Caretaker-Machine Collaborative Manipulation With an Advanced Hydraulically Actuated Patient Transfer Assist Device

2014 ◽  
Author(s):  
Heather C. Humphreys ◽  
Wayne J. Book ◽  
James D. Huggins ◽  
Brittney Jimerson
Keyword(s):  
Needs Assessment ◽  
Interface Design ◽  
Spinal Cord Injuries ◽  
Impedance Control ◽  
Neuromuscular Disorders ◽  
Patient Transfer ◽  
Assist Device ◽  
Unique Challenge ◽  
Control Approach ◽  
Hydraulically Actuated

A significant market need has been identified for an improved assist device for transferring mobility limited patients, particularly those who are heavier or bariatric. This paper discusses our needs assessment for a new patient transfer assist device (PTAD), an initial design for a multiple degree of freedom hydraulically actuated device, and possible solutions for the caretaker interface design. The relevant patient population includes those with spinal cord injuries, neuromuscular disorders, and the elderly; most patients are wheelchair users and unable to perform independent transfers. The caretaker interface design for the PTAD presents a unique challenge in terms of human-machine collaborative manipulation, as well as control of a powerful and intrinsically stiff machine in a delicate environment with both the caretaker and patient in the workspace. This paper presents a needs assessment to determine the specific problems with the antiquated current market patient lifts, as well as user input on proposed improvements. It also presents the design of a functional first prototype PTAD, a mechanical simulation, preliminary simulation results on an impedance control approach, and next steps toward design and implementation of a caretaker- and patient-friendly operator interface and control system.

Hydraulically Actuated Patient Transfer Device With Passivity Based Control

2013 ◽  
Author(s):  
Heather C. Humphreys ◽  
Wayne J. Book ◽  
James D. Huggins
Keyword(s):  
Needs Assessment ◽  
Control Strategy ◽  
Force Sensor ◽  
Patient Transfer ◽  
Hydraulically Actuated ◽  
Passivity Based Control ◽  
Transfer Device

This paper describes the development of a hydraulically actuated patient transfer device, utilizing a force amplifying passivity based control strategy. The patient transfer device is intended for moving mobility limited patients, for example, from a bed to a chair, from a wheelchair into a car, or from the floor into a wheelchair. Our needs assessment has indicated that a more powerful, more easily maneuverable device is needed which is operable by a single caregiver with one hand. For this purpose, we are proposing a coordinated force amplifying control strategy. The caregiver input to the device is measured from a force sensor mounted on the device near the patient. The output is the force applied by the device actuators in the same direction as the input; this force may be amplified to assist the caregiver. Passivity-based control provides a way to implement this force amplifying control to aid in stability, which is critical for a device that interacts directly with humans. This paper describes the implementation of this force amplifying passivity-based control on a simpler pre-prototype two DOF patient transfer device.

Design and Compliant Control of a Piggyback Transfer Robot

2021 ◽  
pp. 1-54
Author(s):  
Yuxin Liu ◽  
Shijie Guo ◽  
Yuting Yin ◽  
Zhiwen Jiang ◽  
Teng Liu
Keyword(s):  
Subjective Evaluation ◽  
Objective Evaluation ◽  
Patient Transfer ◽  
Test Results ◽  
Passive Stiffness ◽  
Control Approach ◽  
Challenging Tasks ◽  
Compliant Control ◽  
Stiffness Control ◽  
Transfer Tasks

Abstract Patient transfer, such as lifting and moving a bedridden patient from a bed to a wheelchair or a pedestal pan, is one of the most physically challenging tasks in nursing care. Although many transfer devices have been developed, they are rarely used because of the large time consumption in performing transfer tasks and the lack of safety and comfortableness. We developed a piggyback transfer robot that can conduct patient transfer by imitating the motion when a person holds another person on his/her back. The robot consisted of a chest holder that moves like a human back. In this paper, we present an active stiffness control approach for the motion control of the chest holder, combined with a passive cushion, for lifting a care-receiver comfortably. A human-robot dynamic model was built and a subjective evaluation was conducted to optimize the parameters of both the active stiffness control and the passive cushion of the chest holder. The test results of 10 subjects demonstrated that the robot could transfer a subject safely and the combination of active stiffness and passive stiffness were essential to a comfortable transfer. The objective evaluation demonstrated that an active stiffness of k= 4 kPa/mm along with a passive stiffness lower than the stiffness of human chest was helpful for a comfort feeling.

Advanced patient transfer assist device

2018 ◽  
Author(s):  
Heather Humphreys ◽  
Wayne J. Book ◽  
Grace Deetjen
Keyword(s):  
Patient Transfer ◽  
Assist Device

Learning peg-in-hole assembly using Cartesian DMPs with feedback mechanism

2020 ◽  
Vol 40 (6) ◽  
pp. 895-904
Author(s):  
Nailong Liu ◽  
Xiaodong Zhou ◽  
Zhaoming Liu ◽  
Hongwei Wang ◽  
Long Cui
Keyword(s):  
Force Feedback ◽  
Impedance Control ◽  
Dynamic Performance ◽  
Feedback Mechanism ◽  
Learning From Demonstration ◽  
Content Type ◽  
Control Approach ◽  
Cartesian Space ◽  
Compliant Behavior ◽  
Dynamic Movement Primitives

Purpose This paper aims to enable the robot to obtain human-like compliant manipulation skills for the peg-in-hole (PiH) assembly task by learning from demonstration. Design/methodology/approach A modified dynamic movement primitives (DMPs) model with a novel hybrid force/position feedback in Cartesian space for the robotic PiH problem is proposed by learning from demonstration. To ensure a compliant interaction during the PiH insertion process, a Cartesian impedance control approach is used to track the trajectory generated by the modified DMPs. Findings The modified DMPs allow the robot to imitate the trajectory of demonstration efficiently and to generate a smoother trajectory. By taking advantage of force feedback, the robot shows compliant behavior and could adjust its pose actively to avoid a jam. This feedback mechanism significantly improves the dynamic performance of the interactive process. Both the simulation and the PiH experimental results show the feasibility and effectiveness of the proposed model. Originality/value The trajectory and the compliant manipulation skill of the human operator can be learned simultaneously by the new model. This method adopted a modified DMPs model in Cartesian space to generate a trajectory with a lower speed at the beginning of the motion, which can reduce the magnitude of the contact force.

scholarly journals Multi-Robot Trajectory Planning and Position/Force Coordination Control in Complex Welding Tasks

2019 ◽  
Vol 9 (5) ◽  
pp. 924 ◽  
Author(s):  
Yahui Gan ◽  
Jinjun Duan ◽  
Ming Chen ◽  
Xianzhong Dai
Keyword(s):  
Trajectory Planning ◽  
Cooperative Control ◽  
Impedance Control ◽  
Welding Process ◽  
Coordination Control ◽  
Control Approach ◽  
Force Coordination ◽  
Force Tracking ◽  
Robot Systems ◽  
Multi Robot

In this paper, the trajectory planning and position/force coordination control of multi-robot systems during the welding process are discussed. Trajectory planning is the basis of the position/ force cooperative control, an object-oriented hierarchical planning control strategy is adopted firstly, which has the ability to solve the problem of complex coordinate transformation, welding process requirement and constraints, etc. Furthermore, a new symmetrical internal and external adaptive variable impedance control is proposed for position/force tracking of multi-robot cooperative manipulators. Based on this control approach, the multi-robot cooperative manipulator is able to track a dynamic desired force and compensate for the unknown trajectory deviations, which result from external disturbances and calibration errors. In the end, the developed control scheme is experimentally tested on a multi-robot setup which is composed of three ESTUN industrial manipulators by welding a pipe-contact-pipe object. The simulations and experimental results are strongly proved that the proposed approach can finish the welding task smoothly and achieve a good position/force tracking performance.

scholarly journals Implementation of Two-Axis Position-Based Impedance Control with Inverse Kinematics Solution for A 2-DOF Robotic Finger

2018 ◽  
Vol 7 (3.11) ◽  
pp. 10 ◽  
Author(s):  
Khairunnisa Nasir ◽  
Ruhizan Liza Ahmad Shauri ◽  
Norshariza Mohd Salleh ◽  
Nurul Hanani Remeli
Keyword(s):  
External Force ◽  
Inverse Kinematics ◽  
Position Control ◽  
Impedance Control ◽  
The Body ◽  
Geometrical Approach ◽  
Robot Hand ◽  
Control Approach ◽  
Axis Position ◽  
Mass Spring

Position-based impedance control is a force control approach which consists of a single control law that accommodates the external force to achieve the desired dynamics of the body. A previously developed three-fingered robot hand was very rigid in its motion due to the application of position control alone. The position control scheme was inadequate for the tasks that involves the interaction of a robot end-effector with its environment which could damage fragile objects or be prone to slippage when provided with incorrect object's position. This paper introduces the application of two-axis position-based impedance control to one of the 2 degree-of-freedom (DOF) robotic finger of the robot hand. The goal of the control is to produce a mass-spring-dashpot system for the robot hand which considers the external force exerted by the object or environment onto the finger to modify the targeted position of the robot's tip-end. The position-based impedance control which was successfully performed however could not directly drive the DC-micromotors at the finger joints since it was expressed in the Cartesian position (X,Y,Z) form. Therefore, inverse kinematics was derived using geometrical approach to convert the Cartesian position (X,Y,Z) to angle position of motor which is controlled by PID. The proposed control and the developed kinematics were programmed using Matlab Simulink and tested in real-time experiments. The validation result has proven that the proposed position-based impedance control could modify the initial fingertip position according to the amount and direction of the applied external force, thus produced softness to the robotic finger.  

1A2-F14 Rough Terrain Locomotion of Hydraulically Actuated Hexapod Robot with Impedance Control

2009 ◽  
Vol 2009 (0) ◽  
pp. _1A2-F14_1-_1A2-F14_4
Author(s):  
Lijun Li ◽  
Yuji HARADA ◽  
Hiroshi OOROKU ◽  
Kosuke FUTAGAMI ◽  
Xiaowu LIN ◽  
...  
Keyword(s):  
Impedance Control ◽  
Rough Terrain ◽  
Hexapod Robot ◽  
Hydraulically Actuated

scholarly journals Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Shanshan Du ◽  
Heping Chen ◽  
Yong Liu ◽  
Runting Hu
Keyword(s):  
Animal Behavior ◽  
Position Control ◽  
Control Method ◽  
Impedance Control ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Control Methods ◽  
Prior Work ◽  
Control Approach ◽  
Three Dimensional Space

Currently, a bottleneck problem for battery-powered microflying robots is time of endurance. Inspired by flying animal behavior in nature, an innovative mechanism with active flying and perching in the three-dimensional space was proposed to greatly increase mission life and more importantly execute tasks perching on an object in the stationary way. In prior work, we have developed some prototypes of flying and perching robots. However, when the robots switch between flying and perching, it is a challenging issue to deal with the contact between the robot and environment under the traditional position control without considering the stationary obstacle and external force. Therefore, we propose a unified impedance control approach for bioinspired flying and perching robots to smoothly contact with the environment. The dynamic model of the bioinspired robot is deduced, and the proposed impedance control method is employed to control the contact force and displacement with the environment. Simulations including the top perching and side perching and the preliminary experiments were conducted to validate the proposed method. Both simulation and experimental results validate the feasibility of the proposed control methods for controlling a bioinspired flying and perching robot.

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