CSAPSO-BPNN based modeling of end airbag stiffness of nursing transfer robot

The use of nursing transfer robots is a vital solution to the problem of daily mobility difficulties for semi-disabilities. However, the fact that care-receivers have different physical characteristics leads to force concentration during human-robot interaction, which affects their comfort. To address this problem, this study installs an array of double wedge-shaped airbags onto the end-effector of a robot, and analyses airbag mechanical properties. Firstly, this study performed the mechanical testing and data collection of the airbag, including its external load and displacement, at various gas masses. Then the performance of the Back Propagation (BP) neural network is improved by using chaos (C) theory and simulated annealing particle swarm optimization (SAPSO), resulting in the establishment of the CSAPSO-BP neural network. By this method, a fitting model is developed to determine the mechanical parameters of the wedge-shaped airbag stiffness, and the fitting relation of external loa...