Realization and Safety Measures of Patient Transfer by Nursing-Care Assistant Robot RIBA with Tactile Sensors
Toshiharu Mukai*, Shinya Hirano*, Hiromichi Nakashima*,
Yuki Sakaida*, and Shijie Guo**
*RIKEN RTC, 2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan
**SR Laboratory, Tokai Rubber Industries, 1 Higashi 3-chome, Komaki, Aichi 485-8550, Japan
In aging societies, there is a strong demand for robotics to tackle with problems caused by the aging population. Patient transfer, such as lifting and moving a bedridden patient from a bed to a wheelchair and back, is one of the most physically challenging tasks in nursing care, the burden of which should be reduced by the introduction of robot technologies. To this end, we have developed a new prototype robot named RIBA having human-type arms with tactile sensors. RIBA succeeded in transferring a human from a bed to a wheelchair and back. The tactile sensors play important roles in sensor feedback and detection of instructions from the operator. In this paper, after outlining the concept and specifications of RIBA, we will explain the tactile information processing, its application to tactile feedback and instruction detection, and safety measures to realize patient transfer. The results of patient transfer experiments are also reported.
-  I. Sumio, “Meal-Assistance Robot ‘My Spoon’,” J. of the Robotics Society of Japan, Vol.21, No.4, pp. 378-381, 2003. (in Japanese)
-  K. Wada, T. Shibata, T. Saito, and K. Tanie, “Psychological and Social Effects in Long-Term Experiment of Robot Assisted Activity to Elderly People at a Health Service Facility for the Aged,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 3068-3073, 2004.
-  V. Artigue and G. Thomann, “Development of a Prosthetic Arm: Experimental Validation with the User and an Adapted Software,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 3079-3084, 2009.
-  T. Noritsugu, M. Takaiwa, and D. Sasaki, “Development of Power Assist Wear Using Pneumatic Rubber Artificial Muscles,” J. of Robotics and Mechatronics, Vol.21, No.5, pp. 607-613, 2009.
-  C. Mandel, T. Lüth, T. Laue, T. Röfer, A. Gräser, and B. Krieg-Brückner, “Navigating a Smart Wheelchair with a Brain-Computer Interface Interpreting Steady-State Visual Evoked Potentials,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 1118-1125, 2009.
-  K. Iwakiri, M. Takahashi, M. Sotoyama, M. Hirata, and N. Hisanaga, “Usage Survey of Care Equipment in Care Service Facilities for the Elderly,” J. of Occupational Health, Vol.49, pp. 12-20, 2007. (in Japanese)
-  A. Garg, B. Owen, D. Beller, and J. Banaag, “A Biomechanical and Ergonomic Evaluation of Patient Transferring Tasks: Bed to Wheelchair and Wheelchair to Bed,” Ergonomics, Vol.34, No.3, pp. 289-312, 1991.
-  S. Hashino, T. Iwaki, C. T. Wang, and E. Nakano, “Control of Patient Care Robot ‘MELKONG’,” J. of Society of Biomechanisms Japan, Vol.10, pp. 259-269, 1990. (in Japanese)
-  Y. Kume and H. Kawakami, “Development of Power-Motion Assist Technology for Transfer Assist Robot,” Matsushita Technical Journal, Vol.54, No.2, pp. 50-52, 2008. (in Japanese)
-  H. Wang and F. Kasagami, “A Patient Transfer Apparatus Between Bed and Stretcher,” IEEE Trans. on Systems, Man, and Cybernetics-Part B (Cybernetics), Vol.38, No.1, pp. 60-67, 2008.
-  Y. Kume, H. Kawakami, S. Tsukada, and T. Nakamura, “Development of Robotic Bed,” J. of Society of Automotive Engineers of Japan, Vol.64, No.5, pp. 31-34, 2010. (in Japanese)
-  T. Mukai, M. Onishi, T. Odashima, S. Hirano, and Z. W. Luo, “Development of the Tactile Sensor System of a Human-Interactive Robot ‘RIMAN’,” IEEE Trans. on Robotics, Vol.24, No.2, pp. 505-512, 2008.
-  K. Harada and M. Kaneko, “Whole Body Manipulation,” Proc. of IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, Vol.1, pp. 190-195, 2003.
-  S. Hirose and M. Sato, “Coupled Drive of the Multi-DOF Robot,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), Vol.3, pp. 1610-1616, 1989.
-  T. Mukai and Y. Kato, “1 ms Soft Areal Tactile giving Robots Soft Response,” J. of Robotics and Mechatronics, Vol.20, No.3, pp. 473-480, 2008.
-  B. Gray and K. Adrian, “Learning OpenCV: Computer Vision with the OpenCV Library,” O’Reilly Media, 2008.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.
Copyright© 2011 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.