Mechanism design of a robotic chair/bed system for bedridden aged

Meng, Na; Ren, Mengxi; Qinglin, Fan; Zhang, Lizhi

doi:10.1177/1687814017695691

Cited by 13 publications

(5 citation statements)

References 10 publications

(9 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the case of light interference, the yaw angle is also in a controllable range, and the wheelchair can be successfully docked. Meng et al [30] proposed a docking method based on Lidar and force sensor. Firstly, the shape of the bed body is identified according to the Lidar, and the relative posture between the bed and wheelchair is calculated.…”

Section: Discussionmentioning

confidence: 99%

Wheelchair Automatic Docking Method for Body-Separated Nursing Bed Based on Grid Map

Zhu

Meng

et al. 2021

IEEE Access

View full text Add to dashboard Cite

To improve the mode and precision of wheelchair/nursing-bed automatic docking, a novel central embedded wheelchair/nursing-bed automatic docking method based on grid map is proposed. Firstly, Laplace operator and Iterative Closest Point (ICP) algorithm are used to filter and match Lidar point cloud, and the linear features of V-shaped artificial landmark are fitted by Split-merge method and least square method. Then Extended Kalman Filter (EKF) is used to fuse Inertial Measurement Unit (IMU) and odometer data to realize the localization of the bed and wheelchair. Meanwhile, the grid map is used for path planning. Based on the center-line of the two rear wheels and the angular bisector of V-shaped artificial landmark, the wheelchair pose is adjusted in real-time to ensure that the wheelchair gradually approaches the bed along the angular bisector of V-shaped artificial landmark. The yaw angle is reduced by using the improved Proportion Integration Differentiation (PID). 9 sets of experimental data, ie. (x, y,  ) were collected at different starting positions during the docking process. The results show that the yaw angle of the wheelchair during the docking process is controlled within 2.5°, and the distance deviation between the final position and the ideal position of the wheelchair after docking is controlled within 0.02m. In the case of light interference with different luminous fluxes, the docking can still maintain good performance. The proposed docking algorithm has the robust performance of rapid response and low steady error, which can greatly improves the self-care ability of the bedridden elderly, and reduces the labor intensity of the nursing staff.

show abstract

Section: Discussionmentioning

confidence: 99%

Wheelchair Automatic Docking Method for Body-Separated Nursing Bed Based on Grid Map

Zhu

Meng

et al. 2021

IEEE Access

View full text Add to dashboard Cite

show abstract

“…In addition, a dedicated assistant is required to fasten the belt to the user's body before lifting. A robotic chair/bed system was designed by Ning et al [26] for the assistance of a bedridden person. It has an integrated U-shaped bed with omnidirectional wheelchairs having the function of reconfigurability.…”

Section: State-of-the-art Assistive Transfer Systemsmentioning

confidence: 99%

The Design and User Evaluation of Body-Transfer System via Sliding Transfer Approach for Assisting Functionally Impaired People

et al. 2023

View full text Add to dashboard Cite

Assistive devices can significantly improve caregivers’ ability to help disabled people with their daily activities. Existing assistive devices are not fully capable of safe transfer and are still in their early stages of development. In this research, a body-transfer system is designed and developed to ensure that the posture and body angle of the person in the sagittal plane remains unaltered while transferring from bed to wheelchair and vice versa. Two independently controlled conveyor belts (2-DOF) mounted on the indigenously developed bed are employed to transfer the disabled person using a sliding approach. Additionally, a wheelchair with conveyor belts that are fully automated is used to carry and transfer the user to and from the wheelchair. Furthermore, an integrated control architecture has been developed for safely operating the entire body-transfer system (from an indigenously developed bed and wheelchair). Finally, an experimental assessment of the body-transfer system’s performance has been conducted. The experimental findings demonstrate that the system can transfer up to 120 kg of body weight while the user’s posture remains unaltered in the sagittal plane. Users perceive a reduction in wrist and shoulder pain index using the body-transfer system. The system has great potential for relocating disabled persons safely while reducing the load on caregivers.

show abstract

“…Furthermore, patients accept it well psychologically because there is no process making them feeling helplessness. In fact, this kind of concept contributes a lot to the design methodology of PTAS, many intelligent beds with additional functions are proposed like the Robotic chair/bed system [18] and IWB [19]. At present, the simple version of the ''Robotic bed'' has achieved the market.…”

Section: Introductionmentioning

confidence: 99%

Design and Evaluation of a Novel Person Transfer Assist System

et al. 2021

View full text Add to dashboard Cite

Person transfer is a major problem for nursing in home and clinical, and this problem is becoming more prominent with the development of aging society and the change of population structure. In this article, a novel person transfer assist system named E-Pat (Easy-Patient Transfer), which can meet the transfer needs of the patient between beds, has been designed and analyzed. The importance and originality of this study are that it explores a theoretical design method for device to enhance patient comfortably when transferred, and put it into practice. The main tasks completed in this article include: (1) a prototype of the device is designed based on the principle of relative static contact point theory. In addition, the corresponding relationship between the human body pressure and the insertion angle is proposed, which provides a theoretical basis for the optimization of the mechanism; (2) based on STM32 (STMicroelectronics 32-bits Microcontroller) chip, the hardware circuit part of the device is designed. According to the transfer environment requirements of the device, the synchronization control algorithm of the device is designed and the experiment is carried out; (3) the performance evaluation of the device is carried out by means of Analytic Hierarchy Process (AHP), through the research of a group of 30 volunteers, the performance of the system has been evaluated accurately, which provides a reference for the industrialization of the prototype. The whole research of this article proves that this kind of person transfer assist system has good performance, it can also reduce the burden of caregivers.INDEX TERMS Person transfer, mechanical design, synchronous control system, performance evaluation.

show abstract

Mechanism design of a robotic chair/bed system for bedridden aged

Cited by 13 publications

References 10 publications

Wheelchair Automatic Docking Method for Body-Separated Nursing Bed Based on Grid Map

Wheelchair Automatic Docking Method for Body-Separated Nursing Bed Based on Grid Map

The Design and User Evaluation of Body-Transfer System via Sliding Transfer Approach for Assisting Functionally Impaired People

Design and Evaluation of a Novel Person Transfer Assist System

Contact Info

Product

Resources

About