Development Of A Scrubbing Structure And Cleanliness Evaluation Method For The Bath Assisted Robot

In order to meet the needs of the growing number of the disabled elderly for bath care,and alleviate the burden of nursing staff,this project develops a bath assisted robot for the disabled elderly that realizes functions including showering,scrubbing,drying,disinfection and real-time monitoring vital signs.It has important social application value for relieving the pressure on medical health and elderly care,and improving the living quality of the elderly.The research is carried out from the following four aspects:(1)Combine the research status on bath care at home and abroad,summarize the main functions of the bath assisted robot,moreover propose system components and key indicators.Devise the main mechanical structure and conduct mechanical properties analysis of the key structure of the bath assisted robot.(2)Develop the key parameters and detection technology on monitoring vital signs of the elderly and design sensor system for measuring vital signs,bath temperature,scrubbing pressure,drying time and other technical indicators in the automatic bath processes.(3)Excogitate the software and hardware system of the controller,construct the collaborative control framework and communication link of multiple controllers based on the standard bath care processes,in addition,design the embedded program.(4)Propose a method for evaluating the cleanliness of body surface,and study the data-driven method on improving cleaning effect of scrubbing structure.Construct a bath assisted robot prototype and verify the rationality and safety of the bath care processes.The experimental research shows that the bath assisted robot realizes the automatic bath care process of showering,scrubbing,drying,disinfection,and monitoring and feedback of vital signs.It is shown that compared with traditional ways,the reduction of skin grease content averagely increases 3.9%on the front of the body and 2.3% on the back of the body.The feasibility and effectiveness of the automatic bath care processes of the bath assisted robot is preliminarily proved.The main innovations of the bath assisted robot designed in this project include:(1)Develop a scrubbing structure and control method that realize the all-round cleanliness of the body.According to the needs of the disabled elderly and nursing staff for automatic bath care processes and easy operation,this project designs a scrubbing structure that can clean the front and back of body at the same time and integrates sensors,controllers and actuators to realize the all-round cleanliness of the body.(2)Propose a method for evaluating the cleanliness of body surface.Based on the body surface grease content data,this project uses the hypothesis test and ANOSIM(Analysis of Similarities)method to evaluate the cleaning effect of bath care,comprehensively analyzes the value of and,and give evaluating feedback of the cleaning effect of body surface.