Multiple Welfare-Robots Architecture of Smart House for Security Assistance of Daily Activities

摘要

To tackle behavioral assistance for elderly care and disabled care in daily life, our laboratory rollout five welfare robots: walking support robot, walking rehabilitation robot, intelligent wheelchair robot, excretory support robot and handling robot. By integrating the multi-robots architecture and distributed sensor network, we proposes smart house which can be used for research in security assistance. Furthermore, aiming to implement the procedural assistance of rising and standing, transfer framework based on multi-robots architecture have been proposed. It aims to reduce the torso impact force and stabilize centre of gravity, establishing the rising transfer planning and standing transfer planning, combining with fall detection and rescue, which contributes to achieve secure and comfortable behavioral assistance in top-down way. Finally, we conducted experiments in our MWRA smart house to rising transfer, standing transfer, behavior assistance, fall detection and rescue. The experiments show MWRA have the auxiliary capabilities for ADLs(basic activities of daily living) and IADLs (instrumental activities of daily living), even EADLs(enhanced activities of daily living) in safety and comfortable way, which can be used in home, hospitals, rehabilitation center and other scenes for elderly care and disabled care.