仿人背抱式移乘护理机器人背负运动轨迹规划与舒适性分析

doi:10.3901/JME.2020.15.147

机械工程学报 ›› 2020, Vol. 56 ›› Issue (15): 147-156.doi: 10.3901/JME.2020.15.147

扫码分享

仿人背抱式移乘护理机器人背负运动轨迹规划与舒适性分析

刘玉鑫^1,2,3, 郭士杰^1,2,3, 陈贵亮^2,3, 刘今越^2,3, 甘中学⁴

1. 河北工业大学省部共建电工装备可靠性与智能化国家重点实验室天津 300130;
2. 河北省机器人感知与人机融合重点实验室天津 300130;
3. 河北工业大学机械工程学院天津 300130;
4. 复旦大学工程与应用技术研究院上海 200433

收稿日期:2019-08-27 修回日期:2019-12-11 出版日期:2020-08-05 发布日期:2020-10-19
通讯作者: 郭士杰(通信作者),男,1963年出生,博士,教授,博士研究生导师。主要研究方向为智能护理机器人、柔性步行助力机器人、无束缚生理信息检测、机器人智能传感技术。E-mail:guoshijie@hebut.edu.cn
作者简介:刘玉鑫,男,1992年出生,博士研究生。主要研究方向为智能护理机器人。E-mail:liuyuxin654@163.com
基金资助:
国家重点研发计划（2016YFE0128700，2017YFB1301002）、河北省重点研发计划（18211816D）和河北省自然科学基金（E2017202270）资助项目。

Bionic Motion Planning and the Analysis for Human Comfort of a Piggyback Nursing-care Robot for Transfer Tasks

LIU Yuxin^1,2,3, GUO Shijie^1,2,3, CHEN Guiliang^2,3, LIU Jinyue^2,3, GAN Zhongxue⁴

1. State Key Laboratory of Reliability and Intelligence of Electrical Equipment, Hebei University of Technology, Tianjin 300130;
2. Hebei Key Laboratory of Robot Sensing and Human-robot Interaction, Tianjin 300130;
3. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130;
4. Academy for Engineering & Technology, Fudan University, Shanghai 200433

Received:2019-08-27 Revised:2019-12-11 Online:2020-08-05 Published:2020-10-19

摘要/Abstract

摘要： 护理过程中，失能/半失能人群的移乘服务给护理人员带来过重的身体负担，导致多数养老机构的护理人员患有慢性腰椎疾病。但目前以移位机为代表的移乘辅助器械大都使用不便，耗时费力，普及率较低。为实现下肢失能老人在生活器具间安全且方便地移乘，研制了一款仿人背抱式移乘护理机器人。该机器人采用三自由度胸靠支撑被护理人的胸部，通过模仿人背人的动作设计，把被护理人背/抱起进行移乘。从研究人背人的动作特征入手，分析了影响移乘舒适性的因素，设计了机器人构型，建立了人机系统的力学模型，通过运动学及动力学解析优化了机器人机构及运动轨迹，明确了机器人的工作空间及其特有的运动特性。对8名不同身高体重的试验对象的试验结果显示，所研制的机器人可以较为安全舒适地完成仿人背抱动作并在不同生活器具间进行移乘服务。人机之间相互作用力的大小及其作用部位是影响舒适感的直接因素，因此可以通过调整胸靠的运动轨迹，实现不同身高体重的被护理人的舒适移乘。

关键词: 护理机器人, 仿人背抱动作, 移乘搬运, 舒适性。

Abstract: Patient transfer, such as transferring a bedridden care receiver from a bed to a wheelchair or a pedestal pan and back, is one of the most physically challenging tasks in nursing care. It is the direct reason that causes most of the caregivers working in care facilities to suffer from chronic lumbar diseases. A few kinds of transfer lifts have been commercialized to solve the problem, but they are rarely used because they are time-consuming and difficult to handle. Imitating the motion when a person holds another person on his/her back, a prototype nursing-care assistant robot is developed to conduct the patient transfer. Based on the measurement of human motions including back-chest touching, leaning forward, holding up, moving and putting down, the key factors that may influence safety and comfort of the patient is analyzed and a new type of robot is designed. The robot consists of a chest holder which has three degrees of freedom and moves like a human back. This work states the details of motion design and related kinematic/dynamic analysis of the robot and demonstrate its effect on patient transfer. Experiments has been performed on eight subjects and it is demonstrated that the robot can transfer a subject from a bed to a chair and back. The force between the care receiver and the robot during transfer is the direct factor affecting the feeling of the care receiver. The robot can adapt to various care receivers with different height and weight by adjusting the motion trajectory of the chest holder.

Key words: nursing-care robot, bionic piggyback motion, patient transfer, comfortableness

中图分类号:

TP242

刘玉鑫, 郭士杰, 陈贵亮, 刘今越, 甘中学. 仿人背抱式移乘护理机器人背负运动轨迹规划与舒适性分析[J]. 机械工程学报, 2020, 56(15): 147-156.

LIU Yuxin, GUO Shijie, CHEN Guiliang, LIU Jinyue, GAN Zhongxue. Bionic Motion Planning and the Analysis for Human Comfort of a Piggyback Nursing-care Robot for Transfer Tasks[J]. Journal of Mechanical Engineering, 2020, 56(15): 147-156.

参考文献

[1] SHI Di,ZHANG Wuxiang,ZHANG Wei,et al. A review on lower limb rehabilitation exoskeleton robots[J]. Chinese Journal of Mechanical Engineering,2019,32(1):74.
[2] SEFCIK J S,JOHNSON M J,YIM M,et al. Stakeholders' perceptions sought to inform the development of a low-cost mobile robot for older adults:A qualitative descriptive study[J]. Clinical Nursing Research,2018,27(1):61-80.
[3] ZSIGA K,TÓTH A,PILISSY T,et al. Evaluation of a companion robot based on field tests with single older adults in their homes[J]. Assistive Technology,2017:1-8.
[4] 袁泉,罗雪燕,姚文兵. 失能老年人机构长期照护需求及影响因素[J]. 中国老年学杂志,2017,37(24):6214-6216. YUAN Quan,LUO Xueyan,YAO Wenbing. Long-term care demands and influencing factors of disabled elderly institutions[J]. Chinese Journal of Gerontology,2017,37(24):6214-6216.
[5] 王宝莲,庞书勤,陈芳,等. 社区高龄老人家属照顾负担现状及影响因素调查[J]. 护理研究,2017,31(28):3520-3523. WANG Baolian,PANG Shuqin,CHEN Fang,et al. Survey of status quo and influencing factors of family member's nursing burden on the community oldest-old[J]. Chinese Nursing Research,2017,31(28):3520-3523.
[6] 杨帅,曾佳琪,王丽倩,等. 护士职业性肌肉骨骼损伤的研究进展[J]. 中国护理管理,2018,18(4):89-93. YANG Shuai,Zeng Jiaqi,WANG Liqian,et al. Research progress of occupational musculoskeletal injury among nurses[J]. Chinese Nursing Management,2018,18(4):89-93.
[7] KUME Y,TSUKADA S,KAWAKAMI H. Design and evaluation of rise assisting bed "Resyone^®" based on ISO 13482[J]. Journal of the Robotics Society of Japan,2015,33(10):781-788.
[8] 周思源,张秋菊,阴贺生. 床椅一体化护理床抬背机构运动分析与滑移补偿[J]. 机械传动,2018,42(9):90-96. ZHOU Siyuan,ZHANG Qiuju,YIN Hesheng. Slippage compensation and movement analysis of carry back mechanism of the care bed combined with bed and chair[J]. Journal of Mechanical Transmission,2018,42(9):90-96.
[9] FAUCHER M,BRULOTTE D A. Patient/invalid lift with support line bearing power and data communications:United States,US9421140B2[P]. 2016-08-23.
[10] 高峰,郭为忠. 中国机器人的发展战略思考[J]. 机械工程学报,2016,52(7):1-5. GAO Feng,GUO Weizhong. Thinking of the development strategy of robots in China[J]. Journal of Mechanical Engineering,2016,52(7):1-5.
[11] 颜云辉,徐靖,陆志国,等. 仿人服务机器人发展与研究现状[J]. 机器人,2017,39(4):551-564. YAN Yunhui,XU Jing,LU Zhiguo. Development and research status of humanoid service robots[J]. Robot,2017,39(4):551-564.
[12] KAWAKAMI H,KUME Y,NAKAMURA T,et al. Development of transfer assist robot[J]. Japan Society of Robotics,2009,188:53-58.
[13] ODASHIMA T,ONISHI,M,TAHARA K,et al. Development and evaluation of a human-interactive robot platform "RI-MAN"[J]. Journal of the Robotics Society of Japan,2007,25(4):554-565.
[14] MUKAI T,HIRANO S,NAKASHIMA H,et al. Development of a nursing-care assistant robot RIBA that can lift a human in its arms[C]//2010 EEE/RSJ International Conference on Intelligent Robots and Systems,Oct 18-22,2010,Taipei,Taiwan,China:IEEE,2010:5996-6001.
[15] DING Ming,MATSUBARA T,FUNAKI Y,et al. Generation of comfortable lifting motion for a human transfer assistant robot[J]. International Journal of Intelligent Robotics and Applications,2017,1(1):74-85.
[16] DING Jienan,LIM Y J,SOLANO M,et al. Giving patients a lift-the robotic nursing assistant (RoNA)[C]//2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA),Apr. 14-15,2014,Woburn,MA,USA:IEEE,2014:1-5.
[17] Toyota motor Co.,Ltd. A patient transfer assist robot[EB/OL].[2017-01-24]. http://www.toyota.com.cn/tec-hn-ology/robo-t/robot04.php.
[18] Fuji Machinery Co.,Ltd. Mobility support robot[EB/OL].[2018-12-13]. https://www.fuji.co.jp/en/about/hug/.
[19] ISO/IEC FCD 19774:200x,Humanoid Animation,Annex B,Feature Points for the Human Body[EB/OL].[2019-02-15]. https://www.web3d.org/.
[20] CAO Yingyu,XUE Long,QI Bojin,et al. Composite configuration interventional therapy robot for the microwave ablation of liver tumors[J]. Chinese Journal of Mechanical Engineering,2017,30(6):1416-1425.
[21] LEI Jingtao,YU Huangying,WANG Tianmiao. Dynamic bending of bionic flexible body driven by pneumatic artificial muscles (PAMs) for spinning gait of quadruped robot[J]. Chinese Journal of Mechanical Engineering,2016,30(1):11-20.
[22] WANG Tianyi,JEONG H,WATANABE M,et al. Fault classification with discriminant analysis during sit-to-stand movement assisted by a nursing care robot[J]. Mechanical Systems and Signal Processing,2018,113:90-101.
[23] GONCALVES R S,HAMILTON T,DAHER A R,et al. MIT-Skywalker:Evaluating comfort of bicycle/saddle seat[C]//2017 International Conference on Rehabilitation Robotics (ICORR),July 17-20,2017,London,UK:IEEE,2017:516-520.
[24] MASTRIGT H V,GROENESTEIJN L,VINK P,et al. Predicting passenger seat comfort and discomfort on the basis of human,context and seat characteristics:A literature review[J]. Ergonomics,2016,60(7):1-44.
[25] SATO S,GUO Shijie,INADA S,et al. Design of transfer motion and verification experiment of care assistant robot RIBA-Ⅱ[J]. Transactions of the Japan Society of Mechanical Engineers Series C,2012,78(789):595-608.

仿人背抱式移乘护理机器人背负运动轨迹规划与舒适性分析

Bionic Motion Planning and the Analysis for Human Comfort of a Piggyback Nursing-care Robot for Transfer Tasks

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 1

编辑推荐

Metrics

本文评价