Three-dimensional human-robot mechanics modeling for dual-arm nursing-care robot transfer based on individualized musculoskeletal multibody dynamics.
10.7507/1001-5515.202406074
- Author:
Zhiqiang YANG
1
;
Funing HOU
1
;
Qiang LIN
2
;
Jiexin XIE
1
;
Hao LU
3
;
Shijie GUO
1
Author Information
1. Academy for Engineering and Technology, Fudan University, Shanghai 200433, P. R. China.
2. General Hospital of North China Petroleum Administration, Cangzhou, Hebei 062552, P. R. China.
3. College of Electronic Information and Automation, Tianjin University of Science and Technology, Tianjin 300457, P. R. China.
- Publication Type:Journal Article
- Keywords:
Individualized;
Mechanics model;
Musculoskeletal multibody dynamics;
Nursing-care robots;
Transfer tasks
- MeSH:
Humans;
Robotics;
Biomechanical Phenomena;
Posture;
Imaging, Three-Dimensional;
Nursing Care
- From:
Journal of Biomedical Engineering
2025;42(1):96-104
- CountryChina
- Language:Chinese
-
Abstract:
During transfer tasks, the dual-arm nursing-care robot require a human-robot mechanics model to determine the balance region to support the patient safely and stably. Previous studies utilized human-robot two-dimensional static equilibrium models, ignoring the human body volume and muscle torques, which decreased model accuracy and confined the robot ability to adjust the patient's posture in three-dimensional spatial. Therefore, this study proposes a three-dimensional spatial mechanics modeling method based on individualized human musculoskeletal multibody dynamics. Firstly, based on the mechanical features of dual-arm support, this study constructed a foundational three-dimensional human-robot mechanics model including body posture, contact position and body force. With the computed tomography data from subjects, a three-dimensional femur-pelvis-sacrum model was reconstructed, and the individualized musculoskeletal dynamics was analyzed using the ergonomics software, which derived the human joint forces and completed the mechanic model. Then, this study established a dual-arm robot transfer platform to conduct subject transfer experiments, showing that the constructed mechanics model possessed higher accuracy than previous methods. In summary, this study provides a three-dimensional human-robot mechanics model adapting to individual transfers, which has potential application in various scenarios such as nursing-care and rehabilitating robots.
