Research On The Safety And Comfort Evaluation Methods Of A Transfer Robot For Nursing Care

With the aggravating trend of the aging population in our country,the shortage of resources for social services for the elderly is becoming increasingly prominent,especially for the elderly with mobility problems.At present,the long-term care of the elderly in our country is mainly based on the family members or nursing home-based nurses.Some elderly people also receive long-term care services in pension agencies or elderly wards in hospitals.Both types of care have an unavoidable burden on families and medical resources.In order to alleviate this situation,transfer robot for nursing care must be the core of the future development of medical care robotics.Based on the self-developed transfer nursing robot experimental platform(referred to as experimental platform),this research uses the research method of human biomechanics to study the safety and human comfort of transfer nursing process.Firstly,this topic analyzes the biomechanics of human muscle modeling methods.The Anybody Modeling System is used to set up an experiment platform model and human musculoskeletal model.The boundary conditions of the coupled model are defined.In order to facilitate the analysis,we make a reasonable division of the body's whole muscle groups to study the human body comfort mechanism from the muscle group point of view.Secondly,according to the calculation method of human's center of gravity,the functional relationship between the center of gravity and the main parameters of the experimental platform is established.The influence of the speed factor on human comfort is investigated through field experiments.According to the main contact position of humanmachine sensors to collect relevant force information,and study the force variation of the human body during the entire transfer process.The validity and feasibility of the manmachine coupling model are further verified through the comparison between the simulation and experimental results,which lays the foundation for the subsequent research.Then,a simulation experiment is conducted to verify the optimization of the main parameters of the experimental platform by using the human-machine coupled system model.Muscle activity and joint torque are selected as evaluation index of human comfort degree,and the human body model with different body shape parameters is simulated respectively.Before optimization,further main component screening is performed for the divided muscle groups,and the main active muscles of each muscle group are obtained.The influence of each parameter of the experimental platform on human comfort is obtained,and the optimal parameters are obtained through the combination optimization of each parameter.The optimization of the joint torque before and after the contrast further illustrate the reliability of the results.Finally,analyze and summarize the dangerous situation of the human body that may appear during the course of transfer nursing action,and establish the risk index evaluation system.Based on the experimental data,the discomfort prediction model based on human biomechanics and the discomfort prediction model based on the main parameters of humanmachine are established respectively through regression analysis.Finally,the predictive model can make a reasonable prediction and evaluation reference to the degree of human comfort in the mobility care process,which is of great practical significance.