Abstract
Stand-to-sit movement(SST) refers to the process from stand to sit, and the interaction of SST usually refers to the process of contact between people and the seat. SST is a relaxed and natural movement for normal people with healthy lower limbs, and they will not perceive any difficulties. However, for those people with lower limb disabilities, they have certain handicaps in SST. When they perform SST, owing to their lower extremity muscles could not work properly, they would receive a violent shock from the seat after touching the seat surface, which is a huge threat to the safety of the interactor. This paper mainly studies the safety assistance method of the nursing robot in the process of contact between the human body and the seat in SSI. We propose a lumped parameter model of human-robot interaction based on the vertical dimension to describe the post-contact process. On the basis of completing the modeling, we constructed the safety auxiliary control system of the nursing robot, and verified the effectiveness of the control system through the simulation experiment of the control system.
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Li, Z., Sun, B., Li, Y., Zhang, Q. (2022). Safety Assistance Strategy of Nursing Robot in Stand-To-Sit Movement. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13455. Springer, Cham. https://doi.org/10.1007/978-3-031-13844-7_7
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DOI: https://doi.org/10.1007/978-3-031-13844-7_7
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