Control of a Head Stabilization System for Use in Robotic Disaster Response

Abstract

This paper systematically describes the design and validation of a feasible control scheme for a robotic head stabilization system. Over the past few decades there has been a growing need for robotic systems to perform human rescue operations in the event of natural or manmade disasters. Before autonomous or remotely controlled robotic victim extraction can be realized, support systems with the capability to secure the head of a trauma victim in a manner that does not exacerbate existing spinal injuries needs to be developed. The paper starts with a brief description of one such previously developed robotic head stabilization system and examines the various functional requirements from a design and control standpoint. Detailed dynamic analysis of the system is done based on which a force control scheme involving Series Elastic Actuators (SEA) is proposed. The proposed control scheme is then tested on an ADAMS-MATLAB co-simulation where the dynamic head support system is modelled in ADAMS and the force controller in Simulink. Based on the results of the simulation, a physical prototype is integrated and the proposed control scheme is validated through experiments. The results of the simulation and experiment are analyzed, and improvements to the system are proposed for future experimentation. Based on the results of the simulation and experiments, the proposed control was found to successfully meet the desired control metrics in providing accurate force control for the head support device. The paper ends with a discussion on possible modifications to the overall system for it to be used in field robotic rescue.

ResQbot 2.0: An Improved Design of a Mobile Rescue Robot with an Inflatable Neck Securing Device for Safe Casualty Extraction

“…The purpose of the design is to improve the robot's adaptability in a complex disaster scene. On the other hand, a very recently published work in [30,40] presents a casualty extraction robot design called semi-autonomous victim extraction robot (SAVER) [41,42]. This robot is equipped with two manipulator arms and a head support system.…”

A Robotic Head Stabilization Device for Medical Transport

“…As shown in Figure 3, even if the head is encountered closer to one of the foam blocks, it will stop and not exert any force until the second one makes contact with the head, and thereby securing it in place. The mechanical design as well as force control of the proposed head support system is explained in detail in references [21,22]. Detailed experimentations described in reference [22] showed that the incorporation of the linear actuator and the sliding differential pulley was both too slow and too large for practical implementation.…”

“…The mechanical design as well as force control of the proposed head support system is explained in detail in references [21,22]. Detailed experimentations described in reference [22] showed that the incorporation of the linear actuator and the sliding differential pulley was both too slow and too large for practical implementation. Thus, it was determined that future designs required a rotary motor as well as a more compressed form factor in order to provide a workable design.…”

“…Thus, it was determined that future designs required a rotary motor as well as a more compressed form factor in order to provide a workable design. Furthermore, while the PID controller implemented in reference [22] met the stated control design goals, a more effective feedback controller for rejection of disturbances was desired. This objective is addressed in Section 4.…”

Review and Analysis of Search, Extraction, Evacuation, and Medical Field Treatment Robots

“…With an extensive sensor suite providing real time visual and force feedback, the operator will be able to successfully manipulate the injured person into the right posture using the dual arm manipulation system. In addition a robotic head stabilization system that autonomously stabilizes the head and neck of a patient has been fully designed, built and tested to guarantee desired degree of performance [107].…”