Holding point and transfer posture plan for a dual-arm transfer nursing robot
Firstly,a four-link model of care receiver is built,and a human-machine system mechanical model is constructed by combining with posture informantion of the robot.Stress bearing of care receiver in transfer is analyzed,including internal and external forces.Then,through questionnaire investigation,weight of influence of each external/internal forces on human body comfortability is determined.And comfort evaluation function is built,holding position and posture are planned through optimizing comfortability of the caree by using the comfort evaluation function.Contact force and the surface electromyography(sEMG)experiments are conducted.The results show that the holding position and posture planned in this method can effectively reduce the human-robot contact force and the internal force burden of waist during transfer by 44.2%,the comfortability of transfer is improved.
dual-arm nursing care robottransferhuman-robot mechanical modecomfortability
万方数据
维普
