Self-help standing-up method based on quasi-static motion
Self-help standing-up method based on quasi-static motion
复制标题
基于准静态运动的自助翻身方法
DOI：
10.1109/robio.2009.4913027
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
K. Kosuge
中科院分区：
文献类型：
--
作者：
T. Hatsukari;S. Kuroko;N. Miyake;J. Higuchi;Ryushiro Kawazoe;Y. Hirata;K. Kosuge
当支持站立运动时，护理人员利用重力产生足够的动量，而无需承受沉重的负担。许多需要照顾的老年人的身体能力或决策能力下降。我们为这些人提出了一种自助站立的方法。为了保证紧急情况下的安全，最好采用加速度近似为零的准静态运动方法。然而，准静态运动给护理者带来沉重的负担，因为它不能借助于重力有效地利用惯性力。与人工辅助相比，机械系统可以很容易地实现准静态运动，因为机械系统具有承受较大力的能力。然而，准静态运动轨迹必须重新开发，因为它不是众所周知的。因此，我们提出了支持站立运动的机械系统和准静态方法。作为一个例子，该方法使用人工上身约束，并拟合到每个病人的物理特性已经提出。该系统被证明是有效的。
When supporting standing-up motion, a caregiver takes advantage of gravity force to make sufficient momentum without bearing heavy burden. The physical abilities or decision-making abilities decrease for many of elderly people who need care. We propose a self-help standing-up method for such people. The method with quasi-static motion in which the acceleration is approximated to zero, so as to keep safety at the time of emergency, is preferable. However, the quasi-static motion gives heavy burden to a caregiver because it cannot make efficient use of inertia force by the help of gravity force. Compared to human assist, mechanical system can easily realize the quasi-static motion, since a mechanical system has an ability to hold a large force. However, a quasi-static motion trajectory has to be newly-developed because it is not well known. Therefore, we propose the mechanical system and a quasi-static method for supporting standing-up motion. As an example, the method using artificial upper body constraint, and fitted to physical characteristics of each patient have been proposed. This system is found to be the effectiveness.