INTEGRATION STRATEGIES USING A MODULAR ARCHITECTURE FOR MOBILE ROBOTSIN THE REHABILITATION FIELD

This paper describes an integration strategy based upon a modular arch itecture which is meant to improve access to assistive technical devic es in the rehabilitation field. This system concept is now known as M3 S: Multiple Master Multiple Slave. With M3S, it is possible to connect input devices (like joysticks and keyboards) to end-effecters (Like w heelchairs, robots and infrared remote controllers) to form an integra l aid which offers disabled people better opportunities to function as independently as possible. Since M3S is based upon a modular architec ture, it allows users (disabled people, attendants, therapists) to com pile a specific package of any combination of technical aids to a comp lete integral system, while still permitting them to extend or modify the system later on. Furthermore the system can be used right-away wit hout any special adaptations using the M3S plug-and-play capabilities. The power of such an integrated system have been shown in several use r evaluations in various countries around Europe. The M3S specificatio n is an open standard available for free, M3S has also been proposed t o the ISO for formal standardization. For the development of M3S devic es a complete set of software tools is available at no cost, hardware starter kits are available for a small fee. Information about M3S can be acquired from the M3S web server (http://www.tno.nUm3s) or directly from the M3S Dissemination office.