Abstract
This paper addresses the challenge of incorrect initial positioning of critical patients during lifting and transportation, which can result in secondary injuries due to manual handling. This study proposes a positioning adjustment structure and control strategy for a lifting and transportation robot, inspired by the morphological characteristics of the pupal structure. The positioning adjustment mechanism determines the necessary adjustment values for the patient’s positioning by establishing a human body coordinate system and calculating the difference between the patient’s actual position and the target position. This mechanism achieves optimal positioning by simulating the oscillation of body segments characteristic of the pupal structure. Additionally, this study establishes a dynamic mathematical model for the overall lifting structure and determine its motion parameters. An order for patient body positioning and adjustment is derived based on the twisting amplitude of the human body. A PID controller is designed for the overall transport structure, incorporating optimization through a particle swarm optimization algorithm. This methodology efficiently mitigates excessive overshoot and accelerates convergence towards the target value, significantly minimizing patient discomfort and fluctuation during the positioning procedure.
Published Version
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