Development of Robot Patient Lower Limbs to Reproduce the Sit-to-Stand Movement with Correct and Incorrect Applications of Transfer Skills by Nurses
Development of Robot Patient Lower Limbs to Reproduce the Sit-to-Stand Movement with Correct and Incorrect Applications of Transfer Skills by Nurses
复制标题
DOI：
10.3390/app11062872
复制
发表时间：
2021-03-01
影响因子：
2.7
通讯作者：
Ota, Jun
中科院分区：
文献类型：
--
作者：
Lin, Chingszu;Ogata, Taiki;Ota, Jun
最近，人类患者模拟器已被广泛开发作为真实患者的替代品，其目的是将其用作护理教育的培训工具。这种模拟培训被认为有利于向学生传授所需的实践技能。考虑到世界人口老龄化，本研究旨在开发一种机器人患者，用于培训护理学生从坐到站（STS）的转移技能，这对于照顾老年人来说是必不可少的。为了评估学生的技能，机器人患者应该能够了解技能的正确性，并根据技能是否正确实施来表现。因此，提出了一种 STS 控制方法，以重现护士正确和错误应用该技能期间的不同 STS 动作。原型机器人的下肢经过重新设计，提供带有柔顺单元的主动关节，从而能够再现外部扭矩和人体关节灵活性的测量。对四名护士老师进行了一项实验，要求他们分别展示正确和错误的 STS 转移技能。机器人下肢的外部扭矩和关节扭矩测量结果表明，正确技能和错误技能之间存在显着差异（p < 0.05）。这也表明所提出的机器人控制方法的引入可以满足STS技能评估的要求。在进行的各种测量中，髋关节的外部扭矩表现出最显着的差异，因此代表了评估 STS 转移技能是否正确应用的最有力的措施。
Recently, human patient simulators have been widely developed as substitutes for real patients with the objective of applying them as training tools in nursing education. Such simulated training is perceived as beneficial for imparting the required practical skills to students. Considering the aging world population, this study aimed to develop a robot patient for training nursing students in the sit-to-stand (STS) transfer skill, which is indispensable in caring for elderly people. To assess a student's skill, the robot patient should be able to access the skill correctness and behave according to whether the skill is correctly or incorrectly implemented. Accordingly, an STS control method was proposed to reproduce the different STS movements during correct and incorrect applications of the skill by the nurses. The lower limbs of a prototype robot were redesigned to provide an active joint with a compliant unit, which enables the measurement of external torque and flexibility of the human joint to be reproduced. An experiment was conducted with four nurse teachers, each of whom was asked to demonstrate both correct and incorrect STS transfer skills. The results of the external torque and joint torque measured in robot's lower limbs revealed that a significant difference (p < 0.05) between correct and incorrect skills. It also indicates the introduction of the proposed control method for the robot can satisfy the requirement of the assessment of STS skill. Among the various measurements conducted, the external torque of the hip joint exhibited the most significant difference and therefore represented the most robust measure for assessing whether the STS transfer skill was correctly applied.