Vibration Characteristics Analysis of Elderly-Robot Couple System for Transporting Posture of Elderly-Assistant Robot
Hamza K. Xiaodong Z. Xiaoqi M. Masengo G. Alhassan A.B.
2024Institute of Electrical and Electronics Engineers Inc.
IEEE Access
2024#12153628 - 153642 pp.
With the growing elderly population worldwide, it is crucial to develop an advanced elderly-assistant robot that can assist healthcare workers and reduce the care burden on society. Nonetheless, older people, often associated with decreased muscle strength and increased fatness, could be adversely affected by the induced vibration of the assistant robots. Thus, to help older people execute daily activities while reducing vibration impacts, the vibration characteristics analysis of the human-robot coupled system for the transporting posture of the elderly-assistant robot (EAR) is presented in this paper. The equations of motion for the coupled elderly-EAR system are established using Newtons second law. Then, the dynamic behavior of the model is investigated and analyzed in a Matlab simulation environment for different road roughness and robot speeds. In addition, real-time experimental analysis was conducted to verify the effectiveness of the derived model using asphalt and interlock roads for the EARs speeds of 4.5km/h and 7km/h. The simulation and the experimental results show that the derived model can be efficiently applied to assess the robot-user vibration transmissibility of the road-induced vibration. Finally, the ISO 2631-1 based comfortability analysis demonstrates guaranteed EARs stability and ride comfort of the elders on asphalt and interlock roads.
dynamic model , EAR , elder-robot couple model , ride comfort , Vibration analysis
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Xian Jiaotong University, School of Mechanical Engineering, Shaanxi, Xian, 710049, China
Benha University, Faculty of Engineering at Benha, Benha, 13511, Egypt
Xian Jiaotong University, Shaanxi Key Laboratory of Intelligent Robot, Xian, 710049, China
Nazarbayev University, School of Engineering and Digital Sciences, Department of Robotics and Mechatronics, Astana, 010000, Kazakhstan
Xian Jiaotong University
Benha University
Xian Jiaotong University
Nazarbayev University
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