J-P. Merlet HEPHAISTOS project INRIAmesrob2015.irccyn.ec-nantes.fr/slides/trans_mesrob2015.pdf ·...
Transcript of J-P. Merlet HEPHAISTOS project INRIAmesrob2015.irccyn.ec-nantes.fr/slides/trans_mesrob2015.pdf ·...
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Using robotics methods for mobility and medicalmonitoring of frail people
J-P. MerletHEPHAISTOS project
INRIA
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Assistance Robotics
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Assistance Robotics
HEPHAISTOS is an INRIA team devoted to the assistance to
frail people (elderly, handicapped, . . . )
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Assistance Robotics
HEPHAISTOS is an INRIA team devoted to the assistance to
frail people (elderly, handicapped, . . . )
When starting to investigate this subject in 2006 we have almost
no knowledge about these issues
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Assistance Robotics
3 years
interview period
(2008-2011)
end-users
associations
retirementhouse
caregivers
localauthorities
medicalcommunity
nurses family
doctors nurses
≈ 200 interviews
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Assistance Robotics
for who ?
end-user
helpers
medicalcommunity
Players
Context environment society
Tasks
what ?
for what?
how?
Time
when ?
rules
assistancesystems
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Assistance Robotics
These interviews has allowed us to determine:
• priorities → what, for who, when, what for
- mobility assistance (for elderly, caregivers, family)
- medical monitoring (especially at home)
• guidelines → how, ethical rules
for example
- low intrusivity
- low cost
- low energy consumption, smart objects
Interviews: a real change in my life will be to be able to go alone
to the toilets
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Mobility
• mobility is essential for a minimal autonomy → self-esteem
• first phase of autonomy loss: mobility problem
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Mobility
Mobility operations:
• transfer operations: mechanically demanding task
• walking assistance
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Mobility
Mobility monitoring is an essential tool for the medical
community used for functional and cognitive assessment
• clinical tests: 10m walk, TUG, Tinetti, . . .
• suffer from: robustness, inaccurate or partial
measurements, lack of objectivity, . . .
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Mobility and fall
The fall problem
• in France 10 000 elderly deaths per year are a direct
consequence of a fall
• car accidents: 3000 deaths/year
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Objectives of mobility assistance devices
• provide the right level of assistance for the end-users and
helpers
• manage the fall problem (detection/prevention)
• medical monitoring (provide synthetic assessment
indicators that may be used by doctors, detect rare events
that are warnings for emerging pathologies)
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Objectives of mobility assistance devices
• low cost and intrusivity
• user-friendly: manageable by the subject alone →
self-esteem
• flexible and adaptable
• connected
• to the external world ? yes . . . sometime
• to other devices ? yes, as much as possible
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Transfer
Available solutions: patient lifts
• require an helper, difficult to use by them
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Transfer
Available solutions
• intrusive and expensive
• only 1 or 2 action directions
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Transfer
Robotic solutions: RIBA robot
• really intrusive
• cost, energy autonomy, helper required
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Transfer
Robotic solutions: MONIMAD walker
• quite cumbersome and heavy
• limited transfer ability (sit-to-stand)
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Transfer
Purposes of a robotized solution:
• preserving autonomy by allowing an elderly to remain mobile
• decrease the burden of the caregiver
• allow object manipulation
• avoid fall
Constraints
• should be able to fully lift an elderly: load
• allow access to any part of a room: workspace
• acceptance, cost
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Transfer: another robotized solution
main constraints: load and workspace
• several links connecting the spine and
the torso
• links are in parallel
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Transfer: another robotized solution
How do we implement that for robots ?
Objectives
• divide the load among several links
• only traction/compression in the links
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Transfer: another robotized solution
Practical implementation: 6 independent extensible legs whose
extremities are connected to the base and to the platform
Gough platform 1956 Stewart platform 1965
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Transfer: another robotized solution
Linear actuators have limited stroke ⇒ parallel robots have a
limited workspace
How can we increase this workspace ?
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Transfer: another robotized solution
Linear actuators have limited stroke ⇒ parallel robots have a
limited workspace
How can we increase this workspace ?
Replace the rigid actuators by cables that can be coiled and un-
coiled at will
• low cost, low intrusivity
• high lifting capacity, allow for walk monitoring
VIDEO1 VIDEO2
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Transfer: another robotized solution
Still many theoretical/practical issues to be solved:
• kinematics
• cable tension control
• standards, norms ?
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Walking assistance
Tools used when the first mobility problems appear
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Walking assistance
How can we transform these objects for:
• medical monitoring
• managing fall
• assistance
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Walking monitoring
ANG-light walker
•incremental encoders
in the rear wheels
•accelerometer/gyrometer
•GPS,GSM
•wifi, infra-red
position accuracy:
≈ 1cm over 10m
rectilinear trajectory
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Walking monitoring
Initial assumptions: measuring the trajectory of the walker will
provide information on the walking pattern
example: angular speed around the z axis will allows step
number measurements
–10
–5
0
5
10
2 4 6 8
x
yz
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Walking monitoring: experiments
• 24 "young" subjects at INRIA
• mean age: 32 years, min 28,
max 65
• 30 elderly people at Nice hospital
• age ≥ 65, no severe mobility
problem
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Walking monitoring: experiments10m walking test
elderly people are faster than young people!
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Walking monitoring: experiments10m walking trajectory
elderly people exhibit larger trajectory deviation
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Walking monitoring: experiments
maximal lateral deviation
5
10
15
20
25
5 10 15 20 25
x
yz
new walking indicator
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Walking monitoring: experimentsMaximal instantaneous velocity
maximum instantanous speed
100
120
140
160
180
200
220
5 10 15 20 25
x
yz
no significant difference young/elderly
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Walking monitoring: experimentstrajectory for the L-shaped directive
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Walking monitoring: experiments
Area for performing the maneuvers
0
1000
2000
3000
4000
5000
6000
7000
1 2 3
x
yz old
young
new walking indicator
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Other rollators
ANG-med ANG-II
brake control fully motorized
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Other mobility application
Navigation in a city requires the knowledge of lowered kerbs
location, sideways slope, . . .
On board instrumentation of the ANG walkers allows for
• automatic detection of the location of the lowered kerbs
• sideways slope measurement
→ collaborative map
• a given rollator may provide this information for a few streets
• a fleet of rollators may provide this information for a city
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Other mobility application
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Cane
An alternate to the walker
• monitor walking pattern
• possibly navigation help
• self-raising
• detect fall
• lightning at night
• but don’t modify the look of the
cane!
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Conclusion
Mobility
• is a major issue for autonomy and self-esteem
• may provide functional and cognitive assessment of the
subject
Mobility assistance and monitoring should respect some rules
• multi-functional and low cost
• minimal intrusivity
• collaborative and redundant
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Conclusion
Issues
• our robots are NOT "intelligent" so that social robots is a
dream that may occur when we will all be very, very old
(unless a drastic change in computing technology occurs)
• ethics and privacy respect of medical monitoring
• who should have access to the data ?
• responsibility in case of failure. . . that will definitely occur!
• families and subject should be aware that robots will
never be 100% bugproof