Abstract
Problem statement: in this article the essence of the symbiotic robot “Octahedral dodekapod” based on SEMS which comprises in its mechanical union with the patient’s upper or lower limb and with a single coordinate system, is shown. As a result, the symbiotic robot “Octahedral dodekapod” is able to perform massage manipulations of the patient’s upper or lower limb not only in the passive position of this limb, but also on the moving limb, regardless of its spatial orientation. Also it is possible to simultaneously massage the patient’s upper and lower limbs with two or several symbiotic robots “Octahedral dodekapod”. The symbiotic robot “Octahedral dodekapod” can function both autonomously and under the remote supervision of a massage therapist via the Internet. However, during autonomous massage, a situation may arise that requires immediate decision-making aimed at preventing threats to the patient’s life or health, for example, unacceptable values of blood pressure, pulse, temperature, as well as loss of consciousness. Purpose of research: development of algorithms for decision-making by the symbiotic robot “Octahedral dodekapod” in case threats to the patient’s life or health during upper or lower limb massage, for example, unacceptable values of blood pressure, pulse, temperature, as well as loss of consciousness. Results: abnormal situations requiring immediate decision-making by the symbiotic robot “Octahedral dodekapod” during the massage are shown. Algorithms for decision-making by a symbiotic robot “Octahedral dodekapod” installed on the patient’s limb have been developed. The decision-making algorithms are formed depending on the patient’s condition, for example in the following cases: the patient is conscious and does not need help; the patient is conscious and needs help; the patient is unconscious; the patient has died. Practical significance: decisions-making by the symbiotic robot “Octahedral dodekapod” both autonomously and under the remote control of the massage therapist in real time via the Internet will reduce the risk of a threat to the patient’s health or life after falling to the surface during the upper or lower limb massage.
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Sayapin, S.N. (2021). Decision-Making by the Autonomous Symbiotic Self-Relocating Massage Robot “Octahedral Dodekapod” Based on SEMS During the Upper or Lower Limb Massage. In: Gorodetskiy, A.E., Tarasova, I.L. (eds) Smart Electromechanical Systems. Studies in Systems, Decision and Control, vol 352. Springer, Cham. https://doi.org/10.1007/978-3-030-68172-2_5
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