A Robot based Nursing care estimation and controlling patients Arms

Abstract

The demand for robotics to tackle the problems resulting from the ageing society is increasing. For the
safety of a dual-arm transfer robot which can lift and move a care receiver from a bed to a wheelchair or the back,
this paper proposes a novel control strategy for motion control. The robot arms and the subject being held by the
robot constitute a strong coupling system which is under-actuated and nonlinear. To solve the above problem, we
divide the manipulation of the system into posture adjustment of the subject in holding and arm-position adjustment
when the arms leave the subject for an instance to avoid friction. The posture adjustment of the subject was realized
by using a sliding mode control method, while a neural network was introduced to build the control model and
identify the parameters, and impedance control was introduced in arm-position adjustment. The effectiveness of the
control strategy was confirmed by numerical simulation.
Index Terms - posture adjustment, arm-position adjustment, sl