Development and real time control of an arm for patient assistance for lifting mobility robot (Palmbot)

The dawn of medical robots for hospital applications has enormously enhanced the services rendered to the patients. The medical robots, spanning from surgical to rehabilitation, provide their support not only to the doctors but to the patients as well. In spite of such advancement, some major health...

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Main Author:	Muralindran Mariappan
Format:	Thesis
Language:	English English
Published:	2004
Subjects:	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General)
Online Access:	https://eprints.ums.edu.my/id/eprint/38710/1/24%20PAGES.pdf https://eprints.ums.edu.my/id/eprint/38710/2/FULLTEXT.pdf
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id	my-ums-ep.38710
record_format	uketd_dc
spelling	my-ums-ep.387102024-05-24T01:19:13Z Development and real time control of an arm for patient assistance for lifting mobility robot (Palmbot) 2004 Muralindran Mariappan TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) The dawn of medical robots for hospital applications has enormously enhanced the services rendered to the patients. The medical robots, spanning from surgical to rehabilitation, provide their support not only to the doctors but to the patients as well. In spite of such advancement, some major health hazards still exist for the hospital nurses. Lifting and moving the patients in hospitals are the usual duties of nurses. Injuries and backache occur while they frequently lift the unconscious, uncooperating or immobile patients. This research highlights on the development of a single prototype arm of a Patient Assistance for Lifting Mobility Robot (PALMBOT) as an effort in order to resolve this problem. Fieldwork conducted in Queen Elizabeth Hospital and Nursing Training College, Kata Kinabalu reveals that 83. 9% of nurses have backache and back injuries due to patient handling. Observations on lifting techniques and hospital specifications were used to conceive the PALMBOT. The PALMBOT is a semi-automatic robot designed especially to assist nurses to perform lifting and transferring patients to different locations, thereby reducing the chances of nurses getting injured during these tasks. The three arms of the PALMBOT, which perform the automatic patient loading and unloading process, use a set of open end conveyor systems. Since safety is a primary concern of the PALMBOT, Artificial Intelligence (Al) was incorporated in developing various sensing and control modules. Neural network was employed for the detection and execution systems which consist of Patient Position Tracking System (PPTS), Danger Monitoring System (DMS), Automatic Procedure Sequencing System (APSS) and Fail Safe and Automatic Recovery System (FSARS). The intricacy faced in maintaining the tension of the conveyor was resolved by using fuzzy logic in the Conveyor Tension Control System. A prototype single PALMBOT arm was fabricated. All the hardware and software modules are interconnected by using several tools such as MATLAB, EPOS Position Control and MPLAB® IDE PIC C working on the LABVIEW V8.0 as a common platform. The PALMBOT system is tested by a set of experiments and by simulated studies and found to be demonstrating an acceptable performance. It is envisaged that the PALMBOT is a very useful addition to the modern hospital facilities. 2004 Thesis https://eprints.ums.edu.my/id/eprint/38710/ https://eprints.ums.edu.my/id/eprint/38710/1/24%20PAGES.pdf text en public https://eprints.ums.edu.my/id/eprint/38710/2/FULLTEXT.pdf text en validuser dphil doctoral Universiti Malaysia Sabah Sekolah Kejuruteraan dan Teknologi Maklumat
institution	Universiti Malaysia Sabah
collection	UMS Institutional Repository
language	English English
topic	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General)
spellingShingle	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General) Muralindran Mariappan Development and real time control of an arm for patient assistance for lifting mobility robot (Palmbot)
description	The dawn of medical robots for hospital applications has enormously enhanced the services rendered to the patients. The medical robots, spanning from surgical to rehabilitation, provide their support not only to the doctors but to the patients as well. In spite of such advancement, some major health hazards still exist for the hospital nurses. Lifting and moving the patients in hospitals are the usual duties of nurses. Injuries and backache occur while they frequently lift the unconscious, uncooperating or immobile patients. This research highlights on the development of a single prototype arm of a Patient Assistance for Lifting Mobility Robot (PALMBOT) as an effort in order to resolve this problem. Fieldwork conducted in Queen Elizabeth Hospital and Nursing Training College, Kata Kinabalu reveals that 83. 9% of nurses have backache and back injuries due to patient handling. Observations on lifting techniques and hospital specifications were used to conceive the PALMBOT. The PALMBOT is a semi-automatic robot designed especially to assist nurses to perform lifting and transferring patients to different locations, thereby reducing the chances of nurses getting injured during these tasks. The three arms of the PALMBOT, which perform the automatic patient loading and unloading process, use a set of open end conveyor systems. Since safety is a primary concern of the PALMBOT, Artificial Intelligence (Al) was incorporated in developing various sensing and control modules. Neural network was employed for the detection and execution systems which consist of Patient Position Tracking System (PPTS), Danger Monitoring System (DMS), Automatic Procedure Sequencing System (APSS) and Fail Safe and Automatic Recovery System (FSARS). The intricacy faced in maintaining the tension of the conveyor was resolved by using fuzzy logic in the Conveyor Tension Control System. A prototype single PALMBOT arm was fabricated. All the hardware and software modules are interconnected by using several tools such as MATLAB, EPOS Position Control and MPLAB® IDE PIC C working on the LABVIEW V8.0 as a common platform. The PALMBOT system is tested by a set of experiments and by simulated studies and found to be demonstrating an acceptable performance. It is envisaged that the PALMBOT is a very useful addition to the modern hospital facilities.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Muralindran Mariappan
author_facet	Muralindran Mariappan
author_sort	Muralindran Mariappan
title	Development and real time control of an arm for patient assistance for lifting mobility robot (Palmbot)
title_short	Development and real time control of an arm for patient assistance for lifting mobility robot (Palmbot)
title_full	Development and real time control of an arm for patient assistance for lifting mobility robot (Palmbot)
title_fullStr	Development and real time control of an arm for patient assistance for lifting mobility robot (Palmbot)
title_full_unstemmed	Development and real time control of an arm for patient assistance for lifting mobility robot (Palmbot)
title_sort	development and real time control of an arm for patient assistance for lifting mobility robot (palmbot)
granting_institution	Universiti Malaysia Sabah
granting_department	Sekolah Kejuruteraan dan Teknologi Maklumat
publishDate	2004
url	https://eprints.ums.edu.my/id/eprint/38710/1/24%20PAGES.pdf https://eprints.ums.edu.my/id/eprint/38710/2/FULLTEXT.pdf
_version_	1804890339179233280

Development and real time control of an arm for patient assistance for lifting mobility robot (Palmbot)

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