Interacción de un robot mini-humanoide teleoperado como herramienta de apoyo para terapia de lenguaje en niños del Hospital Provincial General Docente Riobamba.

Abstract

A teleoperated mini-humanoid robot was implemented as a support tool for the staff of the Language Therapy area of the Provincial General Hospital of Riobamba. This prototype consisted of a Kinect sensor that captured the movements of the therapist which were visualized in the LabVIEW software along with the coordinates in which the user's limbs were located. These coordinates were processed by inverse kinematics to obtain the angles that the humanoid robot adopted to represent the user's movements, the system worked with Xbee modules to perform wireless communication with the PC and the Arbotix-M plate, it was in charge of controlling the servomotors of the robot. From the tests carried out, it was verified that the system designed presented an error of 0.05% with a similarity of 95% with respect to the points where the teleoperator's extremities were, with a delay of 5 ms due to the data processing that was made within the software that controls it. It was found that the lower limbs restrict movements due to the robot's loss of stability due to its humanoid nature and that were controlled by the software. In the tests performed, the implanted system shows a 98% acceptance in children, considering it novel, attractive and generating more attention in the processes that are executed during the therapy activities. It was concluded that the elements used in this project to be dependent on environmental factors should be calibrated and be in the mid-light to ensure that the results do not differ from what was expected. It is advisable to incorporate the study of the center of gravity of the robot in future projects to achieve the best mobility of the lower limbs and that the degree of similarity in its movements is greater.