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Design and Construction of a Mobile Social Robot for Pediatric Cancer Hospitals (Dr. Arash) Part A: Upperbody and Arms

Khamooshi, Mobin | 2017

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 49497 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Meghdari, Ali; Alemi, Minoo
  7. Abstract:
  8. No-one likes being confined to a hospital bed. Children particularly can feel lonely, bored or frightened in these conditions. Hours feel like days, and they may not be able to fully comprehend why they are there. Among kids hospitalized because of distinct diseases, children with cancer have incomparable status and needs. They experience physical and mental problems caused by cancer and medications. Cancer treatment may cause distress which can lessen the effectiveness of the treatment. Utilizing social robots to interact with children in clinical environments has been verified to both diminish their distress level and enhance the effectiveness of the treatment process. To improve the quality of life for children with cancer during the treatment process, a social robot named “Dr. Arash” has been designed for pediatric hospitals. This social robot is able to move around in various areas of the hospital and interact with children in order to answer their questions, to motivate, to entertain, to help relieve their physical sufferings and distress, and to enhance their cooperation with the clinical staff.To this end, design process should be based on the conditions and needs of children with cancer. Therefore, the conditions and needs of children with cancer were studied during several meetings with the clinical staff. Several primary scheme were designed and the final scheme is based on the survey taken by fifty children with cancer. Because the aim of the project is to design a minimalistic and economical social robot, the robot has minimum degrees of freedom in order to perform essential gestures. Designed robot has 15 degrees of freedom. The forward and inverse kinematic and the dynamic of the robot have been simulated. After the robot were realized, the evaluation of the design has been performed.To use the robot in therapy sessions, it is needed to design scenarios and their associated movements that have been examined in another part of this thesis. Due to lack of time, using robot in therapy sessions and evaluating the robot must be addressed in future works
  9. Keywords:
  10. Social Robotics ; Upper Limb ; Hand ; Design and Construction ; Children with Cancer ; Survey

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