摘要
個人輔助設備對於視障人士和盲人（VIB）在提供安全機動性和包容性方面都非常重要。許多研究和商用輔助設備都是針對特定任務或針對特定環境開發的。但是，在發展中國家，這些特定於任務和價格昂貴的設備是無法實現的。因此，該研究旨在為基於機器人操作系統（ROS）的模塊化體系結構上的視障人士和盲人（VIB）平台開發個人輔助設備（PAD）。這將使本地開發人員能夠快速開發可定制以供本地社區使用的輔助設備。該研究將使用McCall模型評估輔助設備中軟件的質量。隨後，使用ROS框架開發了PAD，它可以執行對象檢測，讀取助手和點雲數據收集。然後，為VIB用戶開發了一個手機應用程式，VIB的應用程序將用作PAD的主要界面，並進一步提供其他基於移動應用程序的系統功能，以增強用戶的安全性和移動性。該研究證明了ROS平台在開發量身定制的輔助設備中的潛力。
關鍵詞：視障人士和盲人、個人輔助設備、機器人操作系統、手機應用程式Abstract
Personal assistive devices are important for the visually impaired and blind people (VIBs) in providing both safe mobility and inclusivity. Many research and commercially available assistive devices were task-specific or developed for a certain environment. However, in developing countries, these task-specific and highly priced devices are unattainable. Therefore, the research aims to develop a personal assistive device (PAD) for the visually impaired and blind (VIB) platform on a robot operating system (ROS) based modular architecture. This will allow local developers to quickly develop assistive devices that can be customized for use in local communities. The research will use the McCall model to evaluate the software quality use in assistive devices. Subsequently, a PAD was developed using the ROS framework that can perform object detection, reading assistant and point cloud data gathering. Subsequently, a mobile application was developed for the VIB user. The application for the VIB would be used as the main interface for the PAD and further provide additional mobile app-based system features to enhance the safety and mobility of the user. The research demonstrated the potential of the ROS platform in developing tailor-fit assistive devices.
Keywords: Visually Impaired and Blind (VIB), Personal Assistive Device (PAD), Robot Operating System (ROS), Mobile Application