立式洗浴护理机器人的运动控制  

Movement control of a vertical bathing-care assistant robot

作　　者：尚振东[1] 张晓兰[2] 胡志刚[2] 

机构地区：[1]河南科技大学机电工程学院,洛阳471003 [2]河南科技大学医学技术与工程学院,洛阳471003

出　　处：《高技术通讯》2015年第3期286-292,共7页Chinese High Technology Letters

基　　金：863计划(2008AA040208);国家国际科技合作(2011DFA10440)资助项目

摘　　要：为满足护理机器人的宜人化要求,研究了一种洗浴护理机器人的运动控制,提出了一种基于人体尺寸信息和运动状态信息的护理机器人运动控制方法。运用这种控制方法的洗浴机器人采用立式活动座椅结构,包括辅助起立装置、搓洗装置、水循环装置和挡板等,以满足洗浴者坐姿和立姿下进行淋浴;仿照正常人体自然起立过程规划人体辅助起立重心轨迹,根据重心轨迹的拟合方程定义偏差函数并构建插补运动控制器,使其适应不同身高的人体起立;采用基于专家系统的递阶控制策略,使搓洗装置可对洗浴者的背部、臀部和腿部进行个性化搓洗。专家系统的推理机根据数据库中洗浴者人体参数信息、历史知识和实测数据,对搓澡强度进行推理决策。建立了实验样机并进行了试验,试验结果验证了设计方法的可行性。To meet nursing-care assistant robots＇ need for humanization design, the movement control of a bathing-care assistant robot was studied, and a movement control was proposed. The bathing-care assistant robot with method based on the information of body size and motion state the proposed control mechanism adopts a vertical, mobile seat architecture consisting of a standing assistant device, a scrubbing device, a water circulating device and baffle plates to support users＇ bathing in the gestures of standing and sitting; plans the track of gravity center of body ac- cording to normal standing process of people, uses its fitting function of the track as the deviation function to estab- lish the interpolation motion controller to make it applicable to different heights with the weight reduce control; and applies a hierarchical control strategy based on an expert system to the scrubbing device to realize the personalized scrubbing on back, buttocks and legs of users. The inference engine of the expert system could determine the scrubbing strength by inference and decision according to users＇ body parameter information, historical knowledge and real tested data in the database. Experiments were conducted to verify the proposed design, and the results proved the feasibility of the designed robot control system.

关 键 词：服务机器人 护理机器人 洗浴 智能控制 专家系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]