Annu Int Conf IEEE Eng Med Biol Soc. 2015;2015:6868-71. doi: 10.1109/EMBC.2015.7319971.
To support care giving in an aging society with a shrinking population, various life support robots are being developed. In the authors' laboratory, an excretion care support robot (ECSR) with human cooperative characteristic has been developed to relieve the burden of caregivers and improve the quality of life for bedridden persons. This robot consists of a portable toilet with storage tank and a mobile robot which can run autonomously to conduct the cooperative work with others. Our research is focused on how to improve the motion accuracy and how the robot can cooperate with users. In this paper, to enable the ECSR could precisely move in the indoor environment, a proper controller is proposed considering the center of gravity shift and load changes. Then, to perform the cooperative task, two acceleration sensors are used to recognize the users' intended posture and position when moving from bed to toilet. The robot's target angle and position are determined by the user's posture. The effectiveness of the proposed method is verified by a pseudo excretion support experiment.
为了在人口不断减少的老龄化社会中支持护理工作，人们正在开发各种生活辅助机器人。在作者的实验室中，已经开发出一种具有人机协作特性的排泄护理辅助机器人（ECSR），以减轻护理人员的负担并提高卧床者的生活质量。该机器人由一个带有储水箱的便携式马桶和一个能够自主运行以与他人进行协作工作的移动机器人组成。我们的研究重点是如何提高运动精度以及机器人如何与用户协作。在本文中，为了使ECSR能够在室内环境中精确移动，考虑到重心转移和负载变化，提出了一种合适的控制器。然后，为了执行协作任务，使用两个加速度传感器来识别用户从床上移动到马桶时的预期姿势和位置。机器人的目标角度和位置由用户的姿势确定。通过一个模拟排泄辅助实验验证了所提方法的有效性。
