Initial development of direct interaction for a transfer robotic Arm system for caregivers

Area of Science:

• Robotics
• Human-Computer Interaction
• Biomechanics

Background:

• Healthcare-related injuries frequently occur during patient transfers.
• The Strong Arm system aids caregivers with dependent transfers from electric power wheelchairs.
• Current button controls for the Strong Arm system lack intuitive operation.

Purpose of the Study:

• To develop a more intuitive direct interaction method for the Strong Arm robotic transfer system.
• To enhance user control and reduce the risk of injury during robotic-assisted transfers.

Main Methods:

• Implemented direct interaction using a three-axis load cell for the Strong Arm system.
• Defined intentional force thresholds on each axis to initiate movement.
• Established minimum force requirements (3.5 N in X, 16.9 N in Y, 5.3 N in Z) to prevent unintended activation.

Main Results:

• The developed direct interaction method allows intuitive control of the Strong Arm system.
• Specific force thresholds were identified to differentiate intentional from unintentional user input.
• The system successfully prevented unintended movements caused by incidental human hand forces.

Conclusions:

• Direct interaction with force-sensing technology significantly improves the intuitiveness of the Strong Arm robotic transfer system.
• The established force thresholds effectively mitigate the risk of accidental activation, enhancing caregiver and patient safety.
• This development represents a crucial step towards safer and more user-friendly robotic assistance in healthcare settings.