Research Papers

An Advanced Patient Lift and Transfer Device for the Home

[+] Author and Article Information
Roger Bostelman, Tommy Chang

 National Institute of Standards and Technology, Gaithersburg, MD 20899

Ji-Chul Ryu

Department of Mechanical Engineering, University of Delaware, Newark, DE 19716

Joshua Johnson

 Florida Gulf Coast University, Fort Myers, FL 33965

Sunil K. Agrawal

Department of Mechanical Engineering, University of Delaware, Newark, DE 19716agrawal@udel.edu

J. Med. Devices 4(1), 011004 (Mar 26, 2010) (8 pages) doi:10.1115/1.4001255 History: Received October 07, 2009; Revised January 22, 2010; Published March 26, 2010; Online March 26, 2010

The home lift, position, and rehabilitation (HLPR) chair has a unique design and novel capabilities when compared with conventional powered wheelchairs. In addition to mobility, it provides lift and can transfer patients. Even though medical devices are developing at a rapid pace today, an aspect that is often overlooked in these developments is adherence to “rider safety standards.” The contributions of this paper are threefold: (i) novel design of a lift and transfer system, (ii) experiments and results toward improved stability test designs that include HLPR-type devices to meet rider safety standards, and (iii) autonomous navigation and control based on nonlinear system theory of dynamic feedback linearization. Stability experimental results show promise for multipurpose patient mobility, lift, and transfer devices such as HLPR. A method for autonomous maneuvers was tested in simulation and experiments. We also expect the autonomous or semi-autonomous mobility mode of the vehicle to be useful for riders who have potential neural and cognitive impairments.

Copyright © 2010 by American Society of Mechanical Engineers
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Figure 1

HLPR chair prototypes 1 and 2. Graphics showing the concept of placing a patient onto a toilet or a chair.

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Figure 2

Static stability test configurations and results showing (a) (left to right) rear, forward, and lateral HLPR chair frames; (b) (left to right) forward, side, and rear seat orientations of the HLPR chair with respect to the frame; and (c) table of static stability test results

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Figure 3

(a) Dynamic stability test results. (b) The photo shows the start position of a starting forward test.

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Figure 4

Dynamic stability while traversing a step test results using a horizontal test surface instead of a 10 deg ramp as suggested by current standards with scores ranging from 0 (full tip) to 3 (no tip)

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Figure 5

The rear wheel-driven HLPR chair in Cartesian space described by (x,y,θ,ϕ). From the no-slip condition, the instantaneous center of rotation is located at I.

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Figure 6

The integrated planner and controller with the kinematic model of the HLPR chair

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Figure 7

(a) The desired and actual trajectories with the kinematic model-based controller. An initial error of 1 m in x is given to check the controller performance. (b) The state trajectories with the controller.

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Figure 8

(a) A graphic top-view of a demonstration path to the toilet. (b) Computed path using the planner/controller.

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Figure 9

Sequential video captures of the HLPR chair following via points in a laboratory demonstration to enter and dock with a toilet




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