抄録
To help those who are using electric-powered wheelchairs, we are developing a robotic arm which is used for picking up things on the floor, scraching at their body, drinking, and so on. These helthcare devices should be developed and customized to their uses' symptoms. In consideration of those requirements, we have introduced RT middleware into the wheelchair robot system. The RT middleware is the software platform in which all functional units are composed to an 'RT-Component'. In this paper, the developed RT-components are shown in detail, and their reusability and customizability are discussed. Finally, we show that three types of RT-components which are "hardware orientedly" designed are re-used in the other projects in our laboratory.
