RESUMO
This work focuses on catching safely an aerial micro-robot in mid-air using another aerial robot that is equipped with a universal soft gripper. To avoid aerodynamic disturbances such as downwash, that would push the target robot away, we follow a horizontal grasping approach. To this end, the article introduces a gripper design based on soft actuators that can stay horizontally straight with a single fixture and maintain sufficiently compliance in order to bend when air pressure is applied. Further, we develop the Soft Aerial Gripper (SoAG), an open-source aerial robot equipped with the developed soft end-effector and that features an onboard pneumatic regulation system. Experimental results show that the developed low-cost soft gripper has fast opening and closing responses despite being powered by lightweight air pumps, responses that are comparable to those of a commercially available end-effector tested we test against. Static grasping tests study the soft gripper's robustness in capturing aerial micro-robots under aerodynamic disturbances. We experimentally demonstrated the feasibility of using the SoAG robot to catch a hovering micro-robot with or without propeller guards. The feasibility of dynamic catching is also shown by capturing a moving aerial micro-robot with a velocity of 0.2 m/s. The free flight performance of the SoAG robot is studied against a conventional quadrotor and in different gripper and payload status.
RESUMO
Creative solutions are needed to support community-dwelling older adults residing in a variety of settings including their house, apartment, or Supportive Apartment Living (SAL) to promote independence and reduce the risk of nursing home replacement. The objective of this study was to gain an understanding of older adults' needs for physical, mental, and social activities to support the design and functionality of a low-cost mobile assistive robot. A qualitative descriptive study was designed which included three stakeholder focus groups (caregivers, clinicians, and older adults). We held three focus groups with a total of 19 participants: one with paid caregivers ( n = 6), one with interdisciplinary clinicians ( n = 8), and one with older adults residing in SAL ( n = 5). Conventional content analysis was the analytical technique. Four themes emerged: (a) Accomplishing Everyday Tasks: activities of daily living (ADLs) and instrumental activities of daily living (IADLs) were important from the perspectives of all three groups for the older adults to accomplish daily, as well as the "use it or lose it" attitude of the older adults; (b) Personal Connections and Meaningful Activities: for the older adults, it was important for them to engage in socialization and leisure activities, and for the caregivers and clinicians, they work to build personal relationships with the older adults; (c) Cognitive Interventions: the clinicians provided cognitive tools (including reminders, routine and designing interventions) to older adults so they can remain as safe and independent as possible in the SAL; and (d) Safety Measures: encompassed clinicians addressing safety and injury prevention and the caregivers checking in on the older adults in their SAL apartments. This work contributed to the design and functionality specifications for an autonomous low-cost mobile robot for deployment to increase the independence of older adults.
