Bathing care assistance with robot suit HAL
Bathing care assistance with robot suit HAL
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DOI：
10.1109/robio.2009.5420697
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发表时间：
2009-12
期刊：
影响因子：
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通讯作者：
Hozumi Satoh;Tomoyoshi Kawabata;Y. Sankai
中科院分区：
文献类型：
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作者：
Hozumi Satoh;Tomoyoshi Kawabata;Y. Sankai
在护理领域，照顾者必须承担很大的负担，由于辅助运动，如支持的照顾者的身体，解除他们，移动到轮椅上等，在本文中，我们专注于让照顾者进出浴缸，这是照顾者最困难的运动之一。考虑到一个重要的活动，把一个很大的负担照顾者，起重，有许多类型的起重设备可用于转移残疾人。然而，很难使用固定设备，如机械升降机进行家庭护理，因为重建浴室的费用很高。通过佩戴HAL（Hybrid Assistive Limb）全身型，可以大大减轻护理领域中辅助动作所涉及的身体负担。本文的目的是提出一种新的方法，洗澡护理援助使用的机器人西装HAL，开发HAL的上半身，这减少了对穿着者的上肢的身体负担，并通过实验表明其有效性。该研究的重点是减少躯干倾斜角，这与腰椎周围的物理负荷有关。新方法主要是利用照顾者的上肢来支撑被照顾者的体重。因此，我们建立了一个机制，锁定HAL关节的动力单元，以协助运动功能的佩戴者的上肢。为了证实所提出的方法的有效性，我们证明了动力单元的机构保持上肢的角度稳定，而佩戴者持有的重量为50（kg），并减轻了佩戴者上肢的身体负担。实验结果证实了该方法的有效性。
In the field of nursing care, caregivers have to bear a great burden due to assistive movements such as supporting of the care-receivers body, lifting them, moving them onto the wheel chair etc. In this paper, we focus on getting a care-receiver in and out of the bathtub, which is one of the most difficult movements for caregivers. Considering an important activity that puts a large burden on caregivers, lifting, there are many types of lifting devices available for transferring disabled people. Nevertheless it is difficult to use fixed equipment such as a mechanical lift with home care because it is expensive to rebuild the bathroom. The physical burden involved in assisting action in the field of nursing care can be greatly reduced by wearing the HAL (Hybrid Assistive Limb) full-body type. The objectives of this paper are to propose a new method of bathing care assistance using the robot suit HAL, to develop the upper half body of HAL, which reduces the physical burden on the wearer's upper limbs, and to show its effectiveness through an experiment. The study focused on reducing the trunk inclination angle, which is related to the physical load around the lumbar spine. The new method mainly uses the caregiver's upper limb to support the weight of the care-receiver. Therefore, we built a mechanism which locks the power unit of a HAL joint to assist the motor function of the wearer's upper limbs. To confirm the effectiveness of the proposed method, we demonstrated that the mechanisms of the power units kept the angles of the upper limbs steady while the wearer held a weight of 50(kg), and that the physical burden on the upper limb of the wearer was reduced. As a results of this experiment, we confirmed the effectiveness of the proposed method.