The invention discloses a multi-degree-of-freedom intelligent transfer device for
patient transfer and a cooperative control method, and belongs to the technical field of
medical instruments and
rehabilitation robots. The device comprises a movable
chassis, a lifting stand column, a multi-degree-of-freedom mechanical arm
system, a multi-mode
sensing system and a controller. The mechanical arm
system comprises at least five six-degree-of-freedom mechanical arms, and bionic holding supporting plates are arranged at the
tail ends of the six-degree-of-freedom mechanical arms. The multi-mode
sensing system comprises a surface electromyographic
electrode used for collecting electromyographic signals of a patient, a visual unit, a force sense unit and the like. The method comprises the steps of manual pre-fixing, initial recognition, self-adaptive holding, collaborative transfer, intelligent placement and physiological
signal closed-loop feedback throughout the whole process,
muscle tension and pain response of a patient are sensed in real time through electromyographic signals, and the
motion strategy of the mechanical arm is dynamically adjusted accordingly. Meanwhile, the posture of the patient is kept absolutely stable in the moving process through a motion
compensation algorithm, safe, comfortable and automatic
patient transferring is achieved, and the
nursing burden and risk are greatly reduced.