基于人-机器人力学模型的病人转运机器人人-舒适度评价

Mengqian Chen, Shunda Li, Zhiqiang Yang, Qiming Liu, Shijie Guo
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引用次数: 0

摘要

摘要患者转移机器人可以将卧床病人从床上转移到轮椅上或基座盆上,但由于安全性和舒适性不足而没有得到广泛应用。为了提高双臂搬运机器人的舒适性,提出了一种基于受力分析的人体舒适性评价函数。首先,通过简化人体和机器人的结构,建立了人-机器人力学模型;然后,利用建立的人-机器人力学模型计算作用于人体的内力和外力;然后,通过力学分析和问卷调查的方法,建立了舒适性评价函数。为了评估所提方法的有效性,首先利用舒适度评价函数对人体的舒适度进行估计,得到人体的舒适程度与肌电信号和压力信号成正比。然后将该函数应用于双臂病人转移机器人,优化抬起点和转移姿势,发现它可以有效地减少人机接触力和腰部负担44.2%,提高受护人的舒适度。
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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.
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来源期刊
CiteScore
5.20
自引率
13.60%
发文量
34
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