论文标题
在任何地方处理：移动机器人手臂，用于为老年人提供身体支持
Handle Anywhere: A Mobile Robot Arm for Providing Bodily Support to Elderly Persons
论文作者
论文摘要
与年龄相关的流动性丧失和增加的风险降低仍然是促进现场衰老的重要障碍。许多老年人缺乏在房屋周围进行共同运动所需的协调和力量，例如起床或踏入浴缸。传统解决方案是在各种表面上安装抓杆。但是，由于房间布局的可行性限制，这些通常不会放置在最佳位置。在本文中，我们提出了一个移动机器人，该机器人为老年人提供了空间中任何位置的手柄 - “随身携带”。机器人由附着在可重新定位的手柄上的全向移动基础组成。我们分析了日常生活四种活动的姿势变化，并确定每个人的身体姿势，需要最大的肌肉努力。使用人体的简单模型，我们开发了一种方法，以最佳的方式放置手柄，以最大程度地为老年人提供最大的支持。我们的模型通过实验试验进行了验证。我们讨论如何使用机器人装置来增强患者的活动能力并降低跌倒的发生率。
Age-related loss of mobility and increased risk of falling remain important obstacles toward facilitating aging-in-place. Many elderly people lack the coordination and strength necessary to perform common movements around their home, such as getting out of bed or stepping into a bathtub. The traditional solution has been to install grab bars on various surfaces; however, these are often not placed in optimal locations due to feasibility constraints in room layout. In this paper, we present a mobile robot that provides an older adult with a handle anywhere in space - "handle anywhere". The robot consists of an omnidirectional mobile base attached to a repositionable handle. We analyze the postural changes in four activities of daily living and determine, in each, the body pose that requires the maximal muscle effort. Using a simple model of the human body, we develop a methodology to optimally place the handle to provide the maximum support for the elderly person at the point of most effort. Our model is validated with experimental trials. We discuss how the robotic device could be used to enhance patient mobility and reduce the incidence of falls.
