Quantitative Evaluation of Clothing Assistance using Whole-Body Robotic Simulator of the Elderly

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI:10.1109/RO-MAN46459.2019.8956308

R. P. Joshi, T. Shibata, Kunihiro Ogata, Y. Matsumoto

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引用次数: 1

Abstract

The recent demographic trend across developed nations shows a dramatic increase in the aging population, fallen fertility rates and a shortage of caregivers. Robotic solutions to clothing assistance can significantly improve the Activity of Daily Living (ADL) for the elderly and disabled. We have developed a clothing assistance robot using dual arms and conducted many successful demonstrations with healthy people. It was, however, impossible to systematically evaluate its performance because human arms are not visible due to occlusion from a shirt and robot during dressing. To address this problem, we propose to use another robot, Whole-Body Robotic Simulator of the Elderly that can mimic the posture and movement of the elderly persons during the dressing task. The dressing task is accomplished by utilizing Dynamic Movement Primitives (DMP) wherein the control points of DMP are determined by applying forward kinematics on the robotic simulator. The experimental results show the plausibility of our approach.

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老年人全身机器人模拟器对服装辅助的定量评价

发达国家最近的人口趋势显示，人口老龄化急剧增加，生育率下降，护理人员短缺。机器人服装辅助解决方案可以显著改善老年人和残疾人的日常生活活动(ADL)。我们开发了一种使用双臂的服装辅助机器人，并在健康人群中进行了多次成功的演示。然而，由于在穿衣服时被衬衫和机器人遮挡，看不到人的手臂，因此无法系统地评估其性能。为了解决这个问题，我们建议使用另一种机器人，老年人全身机器人模拟器，它可以模仿老年人在穿衣任务中的姿势和运动。利用动态运动原语(DMP)完成修整任务，其中DMP的控制点是通过在机器人模拟器上应用正运动学来确定的。实验结果表明了该方法的可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

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