In our research center, we have developed a nursing-care assistant robot — RIBA, which can lift up and transfer person between bed and wheelchair using its two human like arms. In this research, we develop a new method to estimate the comfortable feeling of human, which can help our robot — RIBA to find the best lifting-up motion automatically. By using a lifting-up model and optimizing a weighted evaluation function, we can calculate the lifting forces and the human joint torques during the lift-up. A weighted evaluation is used to reflect the change of comfortable feeling. We also carried out some experiments to check the model and the estimating method. During the lift-up, we measured subjects' EMG signal. And after the lift-up, questionnaires survey is conducted. The change trends between estimated and measured value show the effectiveness of the model and the method quantitatively and qualitatively.
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