Hybrid Nursing Robot Based on Humanoid Pick-Up Action: Safe Transfers in Living Environments for Lower Limb Disabilities

Abstract

This research paper outlines the development of a modular and adjustable transfer care robot aimed at enhancing safe and comfortable transfers for individuals with lower limb disabilities. To design this robot, we utilized a 3D motion capture system to analyze the movements of a person assisting another person and to determine the necessary range of motion and workspace for the robot. Based on this analysis, we developed a 3-UPS + UPR parallel spreader to transfer the person receiving care. We also conducted kinematic and dynamic analyses of the parallel spreader to validate its operational space and to obtain the force change curve for the drive. To evaluate the robot’s performance, we enlisted the help of ten volunteers with varying heights and weights. Our findings indicate that the pressure distribution during transfers remained largely consistent. Additionally, the surveys revealed that those receiving care perceived the robot as being capable of securely and comfortably transferring individuals between different assistive devices. This modular and adaptable transfer assistance robot presents a promising solution to the challenges encountered in caregiving.

Keywords

• hybrid nursing robot
• humanoid pick-up action
• workspace
• dynamical model
• comfort analysis