A control scheme for typist robot using Artificial Neural Network

摘要

In 2005, UNICEF estimated the number of children with disabilities under age 18 at 150 million. Indonesia had 11 million workers with disabilities. It was less than 50% of the total number of disabilities person (data in 2010). Various efforts have been made to help disabilities person to be able to work normally. There are a lot of researchers of prosthetic limbs, artificial hands, and motorized wheelchairs. In this paper, a typist robot was built. It is designed for people with physical hand disability. It helps disabled people to operate computer normally. The typist robot consists of 2 arm robots. Each arm has 4 degrees of freedom (DOF). A tilt compensated compass sensor is mounted on the user's foot. It's used to measure the user's foot movement. A mini USB keyboard is used as the working object of the robot. Artificial Neural Network (ANN) was used to convert the user's foot movement into arm robot movement. The ANN method has a success rate of 100% (for overall button access) and a maximum position error of 4.2mm.