Publication: Integración de los robots humanoides REEM y REEM-C en la arquitectura robótica RoboComp
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2016-06-21
Defense date
2016-07-07
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Abstract
Los métodos tradicionales para realizar terapias de rehabilitación requieren una atención continua por parte de los terapeutas durante la realización de las sesiones y son bastante monótonas para los pacientes, sobre todo los pacientes de corta edad, los niños. Para facilitar la labor de terapeuta y motivar a los pacientes se ha desarrollado, en el ámbito de la robótica el proyecto NAOTherapist, base del presente documento y al que se añaden dos nuevos componentes.
Este documento muestra el Trabajo de Fin de Grado realizado “Integración de los robots humanoides REEM y REEM-C en la arquitectura robótica RoboComp” en la Universidad Carlos III de Madrid, en la Escuela Politécnica Superior de Leganés.
El trabajo desarrollado crea dos nuevos componentes que se integran en la arqui-tectura NAOTherapist sustituyendo al robot NAO original por el robot REEM o el robot REEM-C. Estos dos nuevos componentes son totalmente compatibles con el resto de la arquitectura, adaptándose a la funcionalidad ya existente en la misma. Para rea-lizar esta adaptación se ha desarrollado una función de adaptación del movimiento de los nuevos robots, se crea una interfaz que proporcione la capacidad de interacción con el paciente y resuelva correctamente las diferencias entre el robot inicial y los nuevos a nivel morfológico y funcional.
En este documento se detalla todo el proceso seguido en el desarrollo de los dos nuevos componentes y se realiza la evaluación de los mismos utilizando el dominio original de la arquitectura NAOTherapist, las terapias de rehabilitación con niños.
Traditional methods for rehabilitation therapies require continuous attention from therapists during rehabilitation sessions and are quite monotonous for patients, espe-cially young patients, the children. To facilitate the therapist work and motivate pa-tients it has been developed the NAOTherapist project in the field of robotics. In this project, based on NAOTherapist, twho new components are added. This document presents the bachelor thesis Integration of humanoids robots REEM and REEM-C in robotic architecture RoboComp for the University Carlos III de Madrid, in the Polytechnic School of Leganés. The developed work creates two new components that are integrated into the architecture NAOTherapist replacing the original NAO robot by the robot REEM and REEM-C robots. The new component maintains the compatibility with the rest of the architecture and adapts all existing functionality. To maintain this functionality it has been developed an adaptive function of the movement of new robots, and the creation of an interface that provides the ability to interact with the patient and to solve the morphological and functional di˙erences between NAO and REEM robots. This document describes the process followed in the development of the new com-ponents, as well as the performed evaluation using the original domain of NAOThera-pist architecture, rehabilitation therapies with children.
Traditional methods for rehabilitation therapies require continuous attention from therapists during rehabilitation sessions and are quite monotonous for patients, espe-cially young patients, the children. To facilitate the therapist work and motivate pa-tients it has been developed the NAOTherapist project in the field of robotics. In this project, based on NAOTherapist, twho new components are added. This document presents the bachelor thesis Integration of humanoids robots REEM and REEM-C in robotic architecture RoboComp for the University Carlos III de Madrid, in the Polytechnic School of Leganés. The developed work creates two new components that are integrated into the architecture NAOTherapist replacing the original NAO robot by the robot REEM and REEM-C robots. The new component maintains the compatibility with the rest of the architecture and adapts all existing functionality. To maintain this functionality it has been developed an adaptive function of the movement of new robots, and the creation of an interface that provides the ability to interact with the patient and to solve the morphological and functional di˙erences between NAO and REEM robots. This document describes the process followed in the development of the new com-ponents, as well as the performed evaluation using the original domain of NAOThera-pist architecture, rehabilitation therapies with children.
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Keywords
Robótica, Terapias de rehabilitación, Frameworks robóticos, RoboComp, REEM