MEDICAL ASSISTIVE DEVICE FOR GERIATRIC CARE AND ORTHOPEDIC REHABILITATION A medical assistive device for cleaning the whole body and orthopaedic rehabilitation. It is a five DOF Cartesian manipulator with a provision for modularity and reconfigurable system. Synchronization along X - direction (back and forth motion of rod), Y-direction (front and back motion of slider) and Z- direction (upward and downward motion) to clean the front and back portion of the body is achieved using a centralized ARM Cortex-A53 processor. The cleaning assembly consists of servo motor and proximity sensor which is controlled through a microcontroller. The direction and step signal to drive the motor is generated in the central computer based on X, Y and Z axis position requirements of the sponge and proximity sensor information. For safety precautions, all sponge assemblies have limit switch to disable the system and retract sponge during unavoidable circumstances.
