This paper presents the development and evaluation of a medical service robot equipped with 3D LiDAR and advanced localization capabilities for use in hospital environments. The robot employs LiDAR-based Simultaneous Localization and Mapping SLAM to navigate autonomously and interact effectively within complex and dynamic healthcare settings. A comparative analysis with established 3D SLAM technology in Autoware version 1.14.0, under a Linux ROS framework, provided a benchmark for evaluating our system performance. The adaptation of Normal Distribution Transform NDT Matching to indoor navigation allowed for precise real-time mapping and enhanced obstacle avoidance capabilities. Empirical validation was conducted through manual maneuvers in various environments, supplemented by ROS simulations to test the system response to simulated challenges. The findings demonstrate that the robot integration of 3D LiDAR and NDT Matching significantly improves navigation accuracy and operational reliability in a healthcare context. This study highlights the robot ability to perform essential tasks with high efficiency and identifies potential areas for further improvement, particularly in sensor performance under diverse environmental conditions. The successful deployment of this technology in a hospital setting illustrates its potential to support medical staff and contribute to patient care, suggesting a promising direction for future research and development in healthcare robotics.

Power augmentation is important for tasks involving heavy load transportation with limited muscle strength, while robotassisted technologies employing upper and lower limb exoskeletons are used for rehabilitating individuals who have experienced a loss of mobility in their joints and muscles. Studying human walking apparatus and motion diagrams representing the leg movement were useful in various fields including the development of human prosthetics, human mimicking robots, and advancements in research areas such as biomimetics, military combat, cinematography, toys, and terrestrial and extraterrestrial exploration [11, 24]. For a comprehensive overview of bipedal walking robots and exoskeletons, refer to [1, 2, 3, 4]. Various design and control architectures of exoskeletons were summarized in the relevant references [5, 3]. In recent years, various design schemes of lower limb exoskeletons aimed at achieving compact devices and meeting specific optimality criteria have been proposed [25, 12, 30].