Algorithm for selecting appropriate transfer support equipment and a robot based on user physical ability

Abstract

In this present paper, we propose an algorithm for selecting appropriate transfer support equipment and robot based on the physical ability of the user. In addition, we describe the relationship between physical human features and the burden during standing when using a standing support robot. Although a number of care support devices have been developed, assistive robots are not yet popular because users do not know which devices are appropriate for their needs or physical abilities. In this study, we focus on a transfer support device and propose an algorithm for selecting transfer support equipment and a robot that suits the user's physical ability. We investigated the relationship between standing support equipment including a robot and the physical burden during standing, which is a basic transfer motion. Experimentally, we analyzed and calculated the knee and ankle joint moments and discussed the relationship between standing support equipment and knee and ankle joint moments during standing; we also investigated and the relationship between physical human features and the knee joint moment during standing. Our results identified standing support equipment that was appropriate to the user's physical ability. We found that it was effective to provide an up/down seat to persons having low residual ability; a standing support robot is appropriate for people having less residual ability in the knees, and a railing is suitable for people having low residual ability in the ankles.