By Topic

Kinematics and control of rigid body manipulation with a flexible sheet and its application to a rehabilitation bed

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
B. Roy ; Dept. of Mech. Eng., MIT, Cambridge, MA, USA ; H. H. Asada

A new method for manipulation of a rigid body with a flexible sheet is presented, and the method is applied to repositioning of bedridden patients. A key feature of the proposed system is that the body is not securely connected to the sheet and the contact region between the body and the sheet changes dynamically during manipulation. The use of a soft flexible sheet and the untethered nature of manipulation, makes the system particularly well suited to handling the human body. We present an application to a rehabilitation bed for repositioning a bedridden patient to alleviate secondary ailments such as bedsores. In order to prevent injury to the patient's fragile skin, it must be ensured that the patient does not slip on the sheet during repositioning. We model the system and present a no-slip condition based on system parameters. The model is used to develop a closed loop control strategy for coordinating the motions of multiple actuators of the prototype bed. The prototype bed can successfully reposition test subjects using the control strategy developed.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

27-31 Oct. 2003