A Deus, pelas oportunidades concedidas e a força para enfrentar todos os desafios. Aos meus pais, Marina Vieira de Sousa Leite e Luiz Carlos de Souza Leite, pelo amor, dedicação e valores que me foram passados. Ao meu irmão, Luiz Gustavo de Sousa Leite, pelo apoio e amizade incondicional. As minhas tias, Maurinha Vieira e Marlene Vieira Pereira, pelo apoio e amor. A minha namorada, Walquiria Amaro da Paz, pela amizade, apoio e incentivo. As minhas orientadoras, Marley Vellasco e Karla

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... , por todo o apoio na elaboração dessa dissertação e no decorrer de minha vida acadêmica. A FAPERJ e a PUC-Rio pelos auxílios concedidos. Aos professores que participaram da banca examinadora. PUC-Rio -Certificação Digital Nº 1412772/CA Palavras-Chave Robô móvel; bengala robótica; Lógica Fuzzy; PlayerStage; sistema embarcado; navegação autônoma; ambiente externo; Raspberry Pi; idoso PUC-Rio -Certificação Digital Nº 1412772/CA Abstract Leite, Daniel de Sousa; Vellasco, Marley Maria Bernardes Rebuzzi (Advisor); Leite, Karla Tereza Figueiredo (Co-Advisor). Robotic Device for Mobility Assistance to Elderly People in Urban Environments. Rio de Janeiro, 2016. 230p. MSc. Dissertation -Departamento de Engenharia Elétrica, Pontifícia Universidade Católica do Rio de Janeiro With the increase in life expectation, the ageing population has become more present in Brazil and the world. This new demographic scenery has been already framed by rich countries, which are increasingly investing to fit this new reality, either through the adaptation of their cities or the development of new technologies to improve the quality of life. In the area of robotics, several researches have been developed with the aim of rehabilitation and improvement of the quality of life of the elderly population. These researches are developing, for example, devices to assist the elderly in carrying out their daily activities, providing support and prevention of falls. This work presents the development of the prototype of a device to assist elderly person with any visual, cognitive and/or motor impairment to locomotion by itself. The device aims to guide the user autonomously in urban environments. The prototype should be able to avoid any obstacle that can cause the elderly to fall, besides having a structure that offers support for his balance. The proposed device has a structure similar to a walker whose base is a differential mobile robot. For the device be able to get information from the environment, it is embedded with range sensors, a measurement central unit and encoders at the wheels. All processing occurs in a low-cost CPU, Raspberry Pi 1 B version 2, which is embedded in the mobile device, and the navigation control algorithm is based on fuzzy logic. The robotic framework Player provides the access to the hardware and software of the device. For the device to receive the navigation route, it is connected to an Android operating system phone, by TCP/IP protocol. This phone runs an API (Application Programming Interface) from Google Maps that provides the direction and the distance to the goal in every step of its interaction, besides the global location of the robot, provided by the GPS PUC-Rio -Certificação Digital Nº 1412772/CA sensor of the phone. The user should firstly set the goal with the API developed, so that the autonomous navigation will occur. In addition to the autonomous navigation, the device allows the user to send commands directly to the motors by means of the force sensors installed at the robot cane.