Wearable inflatable robot for supporting postural transitions in infants between sitting and lying
Wearable inflatable robot for supporting postural transitions in infants between sitting and lying
复制标题
可穿戴充气机器人，用于支持婴儿坐卧之间的姿势转换
DOI：
10.1109/robio.2015.7419115
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
K.
中科院分区：
文献类型：
--
作者：
Yamamoto;T.;Kadone;H.;Suzuki;K.
本文提出了一种新的方法，支持婴儿的身体姿势之间的变化躺和坐，通过使用可穿戴和充气的机器人设备。通过三维运动分析发现，姿势转换过程中重心的变化与腰椎关节的俯仰和偏航运动相关。为了协助主导关节运动，提出了一种新的气动手风琴驱动器。这种致动器可以通过膨胀在身体节段上施加力以辅助关节扭矩。四个这样的致动器的设计和实施，以协助腰椎关节运动。与一个假娃娃的实验表明，该系统是能够改变的姿势的穿戴者从仰卧到长坐的位置，反之亦然。可能的应用，以支持姿势的变化，脑瘫儿童进行了讨论。
This paper proposes a novel approach for supporting the change in an infant's body posture between lying and sitting by using a wearable and inflatable robotic device. It was revealed by 3D motion analysis that a change in the center of gravity during postural transition correlated with pitch and yaw motions of the lumbar joint. To assist in the dominant joint motions, a novel pneumatic accordion actuator is proposed. Such an actuator can apply force through inflation on body segments to assist with joint torque. Four such actuators were designed and implemented for assisting in lumbar joint motions. Experiments with a dummy baby doll showed that the proposed system is capable of changing the posture of the wearer from supine to long-sitting positions and vice versa. Possible application to support the postural change in children with cerebral palsy is also discussed.