Moby助老人站立移动，提升独立性与安全。
A Standing Support Mobility Robot for Enhancing Independence in Elderly Daily Living
- 采用站立姿态设计，支持主动与自动导航
- 实测显示可显著减少转移时间与疲劳感
- 适合行动不便老人日常起立与移动
本文介绍了一款名为「Moby」的站立支撑型移动机器人，旨在提升老年人在如厕转移等日常活动中的独立性与安全性。与传统坐式助行器不同，该机器人保持使用者直立姿势，减轻身体负担，实现自然社交互动，并增强自我效能感。Moby兼具被动支撑与主动移动功能，具备易用、轻量化、舒适、多功能及高效坐站辅助等特点。系统基于机器人操作系统（ROS），支持手动与自主运行模式；通过自研控制算法结合NAV2与激光雷达（LiDAR），实现稳定导航。本文对比现有移动辅助方案，详细阐述设计细节，并通过NASA-TLX量表与时间对比实验，验证其设计有效性，证明该机器人在提升使用体验方面的优势。
原文摘要 · Abstract (English)
This paper presents a standing support mobility robot "Moby" developed to enhance independence and safety for elderly individuals during daily activities such as toilet transfers. Unlike conventional seated mobility aids, the robot maintains users in an upright posture, reducing physical strain, supporting natural social interaction at eye level, and fostering a greater sense of self-efficacy. Moby offers a novel alternative by functioning both passively and with mobility support, enabling users to perform daily tasks more independently. Its main advantages include ease of use, lightweight design, comfort, versatility, and effective sit-to-stand assistance. The robot leverages the Robot Operating System (ROS) for seamless control, featuring manual and autonomous operation modes. A custom control system enables safe and intuitive interaction, while the integration with NAV2 and LiDAR allows for robust navigation capabilities. This paper reviews existing mobility solutions and compares them to Moby, details the robot's design, and presents objective and subjective experimental results using the NASA-TLX method and time comparisons to other methods to validate our design criteria and demonstrate the advantages of our contribution.
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