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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Geravand, M., Korondi, P.Z., Werner, C., et al.: Human sit-to-stand transfer modeling towards intuitive and biologically-inspired robot assistance. Auton. Robot. 41(3), 575–592 (2017)
Musić, J., Kamnik, R., Munih, M.: Model based inertial sensing of human body motion kinematics in sit-to-stand movement. Simul. Model. Pract. Theory 16(8), 933–944 (2008)
Hemami, H., Jaswa, V.C.: On a three-link model of the dynamics of standing up and sitting down. IEEE Trans. Syst. Man Cybern. 8(2), 115–120 (1978)
Gandhi, J.: Mathematical model of human sit-to-stand and stand-to-sit motion analysis. New Jersey Institute of Technology (1998)
Wada, K., Matsui, T.: Optimal control model for reproducing human sitting movements on a chair and its effectiveness. J. Biomech. Sci. Eng. 8(2), 164–179 (2013)
Coermann, R.R.: The mechanical impedance of the human body in sitting and standing position at low frequencies. Hum. Fact. 4(5), 227–253 (1962)
Cho, Y., Yoon, Y.S.: Biomechanical model of human on seat with backrest for evaluating ride quality. Int. J. Ind. Ergon. 27(5), 331–345 (2001)
Jan, M., Qassem, W., Othman, M., Gdeisat, M.: Human body model response to mechanical impulse. Med. Eng. Phys. 19(4), 308–316 (1997)
Liang, C.C., Chiang, C.F.: A study on biodynamic models of seated human subjects exposed to vervibration. Int. J. Ind. Ergon. 36(10), 869–890 (2006)
Rosen, J., Arcan, M.: Modeling the human body/seat system in a vibration environment. J. Biomech. Eng. 125(2), 223–231 (2003)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
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
Download citation
DOI: https://doi.org/10.1007/978-3-031-13844-7_7
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-13843-0
Online ISBN: 978-3-031-13844-7
eBook Packages: Computer ScienceComputer Science (R0)