Patient Transfer Robot (PATRO) for Mobility Independence of Patients in Need of Assistance
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| Title: | Patient Transfer Robot (PATRO) for Mobility Independence of Patients in Need of Assistance |
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| Authors: | Frankle, Eric W |
| Committee Members: | Park, Joon-Hyuk |
| Summary: | This thesis is about the design, assembly, and testing of a prototype Patient Transfer Robot, or PATRO. The purpose of this device is to create and validate a mobile wheeled robot to motorize and automate the patient transfer process for use in home and hospital environments. This device aims to reduce the load and risk of injuries for caregivers during patient transfer process and to increase the autonomy and independence of the patient. While the idea of an automated patient transfer device is not a novel concept, PATRO aims to improve on existing designs by improving the safety, size factor, cost, user interface, and controllability. The scope of this thesis is not to achieve fully autonomous control for the device but to provide manual control of the entire device for the patient and/or caregiver by use of a handheld pendant controller. A patient on their own without the aid of a caregiver will have the ability to fully utilize the device and complete the patient transfer. The overall design consists of two main modules, the mobility module and the lifting module. The mobility module consists of two independently controlled motors with wheels in a differential drive configuration to move the device and the patient around the environment while allowing for tight turns and maneuvers. The lifting module consists of a winch and pulley assembly attached to a commercially available Hoyer lift frame and sling. There are encoders/potentiometers attached to each of these modules to monitor the position and speed of the device in real time. PATRO was validated by performing and successfully multiple functional and safety acceptance tests under varied conditions such as no load, a weighted dummy, and a patron volunteer. |
| URL: | https://stars.library.ucf.edu/etd2024/136 |
| Database: | OpenDissertations |
| Abstract: | This thesis is about the design, assembly, and testing of a prototype Patient Transfer Robot, or PATRO. The purpose of this device is to create and validate a mobile wheeled robot to motorize and automate the patient transfer process for use in home and hospital environments. This device aims to reduce the load and risk of injuries for caregivers during patient transfer process and to increase the autonomy and independence of the patient. While the idea of an automated patient transfer device is not a novel concept, PATRO aims to improve on existing designs by improving the safety, size factor, cost, user interface, and controllability. The scope of this thesis is not to achieve fully autonomous control for the device but to provide manual control of the entire device for the patient and/or caregiver by use of a handheld pendant controller. A patient on their own without the aid of a caregiver will have the ability to fully utilize the device and complete the patient transfer. The overall design consists of two main modules, the mobility module and the lifting module. The mobility module consists of two independently controlled motors with wheels in a differential drive configuration to move the device and the patient around the environment while allowing for tight turns and maneuvers. The lifting module consists of a winch and pulley assembly attached to a commercially available Hoyer lift frame and sling. There are encoders/potentiometers attached to each of these modules to monitor the position and speed of the device in real time. PATRO was validated by performing and successfully multiple functional and safety acceptance tests under varied conditions such as no load, a weighted dummy, and a patron volunteer. |
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