(1) Background: The nursing of the elderly has received more and more attention, especially the nursing of urination and defecation for the elderly. (2) Purpose: Design an excretion nursing equipment that can accurately identify and deal with urine and stool. (3) Methods: In this paper, based on the analysis of the requirements of excretion nursing equipment, a split mechanical design method and a modular control method are used to design the equipment. The Dempster–Shafer (D-S) evidence theory is used in the identification of urine and stool. (4) Results: The excretion nursing equipment designed in this paper works well according to functional test, and the success rate of stool and urine identification method using D-S evidence theory is 20% higher than that of traditional methods, reaching 90%. (5) Conclusions: The urine and stool recognition and detection algorithm based on the D-S evidence theory used in this paper can improve the recognition accuracy of traditional detection methods, and the designed excretion nursing equipment can realize the function of excretion care for patients.

Variable stiffness joints have been gradually applied in rehabilitation robots because of their intrinsic compliance and greater ability to adjust mechanical stiffness. This paper designs a variable stiffness joint for upper limb rehabilitation training. The joint adopts the variable stiffness principle based special curved surface. The trapezoidal lead screw in the variable stiffness module has a self-locking function, and the stiffness can be maintained without the continuous output torque of the motor. In the aspect of control, back propagation (BP) neural network PID control strategy is used to control the torque of variable stiffness joint. Experiments show that this control method can effectively improve the torque control performance of variable stiffness joints in the case of low stiffness, and the isotonic centripetal resistance training can be realized by using the joints and control methods designed in this paper.

被动储能助力外骨骼充分利用人体自身能量,减少人行走时的能耗.针对目前被动储能助力外骨骼多采用定刚度关节,在分析人行走过程中关节能量流动特性及刚度变化特点的基础上,设计了一种被动变刚度储能助力髋关节外骨骼,建立了人一外骨骼耦合模型,仿真得到人体在平地上步行功耗最小的最优刚度,以及在变刚度条件下人体总功耗、大腿主要肌肉肌力变化.研究结果表明:外骨骼的不同刚度会影响穿戴者行走过程中的能耗,在下肢屈曲和伸展过程中分别采用最优刚度,可进一步减少人体能耗.该结果对被动外骨骼设计中的刚度需求具有重要参考意义.

随着人口老龄化趋势日渐加深,老年人的护理问题受到越来越多的关注,其中老年人大小便护理问题显得尤为重要.为了缓解护工处理老年人大小便时出现的工作环境脏、臭、工作强度高、压力大,以及工作容易侵犯到老年人隐私等问题,本文设计了一款能够独立使用,具有对大小便自动检测和处理功能的二便护理机器人.经过实验测试,证明所设计的二便护理机器人能够帮助老年人实现大小便自理的效果.

柔顺变刚度驱动机构分为弹性元件、气动元件、电-磁元件和智能材料四大类.变刚度驱动机构正在逐步应用于康复机器人,在上下肢康复机器人中可适应患者的阻抗变化,在外骨骼中可保证穿戴者的安全,在假肢中可提高仿生性.现有康复机器人变刚度驱动机构还存在一些问题,还应具备紧凑的结构、低能耗、良好的刚度特性、高响应速率和渐进式输出扭矩曲线等特点.

随着人口老龄化趋势的加剧,老年人生活中的二便自理问题受到越来越多的关注.该研究为了解决人工护理二便出现的脏、难、臭问题.调查并研究了当前二便护理机器人的现状.同时设计出一款可以实现自动检测,收集和处理大小便的二便护理机器人.该机器人可以通过Android设备控制,减轻护理人员的护理负担.