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Robot Patient for Nursing Self-training in Transferring Patient from Bed to Wheel Chair

机译:用于护理自训练的机器人患者将患者从床转移到轮椅

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In this paper, we proposed a robot patient for the nursing training in patient transfer. The robot patient was developed to reproduce the performance of the patients who are suffering from mobility problems. We targeted on the reproduction of movement of the patient's limbs (arms and legs) with the consideration of physical and voice interaction between the patient and nurse. The robot patient had 15 joints including 2 active joints installed with motors, 4 passive joints installed with electric brakes and 9 passive joints without any actuators. To realize the physical interaction, potentiometer type angle sensors was utilized to detect the rotation angle of the joints of shoulders, elbows and knees. In addition, follow-up control approach was applied to the shoulder joint. By this way the robot could react accordingly when the trainees moved its limbs. A voice recognition module was applied to enable the robot to interact with the trainee by voice. An experiment was performed by a nursing teacher for examine the robot's performance. The robot patient successfully reproduced the patient's movement with physical and voice interaction, including embracing, keeping embracing, standing up, keeping standing and sitting down.
机译:在本文中,我们提出了一种用于患者转移护理训练的机器人患者。制定机器人患者以再现患有血液障碍问题的患者的性能。我们针对患者肢体(手臂和腿)的再现,考虑了患者和护士之间的物理和语音相互作用。机器人患者有15个关节,包括带有电机的2个有源接头,4个被动接头安装,电动制动器和9个无源关节没有任何致动器。为了实现物理相互作用,利用电位计型角度传感器检测肩部,肘部和膝盖的关节的旋转角度。此外,将跟进控制方法应用于肩关节。通过这种方式,当学员移动它的四肢时,机器人可以相应地反应。应用了语音识别模块以使机器人通过语音与学员交互。由护理教师进行实验,以检查机器人的性能。机器人患者成功地将患者的运动与身体和语音相互作用一起复制,包括拥抱,保持拥抱,站立,保持身体和坐下。

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