基于简约模糊系统的多福祉机器人移乘方法

Transfer Method of Multiple Welfare-Robots Based on Minimal Fuzzy System

针对行动不便者在日常生活中起床、站立、排泄等移乘行为的辅助,基于自主研发的5台福祉机器人与传感器网络搭建了智能助老助残房间.该系统为移乘行为提供服务平台,并提出了兼具安全性与舒适性的移乘推理算法和移乘规划方法.首先论述了多福祉机器人的功能与日常自主行为的局限性.针对多种不同行动能力的用户群体,提出了一种基于简约粗糙集的移乘方式推理算法.在使用者对自己行动能力不确定、病情信息不完备的情况下,制订对应的移乘方案.然后,以使用者行为的安全性与舒适性为出发点,提出了起床移乘规划与站立移乘规划.最后进行了移乘方法推理及移乘实验.实验表明,该移乘推理算法可以为不同行动能力的使用者制订合适的移乘方法.站立移乘状态下,可以分别减小患侧与健侧足底压强39.9%和19.5%,起床移乘状态下可以分别减小背部与臀部的压强5.05%和3.95%.该基于多福祉机器人的移乘推理系统可以应用于家庭、养老院与康复中心等场合.

Aiming at the auxiliary transfer behavior of rising,standing and excreting in daily life of people with mobility inconvenience,a smart house for the aged and the disabled based on 5 self-developed welfare-robots and sensor network is established.The system provides a service platform for transfer behavior,and a transfer reasoning algorithm and a transfer planning method satisfying safety and comfort requirements are also proposed.Firstly,the function of multiple welfare-robots and the limitation of daily autonomous behavior are discussed.A transfer reasoning algorithm based on reduced rough set is proposed for user groups with different mobility.The corresponding transfer scheme is formulated when user groups are uncertain about their mobility and the patient information is incomplete.Then,rising and standing transfer planning methods are proposed to ensure the safety and comfort of users’behavior.Finally,the transfer method is reasoned and some transfer experiments are completed.Experiments show that the suitable transfer method can be reasoned for users with different mobility by the proposed transfer reasoning algorithm.The plantar pressure of the affected side and the healthy side can be reduced by 39.9%and 19.5%respectively by standing transfer,and the pressure of the back and buttocks can be reduced by 5.05%and 3.95%respectively by rising transfer.The transfer reasoning system based on multiple welfare-robots can be applied to families,nursing homes and rehabilitation centers.