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首页> 外文期刊>International Journal of Information Technology >Mathematical Description of Functional Motion and Application as a Feeding Mode for General Purpose Assistive Robots
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Mathematical Description of Functional Motion and Application as a Feeding Mode for General Purpose Assistive Robots

机译：功能运动的数学描述及其作为通用辅助机器人进给模式的应用

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Eating a meal is among the Activities of Daily Living, but it takes a lot of time and effort for people with physical or functional limitations. Dedicated technologies are cumbersome and not portable, while general-purpose assistive robots such as wheelchair-based manipulators are too hard to control for elaborate continuous motion like eating. Eating with such devices has not previously been automated, since there existed no description of a feeding motion for uncontrolled environments. In this paper, we introduce a feeding mode for assistive manipulators, including a mathematical description of trajectories for motions that are difficult to perform manually such as gathering and scooping food at a defined/desired pace. We implement these trajectories in a sequence of movements for a semi-automated feeding mode which can be controlled with a very simple 3-button interface, allowing the user to have control over the feeding pace. Finally, we demonstrate the feeding mode with a JACO robotic arm and compare the eating speed, measured in bites per minute of three eating methods: a healthy person eating unaided, a person with upper limb limitations or disability using JACO with manual control, and a person with limitations using JACO with the feeding mode. We found that the feeding mode allows eating about 5 bites per minute, which should be sufficient to eat a meal under 30min.
机译：进餐是日常生活的活动之一，但对于身体或功能有限的人来说，这需要花费大量时间和精力。专用技术笨重且不便于携带，而通用辅助机器人（如基于轮椅的机械手）难以控制，无法进行复杂的连续运动（如进餐）。由于没有关于不受控制的环境的进给运动的描述，因此以前没有用这种设备进行进食。在本文中，我们介绍了辅助操纵器的进给模式，包括数学上难以手动执行的运动轨迹的数学描述，例如以定义的/所需的速度收集和铲起食物。对于半自动进纸模式，我们以一系列运动实现这些轨迹，该模式可以通过非常简单的3按钮界面进行控制，从而使用户可以控制进纸速度。最后，我们演示了JACO机械臂的进食模式，并比较了三种进食方式的进食速度（以每分钟叮咬为单位）：三种饮食方法：无人进食的健康人，使用JACO手动控制的上肢受限或残障的人以及有限制的人在喂食模式下使用JACO。我们发现，喂食模式允许每分钟吃约5口食物，这足以在30分钟内吃完饭。

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