Proposal of self-transfer assistance system enabling a transfer from the supine position

Abstract

Some people with physical disabilities have difficulty transferring alone. Many of them want to transfer by themselves without depending on caregivers. We have been advancing research on “self-transfer assistance robot” based on the concept that a care receiver can transfer alone. However, since the self-transfer assistance robot helps transfer from the sitting position to the sitting position, it is difficult for people who cannot take a sitting position alone to use the robot for transferring by themselves. In this research, we propose a transfer from the supine position by “self-transfer assistance system” composed of “self-transfer assistance robot”, newly added “leg assistance robot” and “electric bed assisting the postural change”. In order to realize this system, a part of the self-transfer assistance robot, the leg assistance robot, and the pneumatic soft actuator arranged on the bed were prototyped. Experiments of assistance using them were conducted and it was shown that the transfer from the supine position using this system was feasible.