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Safety Assessment Review of a Dressing Assistance Robot.

ABSTRACT: Hazard analysis methods such as HAZOP and STPA have proven to be effective methods for assurance of system safety for years. However, the dimensionality and human factors uncertainty of many assistive robotic applications challenges the capability of these methods to provide comprehensive coverage of safety issues from interdisciplinary perspectives in a timely and cost-effective manner. Physically assistive tasks in which a range of dynamic contexts require continuous human-robot physical interaction such as e.g., robot-assisted dressing or sit-to-stand pose a new paradigm for safe design and safety analysis methodology. For these types of tasks, considerations have to be made for a range of dynamic contexts where the robot-assistance requires close and continuous physical contact with users. Current regulations mainly cover industrial collaborative robotics regarding physical human-robot interaction (pHRI) but largely neglects direct and continuous physical human contact. In this paper, we explore limitations of commonly used safety analysis techniques when applied to robot-assisted dressing scenarios. We provide a detailed analysis of the system requirements from the user perspective and consider user-bounded hazards that can compromise safety of this complex pHRI.

SUBMITTER: Delgado Bellamy D

PROVIDER: S-EPMC8236579 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature

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Safety Assessment Review of a Dressing Assistance Robot.

Delgado Bellamy Daniel D Chance Gregory G Caleb-Solly Praminda P Dogramadzi Sanja S

Frontiers in robotics and AI 20210614

Hazard analysis methods such as HAZOP and STPA have proven to be effective methods for assurance of system safety for years. However, the dimensionality and human factors uncertainty of many assistive robotic applications challenges the capability of these methods to provide comprehensive coverage of safety issues from interdisciplinary perspectives in a timely and cost-effective manner. Physically assistive tasks in which a range of dynamic contexts require continuous human-robot physical inter ...[more]

PMID: 34195231

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Project description:BackgroundTo overcome the application limitations of functional electrical stimulation (FES), such as fatigue or nonlinear muscle response, the combination of neuroprosthetic systems with robotic devices has been evaluated, resulting in hybrid systems that have promising potential. However, current technology shows a lack of flexibility to adapt to the needs of any application, context or individual. The main objective of this study is the development of a new modular neuroprosthetic system suitable for hybrid FES-robot applications to meet these needs.MethodsIn this study, we conducted an analysis of the requirements for developing hybrid FES-robot systems and reviewed existing literature on similar systems. Building upon these insights, we developed a novel modular neuroprosthetic system tailored for hybrid applications. The system was specifically adapted for gait assistance, and a technological personalization process based on clinical criteria was devised. This process was used to generate different system configurations adjusted to four individuals with spinal cord injury or stroke. The effect of each system configuration on gait kinematic metrics was analyzed by using repeated measures ANOVA or Friedman's test.ResultsA modular NP system has been developed that is distinguished by its flexibility, scalability and personalization capabilities. With excellent connection characteristics, it can be effectively integrated with robotic devices. Its 3D design facilitates fitting both as a stand-alone system and in combination with other robotic devices. In addition, it meets rigorous requirements for safe use by incorporating appropriate safety protocols, and features appropriate battery autonomy, weight and dimensions. Different technological configurations adapted to the needs of each patient were obtained, which demonstrated an impact on the kinematic gait pattern comparable to that of other devices reported in the literature.ConclusionsThe system met the identified technical requirements, showcasing advancements compared to systems reported in the literature. In addition, it demonstrated its versatility and capacity to be combined with robotic devices forming hybrids, adapting well to the gait application. Moreover, the personalization procedure proved to be useful in obtaining various system configurations tailored to the diverse needs of individuals.

Project description:BackgroundDifferent groups developed wearable robots for walking assistance, but there is still a need for methods to quickly tune actuation parameters for each robot and population or sometimes even for individual users. Protocols where parameters are held constant for multiple minutes have traditionally been used for evaluating responses to parameter changes such as metabolic rate or walking symmetry. However, these discrete protocols are time-consuming. Recently, protocols have been proposed where a parameter is changed in a continuous way. The aim of the present study was to compare effects of continuously varying assistance magnitude with a soft exosuit against discrete step conditions.MethodsSeven participants walked on a treadmill wearing a soft exosuit that assists plantarflexion and hip flexion. In Continuous-up, peak exosuit ankle moment linearly increased from approximately 0 to 38% of biological moment over 10 min. Continuous-down was the opposite. In Discrete, participants underwent five periods of 5 min with steady peak moment levels distributed over the same range as Continuous-up and Continuous-down. We calculated metabolic rate for the entire Continuous-up and Continuous-down conditions and the last 2 min of each Discrete force level. We compared kinematics, kinetics and metabolic rate between conditions by curve fitting versus peak moment.ResultsReduction in metabolic rate compared to Powered-off was smaller in Continuous-up than in Continuous-down at most peak moment levels, due to physiological dynamics causing metabolic measurements in Continuous-up and Continuous-down to lag behind the values expected during steady-state testing. When evaluating the average slope of metabolic reduction over the entire peak moment range there was no significant difference between Continuous-down and Discrete. Attempting to correct the lag in metabolics by taking the average of Continuous-up and Continuous-down removed all significant differences versus Discrete. For kinematic and kinetic parameters, there were no differences between all conditions.ConclusionsThe finding that there were no differences in biomechanical parameters between all conditions suggests that biomechanical parameters can be recorded with the shortest protocol condition (i.e. single Continuous directions). The shorter time and higher resolution data of continuous sweep protocols hold promise for the future study of human interaction with wearable robots.

Project description:PurposeSurgical innovation in ophthalmology is impeded by the physiological limits of human motion, and robotic assistance may facilitate an expansion of the surgical repertoire. We conducted a systematic review to identify ophthalmic procedures in which robotic systems have been trialled, evaluate their performance, and explore future directions for research and development of robotic techniques.MethodsThe Cochrane Library, Embase, MEDLINE, Scopus, and Web of Science were searched. Screening adhered to five criteria: (1) English language; (2) primary research article; (3) human patients; (4) ophthalmological surgery; and (5) robot-assisted surgery. Quality assessment was conducted with Joanna Briggs Institute Tools for Critical Appraisal. The study protocol was registered prospectively (PROSPERO ID CRD42023449793).ResultsTwelve studies were included. In comparative studies, there was no difference in the occurrence of ocular harms in robot-assisted procedures and conventional surgery. However, robotic assistance did not demonstrate consistent benefits over manual surgery in terms of effectiveness or practicality, likely reflecting the learning curve associated with these systems. Single studies indicated the potential of robotic assistance to improve the consistency of subretinal drug infusion and efficiency of instrument manipulation in vitreoretinal surgery.ConclusionsProof-of-concept studies have demonstrated the potential of robotic assistance to facilitate procedures otherwise infeasible or impractical, and may broaden access to surgery. However, robot-assisted surgery has not yet demonstrated any significant benefits over standard surgical practice. Improving the speed and reducing perioperative requirements of robot-assisted surgery are particular priorities for research and innovation to improve the practicality of these novel techniques.Translational relevanceThis systematic review summarizes the potential and limitations of robotic systems for assisting eye surgery and outlines what is required for these systems to benefit patients and surgeons.

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Safety Assessment Review of a Dressing Assistance Robot.

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Safety Assessment Review of a Dressing Assistance Robot.

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