scholarly journals Motion Analysis and Tactile-Based Impedance Control of the Chest Holder of a Piggyback Patient Transfer Robot

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Yuxin Liu ◽  
Yuting Yin ◽  
Zhiwen Jiang ◽  
Shijie Guo
Keyword(s):  
Rotational Motion ◽  
Healthy Subjects ◽  
Impedance Control ◽  
Patient Transfer ◽  
Control Law ◽  
Subjective Evaluations ◽  
Challenging Tasks ◽  
Care Facilities ◽  
Key Factor ◽  
Bedridden Patient

Patient transfer, such as carrying a bedridden patient from a bed to a pedestal pan or a wheelchair and back, is one of the most physically challenging tasks in nursing care facilities. To reduce the intensity of physical labor on nurses or caregivers, a piggyback transfer robot has been developed by imitating the motion when a person holds another person on his/her back. As the chest holder supports most of the weight of the care-receiver during transfer, a human-robot dynamic model was built to analyze the influences of the motion of the chest holder on comfort. Simulations and experiments were conducted, and the results demonstrated that the rotational motion of the chest holder is the key factor affecting comfort. A tactile-based impedance control law was developed to adjust the rotational motion. Subjective evaluations of ten healthy subjects showed that adjusting the rotational motion of the chest holder is a useful way to achieve a comfortable transfer.

Realization and Safety Measures of Patient Transfer by Nursing-Care Assistant Robot RIBA with Tactile Sensors

2011 ◽  
Vol 23 (3) ◽  
pp. 360-369 ◽  
Author(s):  
Toshiharu Mukai ◽  
◽  
Shinya Hirano ◽  
Hiromichi Nakashima ◽  
Yuki Sakaida ◽  
...  
Keyword(s):  
Information Processing ◽  
Nursing Care ◽  
Tactile Feedback ◽  
Patient Transfer ◽  
Tactile Sensors ◽  
Safety Measures ◽  
Tactile Information ◽  
Challenging Tasks ◽  
Aging Societies ◽  
Bedridden Patient

In aging societies, there is a strong demand for robotics to tackle with problems caused by the aging population. Patient transfer, such as lifting and moving a bedridden patient from a bed to a wheelchair and back, is one of the most physically challenging tasks in nursing care, the burden of which should be reduced by the introduction of robot technologies. To this end, we have developed a new prototype robot named RIBA having human-type arms with tactile sensors. RIBA succeeded in transferring a human from a bed to a wheelchair and back. The tactile sensors play important roles in sensor feedback and detection of instructions from the operator. In this paper, after outlining the concept and specifications of RIBA, we will explain the tactile information processing, its application to tactile feedback and instruction detection, and safety measures to realize patient transfer. The results of patient transfer experiments are also reported.

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.

On the Spatial Compliance of Robotic Manipulators

1997 ◽  
Vol 119 (4) ◽  
pp. 839-844 ◽  
Author(s):  
E. D. Fasse
Keyword(s):  
Spatial Reasoning ◽  
Impedance Control ◽  
Control Law ◽  
Spatial Transformation ◽  
Compliance Control ◽  
Interactive Control ◽  
Control Schemes ◽  
Stiffness Control ◽  
Geometrical Version ◽  
Spatial Compliance

Interactive control schemes, such as stiffness control and impedance control, are widely accepted as a means to actively accommodate environmental forces, but have not been widely applied. This is in part because well-known controllers are parametrized in a mathematically convenient, but nonintuitive way. “Spatial compliance control” is a Euclidean-geometrical version of compliance control that is parametrized in an intuitive way. A family of compliances is introduced with spatial transformation properties that simplify spatial reasoning aspects of compliance parameter selection. A control law is derived assuming that the robot consists of a serial linkage of rigid links actuated by variable-effort actuators.

Iterative Learning Impedance Control in Gait Rehabilitation Robot

2014 ◽  
Vol 494-495 ◽  
pp. 1084-1087
Author(s):  
Fu Cheng Cao ◽  
Hai Xin Sun ◽  
Li Rong Wang
Keyword(s):  
Iterative Learning Control ◽  
Control Algorithm ◽  
Closed Loop ◽  
Impedance Control ◽  
Iterative Learning ◽  
Gait Rehabilitation ◽  
Control Law ◽  
Rehabilitation Robot ◽  
Simulation Results ◽  
Impedance Parameters

An iterative learning impedance control algorithm is presented to control a gait rehabilitation robot. According to the circumstances of the patient, the appropriate rehabilitation target impedance parameters are set. With the adoption of iterative learning control law, the impedance error in the closed loop is guaranteed to converge to zero and the iterative trajectories follow the desired trajectories over the entire operation interval. The effectiveness of the proposed method is shown through numerical simulation results.

Dynamic multi-priority control in redundant robotic systems

Robotica ◽  
2013 ◽  
Vol 31 (7) ◽  
pp. 1155-1167 ◽  
Author(s):  
Hamid Sadeghian ◽  
Luigi Villani ◽  
Mehdi Keshmiri ◽  
Bruno Siciliano
Keyword(s):  
Null Space ◽  
Impedance Control ◽  
Robotic Systems ◽  
Whole Body ◽  
Control Law ◽  
Level Control ◽  
Redundant Robots ◽  
Dynamic Level ◽  
The Stability ◽  
Robot Body

SUMMARYThis paper presents a dynamic-level control algorithm to meet simultaneously multiple desired tasks based on allocated priorities for redundant robotic systems. It is shown that this algorithm can be treated as a general framework to achieve control over the whole body of the robot. The control law is an extension of the well-known acceleration-based control to the redundant robots, and considers also possible interactions with the environment occurring at any point of the robot body. The stability of this algorithm is shown and some of the previously developed results are formulated using this approach. To handle the interaction on robot body, null space impedance control is developed within the multi-priority framework. The effectiveness of the proposed approaches is evaluated by means of computer simulation.

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.

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