Towards an Assistive Robot that Autonomously Performs Bed Baths for Patient Hygiene

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/37075

Title: Towards an Assistive Robot that Autonomously Performs Bed Baths for Patient Hygiene
Author: King, Chih-Hung ; Chen, Tiffany L. ; Jain, Advait ; Kemp, Charles C.
Abstract: This paper describes the design and implementation of a behavior that allows a robot with a compliant arm to perform wiping motions that are involved in bed baths. A laser-based operator-selection interface enables an operator to select an area to clean, and the robot autonomously performs a wiping motion using equilibrium point control. We evaluated the performance of the system by measuring the ability of the robot to remove an area of debris on human skin. We tested the performance of the behavior algorithm by commanding the robot to wipe off a 1-inch square area of debris placed on the surface of the upper arm, forearm, thigh, and shank of a human subject. Using image processing, we determined the hue content of the debris and used this representation to determine the percentage of debris that remained on the arm after the robot completed the task. In our experiments, the robot removed most of the debris (>96%) on four parts of the limbs. In addition, the robot performed the wiping task using relatively low force (<;3 N).
Description: ©2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. DOI: 10.1109/IROS.2010.5649101 Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, Taipei, 18-22 October 2010.
Type: Proceedings
Post-print
URI: http://hdl.handle.net/1853/37075
ISSN: 2153-0858
ISBN: 978-1-4244-6674-0
Citation: Chih-Hung King, Tiffany L. Chen, Advait Jain, and Charles C. Kemp, “Towards an Assistive Robot that Autonomously Performs Bed Baths for Patient Hygiene, “IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
Date: 2010-10
Contributor: Georgia Institute of Technology. Healthcare Robotics Lab
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Hygiene
Mobile robots
Patient care
Robot dynamics

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