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。
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.
作者
刘玉鑫
郭士杰
陈贵亮
刘今越
甘中学
LIUYuxin;GUO Shijie;CHEN Guiliang;LIU Jinyue;GAN Zhongxue(State Key Laboratory of Reliability and Intelligence of Electrical Equipment,Hebei University of Technology,Tianjin 300130;Hebei Key Laboratory of Robot Sensing and Human-robot Interaction,Tianjin 300130;School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130;Academy for Engineering&Technology,Fudan University,Shanghai 200433)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2020年第15期147-156,共10页
Journal of Mechanical Engineering
基金
国家重点研发计划(2016YFE0128700,2017YFB1301002)
河北省重点研发计划(18211816D)
河北省自然科学基金(E2017202270)资助项目。
关键词
护理机器人
仿人背抱动作
移乘搬运
舒适性
nursing-care robot
bionic piggyback motion
patient transfer
comfortableness
