发表机构
University of Illinois, Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对老年人淋浴时易跌倒的问题，本文提出ShowerFlex，一种结合摩擦锁定球窝关节与弹簧卷筒的连续体机构，实现无外部动力的“推-停”伪静态平衡，并通过51自由度建模与实验验证其低驱动力和稳定性。
AI 中文摘要
随着全球人口迅速老龄化，在日常生活活动（ADLs）中保持独立性，尤其是洗澡或淋浴，已成为一项关键挑战。目前，坐着淋浴的老年人选择有限，往往依赖刚性的头顶花洒或需要持续握持和危险操作的手持软管，这增加了跌倒的风险。为满足这一需求，本文介绍了一种专为无障碍洗浴辅助设计的高度铰接、伪静态平衡的连续体机构。所提出的机构采用由摩擦锁定球窝关节（loc-line）组成的模块化连续体架构，并与可伸缩弹簧卷筒无缝集成，以实现有效的重力补偿。这种混合设计实现了直观的“推-停”交互逻辑，在无需任何外部电子动力的情况下，以符合人体工程学的低驱动力维持近似静态平衡，同时显著减少了重新定位所需的力。理论上，我们建立了递归正运动学框架来构建结构的几何模型，并结合全面的静态平衡分析来评估系统在其51自由度结构上的保持能力。利用蒙特卡洛方法的数值模拟验证了系统在标准浴室内各种极端位置下的形态适应性和稳定性。物理实验进一步验证了原型在实际中的性能，确认了其抵抗重力的固有静态稳定性，并确保驱动力完全在老年人的体能范围内。最终，这项研究提供了一种低成本、本质安全的淋浴头设计，减少了身体负担，恢复了个人卫生中的尊严和自主性。
英文摘要
With the global population rapidly aging, maintaining independence in Activities of Daily Living (ADLs), particularly bathing or showering, has become a critical challenge. Older adults who sit while showering currently have limited options, often relying on rigid overhead showerheads or flexible hand-held hoses that require continuous gripping and precarious user maneuvers, increasing the risk of falls. To address this need, this paper introduces a highly articulated, pseudo-static balanced continuum mechanism designed specifically for accessible bathing assistance. The proposed mechanism features a modular continuum architecture composed of friction-locked ball-and-socket joints (loc-line), seamlessly integrated with a retractable spring-loaded reel for effective gravity compensation. This hybrid design achieves an intuitive "Push-and-Stay" interaction logic, maintaining an approximate static equilibrium with ergonomically low actuation force, without any external electronic power, while significantly minimizing the force needed for repositioning. Theoretically, we established a recursive forward kinematics framework to construct the geometric model of the structure, coupled with a comprehensive static equilibrium analysis to evaluate the system's holding capacity across its 51-DOF structure. Numerical simulations utilizing Monte Carlo methods validate the system's morphological adaptability and stability at various extreme positions within a standard bath space. Physical experiments further validate the prototype's real-world performance, confirming its intrinsic static stability against gravity and ensuring that the actuation force remains well within the ergonomic capabilities of older adults. Ultimately, this research provides a low-cost, intrinsically safe showerhead design that reduces physical strain, restoring dignity and autonomy in personal hygiene.
Comments10 pages, 9 figures. Accepted to ASME IDETC/CIE 2026, Mechanisms and Robotics Conference
