Mengqian Chen, Shunda Li, Zhiqiang Yang, Qiming Liu, Shijie Guo
{"title":"基于人-机器人力学模型的病人转运机器人人-舒适度评价","authors":"Mengqian Chen, Shunda Li, Zhiqiang Yang, Qiming Liu, Shijie Guo","doi":"10.1115/1.4063796","DOIUrl":null,"url":null,"abstract":"Abstract Patient-transfer robot, which can transfer a bedridden care receiver from a bed to a wheelchair or a pedestal pan and back, was not widely used due to inadequate safety and comfort. A human comfort evaluation function based on force analysis was proposed to improve the comfort of a dual-arm transfer robot. First, a human-robot mechanical model was construct by simplifying the structure of human body and the robot. Then, the internal and external forces acting on human body were calculated by the developed human-robot mechanical model. After that, a comfort evaluation function was established through mechanical analysis and a questionnaire investigation method. To assess the validity of the proposed method, first we employed the comfort evaluation function to estimate human comfort, and obtained that the comfort level is proportional to the EMG signal and pressure signal of human. Then we applied the function to a dual-arm patient-transfer robot to optimizing lifting points and transfer posture and found it can effectively reduce the human-robot contact force and the burden of the waist by 44.2%, improving the comfortability of the care receiver.","PeriodicalId":44694,"journal":{"name":"ASCE-ASME Journal of Risk and Uncertainty in Engineering Systems Part B-Mechanical Engineering","volume":null,"pages":null},"PeriodicalIF":1.8000,"publicationDate":"2023-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Human-Comfort Evaluation for A Patient-Transfer Robot through A Human-Robot Mechanical Model\",\"authors\":\"Mengqian Chen, Shunda Li, Zhiqiang Yang, Qiming Liu, Shijie Guo\",\"doi\":\"10.1115/1.4063796\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Abstract Patient-transfer robot, which can transfer a bedridden care receiver from a bed to a wheelchair or a pedestal pan and back, was not widely used due to inadequate safety and comfort. A human comfort evaluation function based on force analysis was proposed to improve the comfort of a dual-arm transfer robot. First, a human-robot mechanical model was construct by simplifying the structure of human body and the robot. Then, the internal and external forces acting on human body were calculated by the developed human-robot mechanical model. After that, a comfort evaluation function was established through mechanical analysis and a questionnaire investigation method. To assess the validity of the proposed method, first we employed the comfort evaluation function to estimate human comfort, and obtained that the comfort level is proportional to the EMG signal and pressure signal of human. Then we applied the function to a dual-arm patient-transfer robot to optimizing lifting points and transfer posture and found it can effectively reduce the human-robot contact force and the burden of the waist by 44.2%, improving the comfortability of the care receiver.\",\"PeriodicalId\":44694,\"journal\":{\"name\":\"ASCE-ASME Journal of Risk and Uncertainty in Engineering Systems Part B-Mechanical Engineering\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.8000,\"publicationDate\":\"2023-10-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ASCE-ASME Journal of Risk and Uncertainty in Engineering Systems Part B-Mechanical Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1115/1.4063796\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ENGINEERING, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ASCE-ASME Journal of Risk and Uncertainty in Engineering Systems Part B-Mechanical Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1115/1.4063796","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
Human-Comfort Evaluation for A Patient-Transfer Robot through A Human-Robot Mechanical Model
Abstract Patient-transfer robot, which can transfer a bedridden care receiver from a bed to a wheelchair or a pedestal pan and back, was not widely used due to inadequate safety and comfort. A human comfort evaluation function based on force analysis was proposed to improve the comfort of a dual-arm transfer robot. First, a human-robot mechanical model was construct by simplifying the structure of human body and the robot. Then, the internal and external forces acting on human body were calculated by the developed human-robot mechanical model. After that, a comfort evaluation function was established through mechanical analysis and a questionnaire investigation method. To assess the validity of the proposed method, first we employed the comfort evaluation function to estimate human comfort, and obtained that the comfort level is proportional to the EMG signal and pressure signal of human. Then we applied the function to a dual-arm patient-transfer robot to optimizing lifting points and transfer posture and found it can effectively reduce the human-robot contact force and the burden of the waist by 44.2%, improving the comfortability of the care receiver.