Design of Transfer Motion and Verification Experiment of Care Assistant Robot RIBA-II
Design of Transfer Motion and Verification Experiment of Care Assistant Robot RIBA-II
复制标题
护理辅助机器人RIBA-II传递运动设计及验证实验
DOI：
10.1299/kikaic.78.1899
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
T. Mukai
中科院分区：
文献类型：
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作者：
Susumu Sato;Shijie Guo;Seisho Inada;T. Mukai
由于出生率创历史新低，老年人口迅速增长，日本面临着严峻的人口挑战，加上长期缺乏护理人员。在护理工作中，病人转送是最耗费体力的工作之一。为了将护理人员从繁重的体力劳动中解放出来，并弥补护理人员的不足，我们开发了两款原型机器人RIBA和RIBA-II，旨在与患者直接接触并执行转移任务，例如将患者从床上或地板上抬起并移动到轮椅上并返回。本文以RIBA-II为研究对象，介绍了其运动设计、操作方法、安全措施以及在健康受试者身上进行的验证实验。RIBA-II的整个身体包括关节都覆盖着柔软的材料，以实现与人类的安全和轻松接触，能够在一定的安全系数下将80公斤以下的人从地板上抬起，并将他/她转移到带扶手的普通轮椅上。该机器人不是自主机器人，而是由护理人员操作以确保安全的机器人。当进行转移任务时，护理人员通过抚摸安装在机器人手臂上的橡胶触觉传感器来操纵机器人，同时确认安全性。该机器人的目的不仅是减轻护理人员的繁重体力劳动，而且还取代了由两个护理人员进行的转移任务由一个机器人和一个护理人员。本文所述的验证实验证明了该方法的可行性。
With a record-low birthrate and a rapidly-growing elderly population, Japan faces a severe demographic challenge, compounded by a chronic lack of nursing care staff. Among nursing care tasks, patient transfer is one of the most physically strenuous tasks. To free caregivers from such heavy physical work and to compensate for the lack of nursing care staff, we have developed two prototype robots, RIBA and RIBA-II, which were designed to come in direct contact with patients and conduct transfer tasks such as lifting and moving a patient from a bed or the floor to a wheelchair and back. This paper, focusing on RIBA-II, describes the motion design, handling method, safety measures, as well as the verification experiment conducted on healthy subjects. RIBA-II, who’s whole body including the joints is covered with soft materials to realize a safe and easy contact with humans, has the ability to lift up a human up to 80kg with a certain safety factor from the floor and transfer him/her to a normal wheelchair with armrests. The robot is not an autonomous one but a robot operated by a caregiver to ensure safety. When conducting a transfer task, the caregiver handles the robot by stroking the rubber tactile sensors installed on the robot arms and, at the same time, confirms safety. The purpose of the robot is not only relieving caregivers from heavy physical works but also to replace the transfer task conducted by two caregivers by one robot and one caregiver. The feasibility has been demonstrated by the verification experiment as described in this paper.