A Method for a Compliant Robot Arm to Perform a Bandaging Task on a Swaying Arm: A Proposed Approach

• Published in: IEEE Robotics & Automation Magazine Vol. 30; no. 1; pp. 50 - 61
• Main Authors: Li, Juncheng, Sun, Weiping, Gu, Xieping, Guo, Jing, Ota, Jun, Huang, Zhifeng, Zhang, Yun
• Format: Journal Article
• Language: English; Japanese
• Published: New York IEEE 01.03.2023; Institute of Electrical and Electronics Engineers (IEEE); The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Arms; Assistive technologies; Decoupling; Medical services; Modulus of elasticity; Patient rehabilitation; Robot arms; Robot sensing systems; Robots; Trajectory; Trajectory control

Bandaging is a regular and indispensable nursing task in daily medical care. The task is challenging for robots because it requires simultaneous control of the bandaging trajectory and tension. The patient's involuntary swaying due to pain and other reasons may cause further complications. To s...