled maneuverability and stability. The adjustable height seating system, ultrasonic sensor, and emergency button prioritize user safety, while voice and gesture recognition technologies enhance the overall experience. As the project nears completion, I am eager to unveil these robots simulation as comprehensive solutions, bridging technology and compassion to make a meaningful impact on the lives of individuals with limited mobility.