Three-dimensional human-robot mechanics modeling for dual-arm nursing-care robot transfer based on individualized musculoskeletal multibody dynamics_Journal of Biomedical Engineering

Authors：

YANG Zhiqiang ¹ , HOU Funing ¹ , LIN Qiang ² , XIE Jiexin ¹ ,  LU Hao ³ ,  GUO Shijie ¹

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;

Corresponding author：

LU Hao, Email: 99013921@tust.edu.cn

Keywords：

Transfer tasks; Nursing-care robots; Mechanics model; Individualized; Musculoskeletal multibody dynamics

DOI：

10.7507/1001-5515.202406074

Video：

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Abstract Full text Figures/Tables Video References Cited by

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.

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1. Fernandes F, Turra C M, Rios Neto E L G. World population aging as a function of period demographic conditions. Demographic Research, 2023, 48: 353-372.
2. Ali Alabdali A, Al-Noumani H, Al Harrasi T K, et al. Low back pain knowledge and associated disability among nursing staff in Oman. Int J Orthop Trauma Nurs, 2024, 53: 101085.
3. Humphreys H C, Choi Y M, Book W J. Advanced patient transfer assist device with intuitive interaction control. Assist Technol, 2023, 35(1): 3-13.
4. Wang H K, Chen C H, Huang C, et al. On-road vehicle emission inventory and its uncertainty analysis for Shanghai, China. Sci Total Environ, 2008, 398(1-3): 60-67.
5. Ning M, Ren M X, Fan Q L, et al. Mechanism design of a robotic chair/bed system for bedridden aged. Adv Mech Eng, 2017, 9(3): 1687814017695691.
6. Nakamura M, Kume Y, Suzurikawa J, et al. Development of transfer assist robot based on the user needs. J Robot Mechatron, 2013, 25(6): 992-999.
7. Mukai T, Hirano S, Yoshida M, et al. Tactile-based motion adjustment for the nursing-care assistant robot RIBA//2011 IEEE International Conference on Robotics and Automation. Shanghai: IEEE, 2011: 5435-5441.
8. 李洋, 冯适意, 朱德良, 等. 面向移乘护理的冗余双臂机器人行为安全控制. 机械工程学报, 2023, 59(9): 76-89.
9. Zyada Z, Hayakawa Y, Hosoe S. Model-based control for nonprehensile manipulation of a two-rigid-link object by two cooperative arms//2010 IEEE International Conference on Robotics and Biomimetics. Tianjin: IEEE, 2010: 472-477.
10. Zyada Z, Hayakawa Y, Hosoe S. Fuzzy nonprehensile manipulation control of a two-rigid-link object by two cooperative arms. IFAC Proceedings Volumes, 2011, 44(1): 14614-14621.
11. Jiang C A, Ueno S. Posture maintenance control of 2-link object by nonprehensile two-cooperative-arm robot without compensating friction. IEEE/CAA Journal of Automatica Sinica, 2019, 6(6): 1397-1403.
12. Jiang C A, Nakatomi Y, Ueno S. Optimal control of holding motion by nonprehensile two-cooperative-arm robot. Math Probl Eng, 2016, 2016(1): 5921871.
13. Mehrez O, Zyada Z, Abbas H S, et al. Non-prehensile manipulation planning of a three-rigid-link object using two cooperative robot arms. International Journal of Modelling, Identification and Control, 2016, 26(1): 19-31.
14. Mehrez O, Zyada Z, Suzuki T, et al. Equilibrium area analysis for nonprehensile manipulation of a three-link object by two cooperative arms in a plane. Mechatronics, 2018, 53: 56-71.
15. Chen M, Li S, Yang Z, et al. Human-comfort evaluation for a patient-transfer robot through a human–robot mechanical model. ASCE-ASME J Risk and Uncert in Engrg Sys, Part B: Mech Engrg, 2024, 10(1): 011203.
16. Guan Q, Yang Z, Lu H, et al. Analysis of comfort during transfer by a dual-arm care robot based on human body pressure and surface electromyographic signals. Bioengineering(Basel), 2023, 10(8): 903.
17. Yang Z, Lu H, Chen M, et al. Human–robot mechanics model using hip torque identification with a dual-arm nursing-care transfer robot. International Journal of Advanced Robotic Systems, 2024, 21(3): 270129786.
18. 卢浩, 郭士杰, 杨志强, 等. 2R耦合驱动关节动力学建模与参数辨识. 机械工程学报, 2022, 58(23): 51-64.
19. 中国标准化研究院, 空军军医大学空军特色医学中心, 中国人民解放军军事科学院防化研究院, 等. GB/T 5703-2023 用于技术设计的人体测量基础项目. 北京: 中国标准出版社, 2023.
20. Damsgaard M, Rasmussen J, Christensen S T, et al. Analysis of musculoskeletal systems in the AnyBody Modeling System. Simul Model Pract Theory, 2006, 14(8): 1100-1111.
21. 任佳轩, 陈瑱贤, 张静, 等. 单髁膝关节置换术股骨部件不同内外侧安装位置的骨肌多体动力学研究. 生物医学工程学杂志, 2023, 40(3): 508-514,521.
22. van der Helm F C. Analysis of the kinematic and dynamic behavior of the shoulder mechanism. J Biomech, 1994, 27(5): 527-550.
23. Gerus P, Sartori M, Besier T F, et al. Subject-specific knee joint geometry improves predictions of medial tibiofemoral contact forces. J Biomech, 2013, 46(16): 2778-2786.
24. 范勋健, 陈瑱贤, 曹卓, 等. 个体化骨肌多体动力学和有限元联合建模的肩胛骨锁定板生物力学评估方法. 西安交通大学学报, 2019, 53(07): 168-176.
25. Crowninshield R D, Brand R A. A physiologically based criterion of muscle force prediction in locomotion. J Biomech, 1981, 14(11): 793-801.

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