Patient Lift Robot Controller State-Based Instruction Filtering
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Solution Overview
Problem
Existing robot systems assisting patients in standing up or sitting down may inadvertently perform unwanted operations due to accidental instruction inputs, causing discomfort to the patient.
Innovation Solution
A robot system with a drive mechanism that executes specific patterns for assisting patients in movement, an instruction input device to receive instructions, a state acquirer to monitor the execution state, and a controller to decide whether to execute instructions based on the acquired state, preventing unwanted operations by ensuring the drive mechanism only performs intended actions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the robot system executes instructions from the instruction input device in any circumstances, then the robot responds quickly to user inputs, but the patient may feel uncomfortable due to accidental instructions being executed
Solution Approach 1:
The robot system dynamically adjusts its instruction execution behavior based on the current drive pattern execution state. When a drive pattern is being executed, the system selectively accepts or rejects new instructions based on whether they conflict with the current operation, rather than maintaining a static always-accept or always-reject policy. This dynamic adaptation resolves the contradiction by allowing quick response to valid instructions while preventing unwanted operations during critical movements.
Solution Approach 2:
The system continuously monitors the execution state of drive patterns and uses this feedback to determine whether to execute incoming instructions. The controller checks if a drive pattern is currently being executed and whether the new instruction conflicts with it, making real-time decisions based on system state feedback. This feedback mechanism enables the system to respond appropriately to user inputs while preventing harmful unwanted operations.
2Reliability
If the robot system prevents execution of instructions during drive pattern execution, then unwanted operations are avoided, but the system complexity increases due to state monitoring and decision logic
Solution Approach 1:
The instruction execution control logic is merged with the existing drive pattern execution management in the controller. Rather than adding a separate complex safety system, the controller integrates state checking and instruction validation into its existing control flow. This merging approach maintains operation safety by preventing conflicting instructions while avoiding the need for additional complex hardware or software subsystems.
Solution Approach 2:
The controller performs self-validation by automatically checking its own execution state against incoming instructions. The system uses its internal state information to make autonomous decisions about instruction execution without requiring external safety systems or complex intervention protocols. This self-service approach enhances reliability while keeping the control system relatively simple.
3Adaptability or versatility
If the robot system allows instruction execution during drive pattern execution, then operational flexibility is maintained, but the patient may receive operations they do not wish to receive
Solution Approach 1:
The system dynamically evaluates each incoming instruction against the current drive pattern execution state, allowing execution only when appropriate. This dynamic decision-making process maintains operational flexibility by permitting non-conflicting instructions while preventing unwanted operations that would interfere with current drive patterns or patient comfort.
Solution Approach 2:
The controller uses real-time feedback from the drive pattern execution state to determine whether to accept or reject incoming instructions. This feedback-driven approach enables the system to maintain flexibility by allowing instructions during safe states while preventing unwanted operations during critical drive pattern execution, thus adapting to current operational conditions.
Data Source
AI summary
A robot system for assisting a patient in standing up and/or sitting down is provided. The robot system includes the following elements. A drive mechanism executes a drive pattern for assisting the patient in standing up and/or sitting down. An instruction input device receives an instruction to cause the drive mechanism to execute the drive pattern. A state acquirer acquires an execution state of the drive mechanism which is executing the drive pattern. A controller decides whether or not to cause the drive mechanism to execute the instruction received by the instruction input device, on the basis of the execution state acquired by the state acquirer, and controls the driving of the drive mechanism.