RU175309U1 - Educational dynamic model of a baby simulation robot - Google Patents

Abstract

The utility model relates to the field of biomedical technologies, namely to medical robotics. The scope of the developed utility model is professional education (higher and secondary) in the field of medicine. It is supposed to use the utility model as an interactive teaching aid for simulation training of students of medical colleges and universities in the section: "Neuropsychic development of the child." We have proposed a model of the Bioloid Premium Kit robot, the design of which additionally includes tactile sensors in the right and left axillary region, as well as tactile sensors on the back surface of the fingertips of the right and left legs. All of the above sensors are connected to the central microcontroller via a serial bus. Thus, for the first time, we proposed a dynamic model of a robot simulator, capable of independently simulating the physiological reflex of support and automatic gait, without participation in the control of a specially trained operator. To initiate the support reflex and automatic gait on the model we developed, the student must lift the simulator from a horizontal initial position beyond the axillary hollows and keep its canopy in a vertical position. With this action, the activation of sensory sensors located in the axillary regions of the simulator occurs. Activation of these sensors leads to bending of the lower limbs of the simulator in the hip, knee joints, as well as tightening of the toes. Being in an upright position, the robot retains the specified position. To implement the second phase of the reflex, the student must lower the robot (while maintaining the vertical position of the body) with feet on a hard surface. This causes irritation of the sensor sensors located on the back of the fingertips of the left and right feet of the simulator. Activation of these sensors leads to the extension of the lower limbs of the simulator in the hip and knee joints, and the robot becomes a full stop. Further, with a slight torso of the simulator’s body forward, while maintaining pressure on the axillary region, the sensor of the angular position of the body of the robot simulator activates to change the position of the body. As a result of these actions, the simulator makes friendly stepping forward movements. Thus, the utility model proposed by us allows us to independently invoke and execute an unconditioned reflex of support and automatic gait of the newborn, which is an important element of the neuropsychic activity of the child in the first months of life. This characteristic allows you to use the model as an interactive teaching aid for practicing students' practical skills and for assessing the teacher's acquired skills in assessing the neuropsychic development of a child of the first year of life.

Description

The utility model relates to the field of biomedical technologies, namely to medical robotics. The scope of the developed utility model is professional education (higher and secondary) in the field of medicine. The constructed model of a newborn baby simulator simulating the basic physiological reflexes of a baby can be used as an interactive training tool for simulation training of students of medical colleges and universities in the section: “Neuropsychic development of the child”. Currently, there are no dynamic simulator models on the medical technology market that simulate unconditioned reflexes of a newborn. Therefore, it is proposed to use the claimed model in order to increase the level of practical skills of students of medical educational institutions in assessing the unconditioned reflex activity of a newborn and a child of the first year of life.

Existing well-known analogues are static dolls-mannequins used to train medical personnel in various highly specialized manipulations. For example, a model for teaching students the practical skills of caring for a newborn at MedReskyu LLC (main page: http://mirmanekenov.ru/about), (link to analogue: http://mirmanekenov.ru/search/node/%E2 % 84% 96% 2012135) allows you to develop skills in installing and maintaining a tracheotomy cannula, injecting, catheterizing the urethra, and setting up an enema. However, this model is static, and despite the correspondence in basic parameters of the physical development of the infant, it cannot be used in the practice of teaching the section “assessment of psychomotor development” due to the lack of mobility of the structure. The immobility of the model limits both the elements of a visual demonstration of reflex activity and the direct interaction of the student with the goal of self-mastering the necessary skills.

The prototype of the proposed utility model may be the previously developed baby-simulator robot (http://www.scholar.ru/tag.php?tag_id=50312) with a built-in program for remote control of robot movements.

The prototype was created on the basis of the Bioloid Premium robot (http://www.robotis.com/xe/bioloid_en)(http://www.robotis.com/index/product.php?cate_code=121110), which allows you to demonstrate newborn reflexes in dynamics, in particular the reflex of the support and the automatic gait with the help of a specially trained operator, which drives the simulator in accordance with the phases of the reflex using the program we developed.

In FIG. 1 shows a prototype, where:

1 - control panel

2 - robot communication module for remote control

3 - central microcontroller

4 - servo drive of the shoulder joint of the right hand

5 - servo drive of the elbow joint of the right hand

6 - servo of the left palm

7 - a servo drive to turn the left leg in the hip joint

8 - servo drive lifting the thigh of the left leg

9 - servo of the knee joint of the left leg

10 - servo foot of the left foot

11 - servo foot of the right foot

12 - servo of the knee joint of the right leg

13 - servo drive lifting the thigh of the right leg

14 - a servo drive to turn the right leg in the hip joint

15 - servo drive of the right palm

16 - servo drive of the elbow joint of the left hand

17 - servo shoulder joint of the left hand

18 - serial bus connecting all servos with a central microcontroller

19 - the sensor of the angular positions of the body of the robot - simulator

The program-controlled central microcontroller 3 provides control of the position of the servos 4-17 and the formation of control commands to change the position of the output shaft of the servo associated with a specific part of the simulator design (servos partially model the functions of the joints of the newborn). The prototype is controlled remotely on the basis of the standard RC-100A control panel, which is included with the Bioloid Premium Kit.

In order to give the prototype resemblance to a child of 1 year of age, she was dressed in a shell. Figure 2 shows the appearance of the simulator (robot doll) in clothes.

The simulator, using a specially trained operator, is able to simulate the physiological reflex of support and automatic gait. The reflex is carried out as follows: starting position: flexor posture - the child lies on his back, his head is brought to his chest, his arms are bent at the elbow joints and pressed to the lateral surface of the chest, the hands are clenched into fists, the lower limbs are apart in the hip joints to the sides, slightly bent in the knee joints. When carrying out the reflex, the child, raised from the starting position by the armpits, bends the legs in all joints as much as possible, squeezes the toes (see Fig. 3A), and placed on a firm support, straightens the legs and stands on a full foot (see Fig. 3B), further torso forward makes friendly stepping movements.

To demonstrate the reflex of support and automatic gait on the prototype, a specially trained operator must perform the following steps: switch the simulator program on the remote control to its original position (flexor position on the back), then lifting the robot to a vertical position, press the button of the “Support and automatic gait reflex” remote control. After pressing the button, the robot starts to play the motion algorithm recorded over time, while the operator must at some point have time to lower the robot in feet on a hard surface and tilt the robot body to demonstrate the last phase of the automatic gait. Thus, with the help of a robot simulator, it is possible to reproduce the reflex of the support and automatic gait, but only in the version of the demonstration with the mandatory participation of a specially trained operator.

The disadvantage of the prototype is the inability to reproduce the reflex on its own, that is, without the participation of a specially trained operator, which does not allow the use of this model as an interactive teaching aid for students to practice practical skills and for teachers to evaluate acquired skills. Being one of the basic physiological unconditioned reflexes, the reflex of support and automatic gait indicates the state of the neurological status of the child in the first months of life. This requires the future specialist not only theoretical knowledge, but also mastery of the professional skill of conducting such an examination, which includes the ability to cause and accompany the reflex, to assess the adequacy of each phase of the stimulated response of the infant. The training and development of skills for evaluating reflexes in living babies is impossible for ethical and legislative reasons. The use of motionless dolls-dummies of infants or simulators with a pre-recorded algorithm of movements, which is implemented regardless of the actions of the student, does not contribute to the formation of the ability to independently evaluate the baby's reflex activity.

We were the first to propose a dynamic model of a robot simulator, capable of independently simulating the physiological reflex of a support and automatic gait without participation in the control of a specially trained operator. To implement an independent simulation of the support reflex and automatic gait, the following additional elements are introduced into the Bioloid Premium Kit circuit: position 20, 21, 22, 23. A full description of the circuit is shown in FIG. 4, where:

3. central microcontroller

4. servo drive of the shoulder joint of the right hand

5. servo drive of the elbow joint of the right hand

6. servo left palm

7. servo for turning the left leg in the hip joint

8. servo lift thigh left leg

9. servo of the knee of the left leg

10. servo foot of the left foot

11. servo foot of the right foot

12. servo of the knee joint of the right leg

13. servo lift thigh right leg

14. servo drive to rotate the right leg in the hip joint

15. servo right palm

16. servo drive of the elbow joint of the left hand

17. servo drive of the shoulder joint of the left hand

18. serial bus

19. angle sensor of the body of the robot simulator

20. tactile sensor of the right axillary region

21. tactile sensor of the left axillary region

22. block of tactile sensors of the back surface of the tips of the fingers of the right foot

23. block of tactile sensors of the back surface of the fingertips of the left foot

As can be seen from FIG. 4, to independently simulate the support reflex and automatic gait, without the participation of a specially trained operator, the robot design additionally includes tactile sensors in the right axillary region 20 and in the left axillary region 21, as well as tactile sensor blocks on the back surface of the right fingertips 22 and on the back surface of the fingertips of the left foot 23, incorporating the necessary interfaces for connecting to the serial bus 18 used to transfer data received from nsorov, to the central microcontroller 3.

To implement the second stage of the support reflex and automatic gait, a sensor of the angular positions of the body of the robot simulator 19 is used.

Our new program provides coordination of the movement of servos 4-17 when performing movements corresponding to the reflex of the support and automatic gait.

According to the program developed by us, when the sensor sensors of the axillary cavities 20 and 21 are activated, the signal converted by the interface of the sensors through the serial bus 18 is transmitted to the central microcontroller 3, in which, during the sensor interrogation, values are recorded in the internal registers of the microcontroller. The values of the position sensors of the servos 7-14 joints of the simulator and the sensors of the axillary cavities 20, 21 processed at the stage of formation of the control actions are converted by the central microcontroller 3 into control commands for changing the mutual position of the joints of the simulator, which are transmitted via the serial bus 18 to the servos 7-14, which technically reflected by flexion of the lower extremities across all joints.

When the simulator is placed on a solid support, the blocks of sensor sensors 22, 23 are activated, which are converted by their interface part into signals transmitted through the serial bus 18 to the central microcontroller 3, in which during the polling of sensors the values are recorded in the internal registers of the microcontroller. The values of the position sensors of the servos of 7-14 joints of the simulator processed at the stage of forming the control actions, taking into account the previously executed command to bend the lower extremities, are converted by the central microcontroller 3 into control commands to change the mutual position of the joints of the simulator, which are transmitted via serial bus 18 to the servos 7-14 , which is technically reflected by the extension of the lower extremities across all joints and the setting of the simulator on a full foot. Subsequently, when the simulator case is tilted forward, the angular position sensor of the body 19 is activated, which transmits a signal to the central microcontroller, which cyclically generates control commands to change the position of the output shafts of the servos 7-14, which is technically reflected by the simulator's friendly stepping movements.

Reflex demonstration: in order to initiate a support reflex and an automatic gait on the model we developed, the student must lift the simulator from a horizontal starting position beyond the axillary hollows and keep its canopy in a vertical position. With this action, the activation of the sensor sensors 20 and 21 located in the axillary regions of the simulator takes place. Activation of these sensors leads to bending of the lower limbs of the simulator in the hip, knee joints, as well as tightening of the toes. Being in an upright position, the robot retains the specified position. To implement the second phase of the reflex, the student must lower the robot (while maintaining the vertical position of the body) with feet on a hard surface. This causes irritation of the sensor sensors 22 and 23 located on the back surface of the fingertips of the left and right feet of the simulator. Activation of these sensors leads to the extension of the lower limbs of the simulator in the hip and knee joints and feet, and the robot becomes a full foot. Further, with a slight inclination of the torso of the simulator forward, while maintaining pressure on the axillary region, the sensor of the angular positions of the body of the robot simulator 19 is activated to change the position of the body. As a result of these actions, the simulator makes friendly stepping forward movements independently.

Thus, as can be seen from the description, the device we proposed allows us to independently call up and perform support and automatic gait reflexes, which makes it possible to use this model as an interactive teaching aid for students to practice practical skills and for teachers to evaluate the acquired skills for assessing the child’s psychological development first year of life.

Claims (1)

Educational dynamic model of a baby simulator robot, which is a humanoid robot, containing serially connected servos of the shoulder joint, servos of the elbow joint and servos of the palms of the left and right upper limbs of the robot, as well as serially connected servos of turning the legs in the hip joint, servos of the thigh lift, joints and servos of the foot of the left and right lower extremities of the robot, connected through a serial bus to the central microcontroller, which is connected to a sensor of angular position of the body, characterized in that it further comprises a tactile sensor located in the right axillary region, a tactile sensor located in the left axillary region, as well as a block of tactile sensors located on the back surface of the tips of the fingers of the right foot , a block of tactile sensors located on the back surface of the fingertips of the left foot, each of which is connected through a serial bus to the central microcontroller.

Images