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Development of Meal Assistance Robot for Disabled Persons

残疾人助餐机器人的研制

基本信息

批准号：
17560397
负责人：
GOTO Satoru
金额：
$ 2.5万
依托单位：
Saga University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2005
资助国家：
日本
起止时间：
2005 至 2007
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-17560397/
关键词：
disabled person meal assistance assistance robot robot control trajectory generation image processing human intention extraction electrooculogram 回内回外安全性

项目摘要

Disabled persons who have troubles in motion of their upper limbs due to their muscles diseases and/or accidents of their nervous system are hard to manage their daily life by themselves. A meal assistance robot is developed for elderly and/or disabled persons who have partly or completely lost the ability of moving their upper limbs by themselves independently. The meal assistance robot supports the disabled persons and brings foods from dishes to their mouth by their own forearms.Target position of a meal assistance robot is determined by using electrooculogram (EOG) signals and dish image. Scooping points on dishes can be determined by using image processing of the dish image taken by a video camera Human intention, i.e., selection of dish, can be extracted from electrooculogram (EOG) signals which are measured by electrodes on the face. The dishes can be selected only by gazing the dish which the subject wants to eat. Target position of the meal assistance robot, i.e., the scooping point of the selected dish can be determined by the combination of the scooping point determination and the dish selection.Position control is adopted for control strategy of the meal assistance robot, and force free control which can realize flexible motion of the meal assistance robot is adopted in order to avoid the meal assistance robot injure the subject.The effectiveness of the developed meal assistance robot is assured by experimental works on normal persons.

由于肌肉疾病和/或神经系统事故，上肢运动有困难的残疾人难以自己管理日常生活。助餐机器人是为部分或完全丧失上肢独立活动能力的老年人和/或残疾人开发的。助餐机器人用前臂支撑残疾人，并将食物从盘子中送到他们的嘴里。助餐机器人的目标位置是通过使用眼电信号（EOG）和盘子图像来确定的。可以通过使用由摄像机拍摄的盘子图像的图像处理来确定盘子上的舀取点。人的意图，即，可以从由面部上的电极测量的眼电图（EOG）信号中提取出对盘的选择。只能通过注视受试者想要吃的菜来选择菜。助餐机器人的目标位置，即，本发明的助餐机器人的控制策略采用位置控制，为了避免助餐机器人对受试者造成伤害，采用了无力控制，实现了助餐机器人的柔性运动，并通过实验验证了所研制的助餐机器人的有效性对正常人有效