设计可变形夹爪，安全辅助老年人穿脱裤子。
Development of a Compliant Gripper for Safe Robot-Assisted Trouser Dressing-Undressing
- 采用柔顺与抓握力平衡设计，确保操作精准且安全。
- 在狭小空间内穿脱裤子成功率高，实验验证有效。
- 适合中风瘫痪者使用，助力提升独立生活能力。
近年来，日本等国家老龄化加剧，保障老年人生活质量成为重要议题。对于行动受限的老年人或偏瘫患者，如厕协助是关键挑战之一。本文详细介绍了夹爪系统的设计、开发、实验评估及潜在应用，重点解决帮助此类人群穿脱裤子时的独特需求与障碍。所提出的夹爪在柔顺性与抓握力之间取得平衡，确保精确操控的同时保持与使用者的安全柔性交互。该夹爪集成于定制机器人机械臂系统，提供完整的穿脱裤子辅助方案。实验评估显示，其在受限空间内成功完成穿脱裤子任务，成功率高，并通过与现有研究对比验证了有效性。本研究推动了辅助机器人技术发展，助力老年人和身体障碍者维持独立性，提升生活质量。
原文摘要 · Abstract (English)
In recent years, many countries, including Japan, have rapidly aging populations, making the preservation of seniors' quality of life a significant concern. For elderly people with impaired physical abilities, support for toileting is one of the most important issues. This paper details the design, development, experimental assessment, and potential application of the gripper system, with a focus on the unique requirements and obstacles involved in aiding elderly or hemiplegic individuals in dressing and undressing trousers. The gripper we propose seeks to find the right balance between compliance and grasping forces, ensuring precise manipulation while maintaining a safe and compliant interaction with the users. The gripper's integration into a custom--built robotic manipulator system provides a comprehensive solution for assisting hemiplegic individuals in their dressing and undressing tasks. Experimental evaluations and comparisons with existing studies demonstrate the gripper's ability to successfully assist in both dressing and dressing of trousers in confined spaces with a high success rate. This research contributes to the advancement of assistive robotics, empowering elderly, and physically impaired individuals to maintain their independence and improve their quality of life.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。