hh.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Power Assistant Design to Enhance Mobility of a Patient Lift
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE).
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE).
2008 (English)Independent thesis Advanced level (degree of Master (One Year))Student thesis
Abstract [en]

A patient lift is used mostly in the hospitals and its main aim is to help nurses to carry patients from one place to another. Today these patient lifts are equipped with motors that can lift patient to some height and then pull down. But the weight of patient lift with hanging person is rather big and it is not easy to push it. In order to help nurses to move the patient lift, the wheels can be driven by motors. These motors can be controlled by the nurse with help of a joystick, but wrong movement of nurse’s hand can cause collision with a bed or a wall. To avoid collision and make the process of moving the patient lift more robust and natural it is better to combine the human power, which is produced by pushing the patient lift, with the electrical motors on the wheels, which give additional power assistance. The motor-driven patient lift studied here is controlled by velocity feedback. The objective of this thesis is to develop software for the hardware and build a control law, which will help to move the patient lift and will be stable. The thesis consists of two main parts. The first part includes all experimental setup and developing the software. In this part the drivers for motors and encoders have been written, the input step excitation has been implemented and all preparations for experiments have been done. The second part includes modelling and control design. In the modelling part all the experiments were carried out, the models were chosen and the parameters for these models were calculated. Two models have been made because of changed behaviour of the patient lift with and without additional weight. In the control design part the RST controller (R,S,T are characteristic polynomials of the controller) was chosen, implemented, downloaded into the control board, the parameters for this controller were calculated and then the control law was tested on the PC and in reality. The thesis resulted in patient lift with motors, which is controlled by RST controller, which gives very good system that is robust and insensitive to noise.

Place, publisher, year, edition, pages
Högskolan i Halmstad/Sektionen för Informationsvetenskap, Data- och Elektroteknik (IDE) , 2008.
Keywords [en]
patient lift, power assistant, control system, velocity feedback, digital control, modelling, step pulse, experimental design, sampling period
Identifiers
URN: urn:nbn:se:hh:diva-1560Local ID: 2082/1941OAI: oai:DiVA.org:hh-1560DiVA, id: diva2:238778
Uppsok
Technology
Available from: 2008-06-18 Created: 2008-06-18 Last updated: 2008-06-18

Open Access in DiVA

attachment(2277 kB)289 downloads
File information
File name ATTACHMENT01.pdfFile size 2277 kBChecksum MD5
4730c32f04cc0183dd00119cba005bc54adcc286e49204719defcec82fceb47f6c9306787d4a759d14ceba1ae5e350984eed1008358ff23cd1fd3e3abd1c919aaa2f8ad71d7441a7bb13a25a43c14058
Type attachmentMimetype application/pdf

By organisation
School of Information Science, Computer and Electrical Engineering (IDE)

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 11 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf