Adaptive Traction Mechanism for Standing Assist Robots
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Solution Overview
Problem
Standing motion assist robots often cause care-receivers to feel unpleasant sensations due to unintended traction mechanism movements when assisting with standing or sitting motions, as the mechanism deviates from the intended path if the care-receiver tries to perform the motion with their own power.
Innovation Solution
A robot system with a holding mechanism, traction mechanism, position sensor, and force sensor that adjusts the path in real-time to maintain a convexly curved path, ensuring the care-receiver's intended motion is not disrupted, using a controller to change the path based on measured positions and forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the traction mechanism follows a preset path during standing/sitting assistance, then the motion path is stable and predictable, but the care-receiver feels unpleasant sensations when they try to move with their own power causing path deviation
Solution Approach 1:
The system dynamically adjusts the traction mechanism's path in real-time based on the care-receiver's actual position and applied force. Instead of following a rigid preset path, the path becomes adaptive and flexible, allowing the mechanism to respond to the care-receiver's natural movements while maintaining support.
Solution Approach 2:
The system uses position sensors and force sensors to continuously monitor the care-receiver's position and applied force, then feeds this information back to the controller which adjusts the traction mechanism's path accordingly. This closed-loop feedback ensures the mechanism follows the care-receiver's intended motion while maintaining support.
2Reliability
If the traction mechanism maintains a fixed convexly curved path, then the standing/sitting motion is controlled and safe, but the care-receiver experiences discomfort when their natural movement causes the mechanism to pull off-path
Solution Approach 1:
The system transforms the fixed path into a dynamic path that adapts in real-time. The controller continuously calculates a new target position on the convexly curved path based on the care-receiver's current position and applied force, ensuring the mechanism remains on an appropriate support path while accommodating natural movement variations.
Solution Approach 2:
The system changes the path parameters dynamically by calculating target positions that satisfy both the convexly curved path constraint and the care-receiver's current state. This allows the path to maintain its safety characteristics while adapting to real-time conditions.
3Extent of automation
If the system uses preset path data for automatic mode, then the operation is simple and automated, but the system cannot adapt when the care-receiver tries to perform motion with their own power
Solution Approach 1:
The system incorporates real-time feedback from position and force sensors that monitor the care-receiver's movements and applied forces. This feedback enables the automatic system to detect when the care-receiver is moving with their own power and adjust the path accordingly, combining automation with adaptability.
Solution Approach 2:
The system transitions from static preset path data to a dynamic path generation approach where the target position is continuously calculated based on real-time sensor data. This allows the automatic mode to remain simple while becoming adaptive to the care-receiver's natural movements.
Data Source
AI summary
A holding mechanism holds a care-receiver, a traction mechanism that is connected to the holding mechanism, and the traction mechanism pulls the holding mechanism so that the holding mechanism draws a predetermined path. On the basis of a position of the holding mechanism detected by a position sensor and a force detected by a force sensor, if the position of the holding mechanism is not on the predetermined path, a controller controls the traction mechanism so that the holding mechanism draws the predetermined path by changing the position of the holding mechanism to a position on the predetermined path at a time after the time at which the position is detected.