sensors Article

Bath-Ambience—A Mechatronic System for Assisting the Caregivers of Bedridden People Karolina Bezerra 1,2 , José Machado 1,2, *, Vítor Carvalho 3,4 , Marcelo Castro 2 , Pedro Costa 2 , Demétrio Matos 1,4 and Filomena Soares 3 1 2 3 4

*

MEtRICs Research Center, School of Engineering, University of Minho, 4800-058 Guimarães, Portugal; [email protected] (K.B.); [email protected] (D.M.) Mechanical Engineering Department, School of Engineering, University of Minho, 4800-058 Guimarães, Portugal; [email protected] (M.C.); [email protected] (P.C.) R&D ALGORITMI Centre, School of Engineering, University of Minho, 4800-058 Guimarães, Portugal; [email protected] (V.C.); [email protected] (F.S.) IPCA, Polytechnic Institute of Cávado and Ave, Vila Frescainha S. Martinho, 4750-810 Barcelos, Portugal Correspondence: [email protected]; Tel.: +351-253-510-223

Academic Editor: Vittorio M. N. Passaro Received: 31 March 2017; Accepted: 12 May 2017; Published: 18 May 2017

Abstract: The health of older people is receiving special attention and dedication nowadays, with the aim of increasing their general wellbeing and quality of life. Studies into different aspects of the care of the elderly have found that emphasis should be given to solving problems related to bathing in different situations and environments. In particular, it is important to develop new assistive technologies to streamline and ease the burden of a caregiver’s daily tasks. Generally-speaking, in the case of bedridden patients, bathing is typically carried out manually by a caregiver, using towels, sponges, and a water basin. Nevertheless, this apparently simple task needs some precautions in order to avoid the risk of microbial infections, falls and other injuries. With that in mind, this paper presents the design of a portable washing system, called Bath-Ambience, which enables bedridden patients to be bathed efficiently without having to be moved from their position. This portable system can be installed in different situations, both in a domestic setting, and in specialized institutions, and allows the caregiver to perform the bathing tasks without compromising health and safety, thereby making it possible to offer a comfortable and hygienic procedure to patients, improving their quality of life. This paper presents the design of the portable Bath-Ambience washing system, which provides efficient assistance for bathing bedridden patients without moving them to another place. This system is mainly dedicated for integration a smart home application in to allow bathing everywhere. Keywords: wellbeing; mechatronic design; smart environment; caregiver; bathing system

1. Introduction One of the greatest current concerns of developed countries is associated with the increase of the number of elderly people. According to the Japanese Health, Labour and Welfare Report [1], it is stated that one of five persons is currently a senior citizen, sixty-five years of age or older, and the estimation is that by 2020 one in three persons will be a senior citizen. It is also estimated that by 2055 the proportion of senior citizens will exceed forty percent of the whole population [1,2]. The elderly population requires extreme caution in relation to their activity either in home bath installations or those in an institution, from the perspective of providing an improved quality of life for both caregivers and elderly people. To reduce eventual or serious illnesses or even death different technological assistance or monitoring of persons in the home using sensors deployed around houses, creating smart houses, and, in this case, smart baths [3–6]. Sensors 2017, 17, 1156; doi:10.3390/s17051156

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Considering this, reference [2] states that healthcare includes all the goods and services designed to promote health. It can be considered a complex system that integrates and combines people, processes, and products [3]. Of course, healthcare as a whole will benefit from any major upgrade provided by means of newly developed devices. The bathing of bedridden patients is among the various daily care tasks that is also one of the most difficult. It requires physical effort from the caregiver in order to perform the sequence of movements demanded in the activity. It is also necessary to analyze the degree of dependence of the patient’s condition. For example, if the patient is severely limited in his/her capacity to move, more effort and assistance are required, thereby, justifying the development of a device that can assist with the task of moving and placing the patient in the bath [6–8]. Therefore, the need to have a healthy ageing society requires major help from technology [3–27]. Considering technologies developed to assist the activities to care for bedridden people, there have been several developments in the bathing area, such as improving the the environment for giving the bath, smart bathrooms [5–8], bed technology [14,15], washing systems [16–19], including the use of body sensors and control systems [20–24]. Usually, in a domestic environment, there is only one caregiver taking care of the bedridden person. Thus, dedicated devices should provide the full sup-port to undertake the required healthcare tasks efficiently, thus increasing the autonomy, independency, and the quality of life of potential elderly people. In order to assist the domestic caregivers in giving baths to bedridden people, smart baths—portable washing systems have been designed; these work without having to move the patient to the nearest bathroom or water source. The system can be an integral part of the smart house, as part of the environment of care function to promote a proof-of-concept for the elderly bath task improvement. During the design process some main ideas have been taken into account and, always, a critical behavior of authors has been adopted [28]. The structure of the proposed system consists of two water tanks standing one on top of the other, both filled through the same hole on the top of the tank. One of the tanks contains cold water, while the other houses a secure heating system controlled by appropriate sensors. A controller is installed in order to mix the water from both tanks and to adjust the temperature to the liking of the patient, bearing in mind the temperature intervals that health-professionals advise. Another part of the system is the shower, which was chosen to fulfill the requirements of providing adjustable pressure and temperature settings. This paper is structured in five sections. The first one is the Introduction. The second section, State of the Art, consists of a contextualization of the project, motivation, and description of technologies and systems suitable for use for bedridden people. In the third section, Framework, and in the fourth section, Results, the system components and their operation are described, along with a short explanation on how to use the interface and a systematic explanation of the use of the designed product. In section five, Conclusions, the main conclusions of the study as well as some future steps of the project are presented. 2. State of the Art It is important to mention that this project represents a technical innovation inside the Ambient Assisted Living (AAL) paradigm, offering and increasing opportunities for an independent and self-determined way of life for older people living at home or in care facilities [9–11]. With an aging population, there is a deterioration of the physical capabilities of both bedridden persons and caregivers, and this aspect is of utmost importance to determine how independent the patient is. Furthermore, the psychological state is also responsible for variations in the quality of life. The healthcare of people with total motion disability makes the caregiver work exhausting, resulting many times in the appearance of health problems in the caregiver due to repetitive stress. In healthcare for the elderly, some aspects such as physical fragility and skin care need to be considered among others, because of the deterioration of the condition of the skin with aging. The requirements to use an AAL-developed project provided a strong conceptual basis. The functionalities of this mechatronic system to assist the bathing will support impaired functions of

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potential users. This project has a relevant background in the various assistive areas: bathing, comfort and security. These help develop a suitable environment to care for older persons. The knowledge was acquired during studies in this area and bearing in mind the increasing demands regarding assistive technologies to help in the bathing situation. It is important to agree on the importance of the security parameters to be included in any product to be used by care-givers in care environments. Knowledge about sensor technology, communication systems, and information technologies has created ample opportunities to develop novel equipment facilitating care for the elderly. Smart homes equipped with wireless sensor networks will benefit both health care providers and their patients. In this project, sensors are applied to ensure the security of the use of the system and improve aspects like quality of life for elderly people such as privacy, independence, dignity and convenience, which are supported and enhanced by the ability to provide services in the patient’s own home [12]. Using Information and Communication Technology (ICT)−based products and services for the propose to increase the benefits for older adults, developers and service providers must not only focus on the functionality itself, but also, even especially, on the user interface. Part of the purpose was to provide a generic framework for the design of flexible user interfaces, such as: AAL, GPII/URC and universal ones [13]. This represents a proof-of-concept of equipment to help bathe bedridden people. In this case, commercial sensors were implemented to prototype this concept, and maybe in the future will be necessary to develop off-the-shelf sensors to have specifics functions. For example, technological solutions have been created to help in daily care situations. Medical Care Terminal (MCT) + BED, is a system that collects physiological data of the patient and provides a remote medical interface, allowing medical instructions to be transmitted to the patient or caregiver. Environment variables can also be monitored by the system [14]. The environment for giving an automated bath was developed to meet the different demands of patients; therefore, it provides an environment that supports the patient in standing in a vertical position, which makes it possible to run a pre-programmed course of a sequence of tasks: lathering, rinsing and drying, in order to minimize the effort of caregivers [5–23]. In a specific hospital bath project [6], designed to provide the bathing of an invalid or of a patient in the hospital, allowing maximum mobility and minimal patient discomfort, a vertical support was included that enables users to choose different height settings. Furthermore, to assist the caregivers to reduce the burden of nursing care, several implementations were investigated in order to identify limitations and possible areas for improvement. In particular, the work performed by [8] describes three different solutions used currently. The first is an electric wheelchair that can be modified in order to work as a portable bed by reclining the seat. The second is a new type of lift for carrying the patient from the wheelchair to the bath, or to a normal bed. The third component is a new type of bathtub made from vinyl cloth and supported by an aluminum frame that can be moved easily. Another project supported daily showering, via a manual or electric device fitted with a disposable sleeve coupled in a sliding support, which can move in the vertical and horizontal directions, in order to facilitate lathering. It is important to highlight the operation of the electrical system, which uses an internal bar attached to the support, a toothed belt and an engine that is driven by an external button that allows the holder to raise or decrease the limit end-of-stroke, while also including intensity control [16]. Similarly, a patented system to enable better conditions related to sitting in the bed, using an inflatable mattress with a brush that performs movements under the patient’s back was developed. It has water drainage channels, which allow washing the surface. The system controls the inflation of the air mattress and the drying process [17]. In a recent project [18], a bathing system for assisted and non-independent bedridden patients it was developed with the use of an inflatable PVC air tub, which is universal and suitable for any bed. This system allows bathing by means of a common water dispenser, and characterized by a main inflatable and ergonomic central body, a headrest coplanar with the main body, which supports

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Sensors 2017, 1156 of 22 bather, and17, a periphery tubular air wall with three functions. The main functions are safety of4 the bather against accidental falls; water splash containment during bathing; and canalization of Sensors 2017, 17, 1156the drain hole. One important aspect of the construction of the air tub4is of that 22 wastewater itof the bather, towards and a periphery tubular air wall with three functions. The main functions are safety allows the patient to remain in a raised position during the washing, thus ensuring better hygiene as the bather accidental falls;airwater splash containment during andsafety canalization bather,against and a periphery tubular wall with three functions. The main bathing; functions are of the of the body is not immersed in water. bather against splash containment bathing; and canalization wastewater towardsaccidental the drainfalls; hole.water One important aspect ofduring the construction of the air tub isofthat it Another implementation considers aimportant mobile service on bed equipped a is waterproof wastewater towards the drain One aspect theaconstruction of thewith airbetter tub that it as allows the patient to remain in a hole. raised position during theofwashing, thus ensuring hygiene material with raised edges forming a bath with a tank used to hold water for washing the patient allows to remain in a raised position during the washing, thus ensuring better hygiene as and the body is the notpatient immersed in water. holding therapeutic liquid. Thewater. service tank can be used to pump water with pressure, or to regulate theabody is not immersed Another implementationinconsiders a mobile service on a bed equipped with a waterproof material Another implementation considers a mobile service onshower a bed equipped a waterproof the flow rate of supplied water and the water pressure in the at the endwith of the supply line; a with raised edges forming a bath with a tank used to hold water for washing the patient and holding material with raised edges forming bathofwith tankprovided. used to hold water for washing thebe patient and to control valve is preferably in the feed aline the atank This equipment can connected a therapeutic liquid. The liquid. serviceThe tank can be used to pump water with pressure, or toor regulate the flow holding a therapeutic service tank can be used to pump water with pressure, to regulate electrical units either using either a battery, or to AC power, with a rechargeable battery [19]. rate of supplied water and the water pressure in the shower at the end of the supply line; a flow rate of supplied water and the water pressure in the shower at the end of the supply line;control a Inthe2002, a system which consisted in a bed with air cushion, with water working as drainage valvecontrol is preferably the feedin line theline tank This equipment can becan connected to electrical valve isin preferably theof feed of provided. the tank provided. This equipment be connected to device was patented (Figure 1, [20]). The system integrates an air pump, an air duct, and a controller. unitselectrical either using a battery, AC power, with a rechargeable batterybattery [19]. [19]. unitseither either using eitherora to battery, or to AC power, with a rechargeable The structure contains a multiple air mattress series of with holeswater in different directions; the In 2002, a system which consisted bedwith with aair working as drainage In 2002, a system which consisted ininaa bed with aircushion, cushion, with water working as drainage controller activates the pump for conveying air, controls the filling and emptying of the mattress. The device patented (Figure [20]).The Thesystem system integrates pump, an air and aand controller. device was was patented (Figure 1, 1, [20]). integratesananairair pump, an duct, air duct, a controller. base plate of the water tanka is inclined and it haswith a water outlet in the lower part. Therefore, The structure contains multiple air mattress a series of holes in different directions; the the The structure contains a multiple air mattress with a series of holes in different directions; the controller effluent contained in thethe water can be theemptying inclinedofbase and discharged controller activates pumpreservoir for conveying air,channeled controls thethrough filling and the mattress. The activates the pump for conveying air, controls the filling and emptying of the mattress. The base base plate of the waterallowing tank is inclined andof it body has a water in the lower part. Therefore, in thebed. through the water outlet, functions wash outlet and cleaning of the excrements plate of the water tank is inclined and it has a water outlet in the lower part. Therefore, the effluent effluent contained in the water reservoir can be channeled through the inclined base and discharged The air ducts are responsible for ensuring both cold and hot air, allowing the user to keep warm contained in the the water wateroutlet, reservoir can be channeledbody through the inclined base and discharged through allowingsummer; functionsitofcan cleaning of excrements bed. duringthrough winter and keep cool during bewash usedand by disabled orthe patients in aninimmobile the water outlet, allowing functions of body wash and cleaning of the excrements in bed. The air The air ducts are responsible for ensuring both cold and hot air, allowing the user to keep warmducts state [20]. are responsible forand ensuring both cold and hot air, allowing user to keep warmin during winter and during winter keep cool during summer; it can be usedthe by disabled or patients an immobile keep state cool [20]. during summer; it can be used by disabled or patients in an immobile state [20].

Figure 1. Air cushion bed with water—draining device (adapted from [13]). Figure 1.1.Air cushion bed with water—draining device (adapted from [13]). Figure Air cushion bed with water—draining device (adapted from [13]).

Another patent describeda abathing bathing system system specifically patients Another 19751975 patent [21][21] described specificallyforforimmobilized immobilized patients Another patent can [21]automatically described awash bathing system specifically patients (Figure 2).1975 This device and dry the patient withoutfor theimmobilized physical constant (Figure 2). This device can automatically wash and dry the patient without the physical constant (Figure 2). This can automatically wash dry the patientinwithout thethus physical constant presence anddevice attention of the nurses. Patients canand be easily positioned the shower optimizing presence and attention of the nurses. Patients can be easily positioned in the shower thus optimizing healthcare processes.of the nurses. Patients can be easily positioned in the shower thus optimizing presence and attention healthcare processes. healthcare processes.

Figure 2. Bathing device (adapted from [14]).

Figure2.2.Bathing Bathingdevice device(adapted (adaptedfrom from[14]). [14]). Figure

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Another washing system was developed to help caregivers shower bedridden people [22]. This concept of a mechatronic system is composed by two parts, the SmartBath (SB) and Bath Control System (SCB). It is a unique system with improvements in terms of comfort, accessibility, safety and ease of use directed to the elderly and their caregivers. The system may improve the users’ quality of life, allowing accessibility, privacy, and safety. A different project was designed to minimize the difficulty of the caregiver in moving the bedridden patient from the bed to an intelligent bathroom, including bath monitoring based on technologies such as bioimpedance analysis, water level and temperature control and detection, and the activity of the person in the bathroom [23]. Other example considers an exoskeletal robot for humans with joints designed to match those of the wearer—“Robot Suit HAL” [24]. The study focused on reducing the trunk inclination angle, which is related to the physical load around the lumbar spine. A mechanism that locks the power unit of a Hybrid Assistive Limb (HAL) joint is added to the caregiver’s upper limb used to support the weight of the care-receiver to assist the motor function of the wearer’s upper limbs [24]. Furthermore, modern technology has allowed the development of miniaturized wireless mobile health monitoring systems, capable of continuous monitoring while being power efficient, such as the Bathtub controller [25]. These systems are able of monitoring the patients in rehabilitation, the elderly in assisted living, and patients with chronic diseases and allow frequent measurements of physiological parameters on a daily basis in everyday life [25]. After the analysis of the above systems, it can be stated that there is a gap in mobile bath care devices. Mobility enables a higher quality of care for bedridden in the daily activities carried out by caregivers, especially in the bath activity. Therefore, in this paper it is proposed the development of a portable device allowing bathing in any environment with the best conditions, in order to improve the quality of life of caregivers. 3. Framework This section presents the Portable Washing System (PWS). The concept of the product intends to promote mobility in order to give showers to bedridden people, allowing the wellbeing and hygiene of users. In this section it is explained how the PWS works, how and why it was designed, as well the methodology for establishing functional classifications and design decisions on a value analysis basis. The methodology considers the basic principles of the product development [29,30]. The process shows that technologies, specifications and functions have the power to enable a project in many ways. A step-by-step product development methodology was applied and is presented in the following subsections. The PWS was conceived to reduce the effort of caregivers, while meeting all the requirements of a conventional bath. This equipment is composed by a main device plugged into the electric current supply where the water is heated, contained and pumped to the shower and an air bed with an outlet for the water flow placed under the patient, on the bed. As main advantage, besides the cost, it is important to know that the temperature of the water is an important parameter to control in order to prevent injuries and complications during the bath. The selected water temperature controller is programmed to allow working temperatures between 38 ◦ C and 42 ◦ C, allowing the caregiver to select the temperature between these values and adjust it during the bath. Moreover, the modular design of the system allows easy maintenance. Its modular parts facilitate the access to the various components and the parts are all removable, which facilitates the repair of each part individually, without damaging the product. The device can be used in any home and/or hospital environment. The mechanism enables quick operation due to the system developed to supply and heat water. The reservoir tank requires the use of a common water supply method. This procedure is performed in about 8 min considering the average flow rate of 5 L/min and carried out in approximately 22 min using a power of 3 KW resistance. In this line of reasoning, this means

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a caregiver can have the product ready to give the bath in 30 min, a relatively good time, taking into account the current total time of about 1 h. The first step is to connect a hose to a water supply, such as a tap; this will fill the two recipients without the need to connect both to the water supply. Secondly, the equipment is turned on and starts heating the water to the maximum recommended temperature. After this procedure, it is necessary to hold the shower, turn it on, and regulate the temperature using the display on the side of the tank. Then, the pressure and flow of the water in the shower need to be adjusted accordingly. In case of failure of one of the components, after diagnosing the failure and identifying the component, it is not necessary to dismantle all the system to repair that part. The advantage of the modular design is that the caregiver does not need to take the equipment to a technician in order to clean the water filter, for example, as the system was designed to allow an easy access to every component. Comparing the proposed system to a traditional bath, the advantages of the PWS presented in this paper are:

• • • • • •

“Bath in Bed”—for patients with total dependence on a caregiver; Easier for the caregiver to change environments (house or hospital); Quick water supply and water heating; Ease of use; No risk of falling, no risk of damaging the skin, safe water temperature; Low cost equipment.

In terms of ease of use, the system was designed with a tactile interface for easy understanding and operation of the system, in order to allow the user to choose the parameters of the prototype, such as filling water tank, temperature control, water pressure, water supply, and warming time. 3.1. Concept Requirements Taking into account that the device focuses on assisting caregivers in their activities of giving baths to bedridden patients, a system composed by a structure allowing heating water and respective transportation between spaces was developed, composed by two stainless steel tanks with an insulating layer of polyurethane. One of the tanks has a capacity of 30 L and it is destined to heat water up to 43 ◦ C. It is composed by two resistances (each one of 1500 W), but it can also work with just one of them, allowing to the caregiver to choose the duration for warming the water. The other tank has a capacity of 15 L and it is used to store cold water. By using two water pumps, the system pumps the water to the piping system through a thermostatic valve with a controller that allows the caregiver to choose a bath temperature between 38 ◦ C and 42 ◦ C (as previously mentioned). This temperature limitation prevents unnecessary injuries. The product specifications are summarized in Table 1. Table 1. Requirements and respective specifications of product development. Requirements

Specifications

Water Temperature

The selected controller allows choosing temperatures between 38 ◦ C and 43 ◦ C

Thermal Insulation

Polyurethane insulation—loss ratio of 1 ◦ C in 3 h

Ecological Water Heating Hygiene Portability

Conventional showers have a flow rate of 7.5 L/min, while this system has an operating rate of 5 L/min Heating time: 22 min Customized with a water filter for impurities in the water. The modular structure enables the user to have an easily access to the filter to permit a regular cleaning of the filter Support structure, with a base constituted by three multi-directional wheels

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3.2. Functional Decomposition The process of creating a design architecture for the Bath-Ambiance device followed a process of decomposition, in which a top-level concept of the system’s required functions is broken down into functions and after into sub-functions. According to Ullman [28] two perspectives can be adopted: the Sensors 2017, 17, 1156 7 of 22 decomposition of each function that is partitioned into sub-functions and the requirements allocated to that function need to be decomposed with it. adopted: that the decomposition of each function that is partitioned into sub-functions and the From these perspectives we function obtain athat decomposition of the functions according to the areas of requirements allocated to that need to be decomposed with it. these perspectives we prototype. obtain a decomposition of the functions according to the areas assistance of relevance forFrom the development of the This proposal has the main task of providing relevance for the development of the prototype. This were proposal has the main of task of providing during the bath, and in the line of concept development defined a series objectives focused on assistance during the bath, and in the line of concept development were defined a series of objectives the users, who are the caregivers. In this case the areas defined for the in depth study of the functions focused on the users, who are the caregivers. In this case the areas defined for the in depth study of are: Safety, Use, Comfort andUse, Hygiene (Figure 3). (Figure 3). the functions are: Safety, Comfort and Hygiene

Figure 3. Functional decomposition [29].

Figure 3. Functional decomposition [29]. Each function requires deep understanding in functional and ergonomic terms. For example the Comfort function that requires that when the equipment it will and be possible to adapt it to the Each function requires deep understanding in functional ergonomic terms. Forweight example the of a user and ensure the correct posture of the user. Comfort function that requires that when the equipment it will be possible to adapt it to the weight of In the Safety area the functions consist of promoting the safety of totally disabled patients and a a user and ensure the correct posture of the user. sub-function consists of using non-conductive materials. The function “benefit high safety for the In user” the Safety the functions consist of promoting the safety of totally patients and whicharea sub-function is “no sharp edges and cutting material” is devoted to disabled the safety of the a sub-function consists of using non-conductive materials. The function “benefit high safety for the caregiver. The last one is “care against hazards generated by moving parts” that covers possible worriessub-function of both the bedridden the caregiver. The Use area has just functions such as “Must user” which is “nopatient sharpand edges and cutting material” is devoted to the safety of the be handled any be versatile andby easy to carry”, and “It must havepossible a control worries caregiver. The lastby one is adult “careperson”, against“Must hazards generated moving parts” that covers the intervention of the bedridden”. These functions address the main worries about of both that the prevents bedridden patient and the caregiver. The Use area has just functions such as “Must be correct use of the equipment, taking into account the specific conditions of caring for a bedridden handled by any adult person”, “Must be versatile and easy to carry”, and “It must have a control that person by a caregiver. In the Comfort area, the functions are “correct posture of the user”, prevents“ergonomic” the intervention of the bedridden”. Theseregarding functions the main worries about correct (must have measurement standards theaddress minimum and maximum percentile use of the equipment, taking intobeaccount thetospecific of caring for a bedridden person by scales for adults) and it must lightweight facilitateconditions easy transport of the equipment. Finally, the last area, Hygiene, the function “easy asepsis” defines how toposture enable changing clothes in bed and the (must a caregiver. In the Comfort area, the functions are “correct of the user”, “ergonomic” use of materials that do not absorb water. All functions and sub-functions are implemented the have measurement standards regarding the minimum and maximum percentile scales forinadults) and equipment. Therefore, it can be concluded that the development of this equipment requires the it must be lightweight to facilitate easy transport of the equipment. Finally, the last area, Hygiene, the accomplishment of the functions, presented in Table 2, described in this step based on the definition functionof“easy asepsis” defines how to enable changing clothes in bed and the use of materials that do the guidelines for its detailed design and consequent construction. not absorb water. All functions and sub-functions are implemented in the equipment. Therefore, it can be concluded that the development of this equipment requires the accomplishment of the functions,

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presented in Table 2, described in this step based on the definition of the guidelines for its detailed Sensors 2017, 17,2017, 1156 8 of 2222 Sensors 2017, 17, 1156 of 22 Sensors 17, 1156 8 of 22 Sensors 2017, 17, 1156 8822 of Sensors 2017, 17, 1156 8 of design and consequent Sensors 2017, 17, 1156 8of of Sensors 2017, 17, 1156 22 Sensors 2017, 17, 1156 of 22 Sensors 2017, 17, 1156 construction. 82222 of 22 Sensors 2017, 17, 1156 8888of 22 Sensors 2017, 17, 1156 8of Sensors 2017, 17, 1156 22 Sensors 2017, 17, 1156 8of of 22 Table 2. 2. Morphological Chart [30]. Table 2. Morphological Chart [30]. [30]. 2. Morphological Chart Table Morphological Chart [30]. Table 2.Table Morphological Chart [30]. Table 2. Morphological Chart [30]. Table 2. Morphological Chart [30]. Table 2. Morphological Chart [30]. Table 2. Morphological Chart [30]. Table 2. Morphological Chart [30]. Table 2. Morphological Chart [30]. Table 2. Morphological Chart [30]. Table 2. Morphological Chart [30]. Table 2. Morphological Chart [30].

Functions Functions Functions Functions Functions Functions Functions Functions Functions Functions Functions Functions Functions

Solutions Solutions Solutions Solutions Solutions Solutions Solutions Solutions Solutions Solutions Solutions Solutions Solutions

Wheel Wheel 11Wheel Wheel Wheel 1 11111 1Wheel Wheel Wheel Wheel Wheel 1111 1Wheel Wheel Wheel Wheel Capacity Capacity Capacity Capacity Capacity Capacity of 2Capacity Capacity Capacity Capacity Capacity 2Capacity 2 22222 2of Capacity water of water of water water 2 water of water 2222of of of water water of water ofof water of water water of water

L LL10 10 10 LL 10 1010 L 10 L L 10 L 10 LLLL10 10 10 L 10 10

L LL20 L 20 20 20 2020 L 20 L L 20 L 20 LLLL20 20 20 L 20 20

L LL30 L 30 30 3030 L 30 L L 30 L 30 LLLL30 30 30 L 30 30

Support 3Support Support Support 3 3333Support 3Support Support Support 3Support Support 33333 Support Support Support

Mixing Mixing Mixing Mixing 4Mixing Mixing Mixing Mixing Mixing 4 44444 4 Mixing Mixing Mixing Mixing Valve Valve Valve 4 Valve 4 4444 Valve Valve Valve Valve Valve Valve Valve Valve Valve

Water Water Water Water Water 5Water Water Water Water Water 5 5555 5 Filter Water Water Filter FilterFilter Filter 5555 Filter 55Filter Water Filter Filter Filter Filter Filter Filter

Shower Shower Shower Shower 6Shower Shower Shower Shower Shower 6 6666 6 Shower Shower Shower Shower Head Head Head 66 Head 6666 Head Head Head Head Head Head Head Head Head

3.3. Morphological Chart 3.3. Morphological Chart 3.3. Morphological Chart 3.3. Morphological Chart 3.3. Morphological Chart 3.3. Morphological Chart 3.3. Morphological Chart 3.3. Morphological Chart

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It is aaaavery very The technique, here presented, uses all the identified functions to foster ideas. It is a very The technique, here presented, uses all the identified functions to foster ideas. It is very The technique, here presented, uses all the identified functions to foster ideas. It is a very The technique, here presented, uses all the identified functions to foster ideas. It is very The technique, here presented, uses all the identified functions to foster ideas. It is very powerful method that can be formally used, as presented here, or informally as part of everyday powerful method that can be formally used, as presented here, or informally as part of everyday powerful method that can be formally used, as presented here, or informally as part of everyday The technique, here presented, uses all the identified functions to foster ideas. It is a very powerful method that can be formally used, as presented here, or informally as part of everyday powerful method that can be formally used, asas presented here, oror informally asas part ofof everyday powerful method that can be formally used, as presented here, or informally as part of everyday powerful method that can be formally used, presented here, informally part everyday powerful method that can be formally used, as presented here, or informally as part of everyday powerful method that can be formally used, as presented here, or informally as part of everyday powerful method that can be formally used, as presented here, or informally as part of everyday powerful method that can be formally used, as presented here, or informally as part of everyday powerful method that can be formally used, as presented here, or informally as part of everyday powerful method that can be formally used, as presented here, or informally as part of everyday thinking. There are two steps to this technique. The goal of the first step is to find many concepts thinking. There are two steps to this technique. The goal of the first step is to find as many concepts thinking. There are two steps to this technique. The goal of the first step is to find as many concepts thinking. There are two steps to this technique. The goal of the first step is to find as many concepts powerful method that can be formally used, as presented here, oris informally as part of everyday thinking. There areare two steps toto this technique. The goal ofof thethe first step to find as many concepts thinking. There are two steps to this technique. The goal of the first step is to find as many concepts thinking. There two steps this technique. The goal first step is to find as many concepts thinking. There are two steps to this technique. The goal of the first step is to find as many concepts thinking. There are two steps to this technique. The goal of the first step isfind to find as many concepts thinking. There are two steps to this technique. The goal of the first step is to find as many concepts thinking. There are two steps to this technique. The goal of the first step is to find as many concepts thinking. There are two steps to this technique. The goal of the first step is to as many concepts thinking. There are two steps to this technique. The goal of the first step is to find as many concepts possible that can provide each function identified inthe the decomposition. The second step isstep toto as possible that can provide each function identified in the decomposition. The second step is tois to as possible that can provide each function identified in the decomposition. The second as possible that can provide each function identified in the decomposition. The second step is asasas possible that can provide each function identified in decomposition. The second step is to thinking. There are two steps to this technique. The goal of the first step is to find as many concepts as possible that can provide each function identified in the decomposition. The second step is to toas possible that can provide each function identified in the decomposition. The second step isis to as possible that can provide each function identified inmeet the decomposition. The second step is asas that can provide each function identified in the decomposition. The second step aspossible possible that can provide each function identified in the decomposition. The second stepis isto to possible that can provide each function identified in the decomposition. The second step to as possible that can provide each function identified in the decomposition. The second step is to combine these individual concepts into overall concepts that all the functional requirements. combine these individual concepts into overall concepts that meet all the functional requirements. combine these individual concepts into overall concepts that meet all the functional requirements. combine these individual concepts into overall concepts that meet all the functional requirements. combine these individual concepts into overall concepts that meet all the functional requirements. possible that can provide each function identified in the decomposition. The second step is to combine combine these individual concepts into overall concepts that meet all the functional requirements. combine these individual concepts into overall concepts that meet all the functional requirements. combine these individual concepts into overall concepts that meet allfunctional the functional requirements. combine these individual concepts into overall concepts that meet all the requirements. combine these individual concepts into overall concepts that meet all the functional requirements. combine these individual concepts into overall concepts that meet all the functional requirements. combine these individual concepts into overall concepts that meet all the functional requirements. Just the second one was used this work. Just the second one was used in this work. Just the second one was used in this work. Just the second one was used in this work. Just the second one was used inin this work. Just the second one was used in this work. Just the second one was used in this work. these individual concepts into overall concepts that meet all the functional requirements. Just the Just the second one was used in this work. Just the second one was used in this work. Just the second one was used in this work. Just the second one was used in this work. Just the second one was used in this work. The design engineer’s knowledge and creativity are crucial here, the ideas generated are the The design engineer’s knowledge and creativity are crucial here, as the ideas generated are the The design engineer’s knowledge and creativity are here, crucial here, as thegenerated ideas generated are the The design engineer’s knowledge and creativity are crucial here, as the ideas generated are the The design engineer’s knowledge and creativity are crucial asas the ideas are the The design engineer’s knowledge and creativity are crucial here, as the ideas generated are thethe The design engineer’s knowledge and creativity are crucial here, as the ideas generated are the The design engineer’s knowledge and creativity are crucial here, as the ideas generated are The design engineer’s knowledge and creativity are crucial here, as the ideas generated are the second one was used in this work. The design engineer’s knowledge and creativity are crucial here, as the ideas generated are the The design engineer’s knowledge and creativity are crucial here, as the ideas generated are the The design engineer’s knowledge and creativity are crucial here, as the ideas generated are the basis for the remainder the design evolution. This technique often called the “morphological basis for the remainder of the design evolution. This technique is often called the “morphological basis for the remainder of the design evolution. This technique iscalled often called the “morphological basis for the remainder of the design evolution. This technique is often called the “morphological basis for the remainder ofofof the design evolution. This technique isisis often the “morphological basis for the remainder of the design evolution. This technique is often called the “morphological basis for the remainder the design evolution. This technique often called the “morphological basis for the remainder of the design evolution. This technique is often called the “morphological basis for the remainder ofof the design evolution. This technique isis called the “morphological basis for the remainder of the design evolution. This technique isoften often called the “morphological basis for the remainder the design evolution. This technique often called the “morphological The design engineer’s knowledge and creativity are crucial here, as the ideas generated are the basis for the remainder of the design evolution. This technique is often called the “morphological basis for the remainder of the design evolution. This technique is often called the “morphological

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method”, Table 2) is a “morphology”, which means “a study of form method”, and andthe theresulting resultingtable table(see (see Table 2) called is called a “morphology”, which means “a study of or structure” [28,29]. form or structure” [28,29]. The The purpose purpose of of this this study study is is defined defined as as providing providing the the best best understanding understanding of of how how aa device device can can be be constructed. The parts that integrate the product design must follow some functions and requirements constructed. The parts that integrate the product design must follow some functions and to provide the to most added the value to the proposed device. The completedevice. conceptual requirements provide most added valueBath—Ambience to the proposed Bath—Ambience The design considers the design selection of one concept for each function and all those complete conceptual considers the selection of one concept forcombines each function and selected combinesinto all athose single solution. the development thedevelopment PWS, it is possible show criteria were selected intoFollowing a single solution. Followingofthe of theto PWS, it which is possible to show used choosewere each used one for each function of this concept. whichtocriteria to choose each one for each function of this concept. The wheels need to have load capacity up The wheels need to have load capacity up to to 2.5 2.5 times times the the safety safety coefficient coefficient for for an an estimated estimated bearing weight of 80 kg. It must be made of a sturdy material and allow the equipment to be strong, strong, bearing weight of 80 kg. It must be made of a sturdy material and allow the equipment to be safe safe and and multidirectional multidirectional and and backward backward fixed. fixed. Regarding the tanks and their it is estimated that a water outlet operated at 5 at L per Regarding the tanks and theirwater watercapacity capacity it is estimated that a water outlet operated 5L minute with an inconstant flow rate, to achieve a bath duration of 8 min needs a tank of approximately per minute with an inconstant flow rate, to achieve a bath duration of 8 min needs a tank of 30 L capacity for approximately 3040 L min. capacity for 40 min. To promote the of of thethe device, it must support the user, is intended that the that support To promote themobility mobility device, it must support the and user,it and it is intended the be ergonomic to allow it to interact with the wheels and it must be able to support all the integrated support be ergonomic to allow it to interact with the wheels and it must be able to support all the parts up to parts 80 kgup in weight. integrated to 80 kg in weight. The mixing valve of of system was chosen as an configuration, Digital LED The mixing valveintegrated integratedinside inside system was chosen as In-Line an In-Line configuration, Digital Thermostatic Mixing ValveValve System. This solution comescomes with awith LEDaMonitor connected to the to valve LED Thermostatic Mixing System. This solution LED Monitor connected the that allows the caregiver to regulate the temperature during the bath without the need of someone valve that allows the caregiver to regulate the temperature during the bath without the need of more qualified access the to the Bath to Mounted Thermostatic Mixing ValveMixing this is someone more to qualified to valve. access Comparing the valve. Comparing the Bath Mounted Thermostatic aValve betterthis solution since the valve position before the system outlet allows a new level of temperature is a better solution since the valve position before the system outlet allows a new level of control to ensure the to patient safety. temperature control ensure the patient safety. The water filter choice is one The water filter choice is one of of these these solutions solutions that that should should be be made made according according to to what what aspect aspect of of the water needs to be treated. The chosen solution was to treat the water at the entrance of the system the water needs to be treated. The chosen solution was to treat the water at the entrance of the system to to filter filter out out chlorine. chlorine. The The filtration filtration system system solution solution to to use use is is integrated integrated in in the the Whole-house Whole-house chlorine chlorine filters category. filters category. Finally, Shower Outlet Outlet control, control, Finally, the the shower shower head head function function was was chosen chosen by by having having aa Dynamic Dynamic Shower possible possible flow flow control, control, easy easy adjustment adjustment and and aa comfortable comfortable handle. handle. Figure 4 presents the virtual modeling of The final final Figure 4 presents the virtual modeling of the the PWS PWS developed developed by by the the conceptual conceptual design. design. The proof-of-concept is described in the next subsections. proof-of-concept is described in the next subsections.

Figure 4. Conceptual model of the 3D Portable Washing System. Figure 4. Conceptual model of the 3D Portable Washing System.

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3.4. Developed Prototype 3.4. Developed Prototype A 3D model of the prototype was developed taking into account the dimensions necessary to A 3D model of the prototype was developed taking into account the dimensions necessary to incorporate all the electronics and meet the full set of requirements. The prototype was idealized for incorporate all the electronics and meet the full set of requirements. The prototype was idealized for easy transportation (avoiding problems such as issues crossing doors in private houses). The easy transportation (avoiding problems such as issues crossing doors in private houses). The dimensions dimensions include a base with a diameter of 544 mm and a height of 900 mm. The equipment was include a base with a diameter of 544 mm and a height of 900 mm. The equipment was designed to designed to be easy to use by both healthcare professionals and common citizens in the comfort of be easy to use by both healthcare professionals and common citizens in the comfort of his/her home. his/her home. The system was divided into subsystems, in order to make it easier to dismantle the The system was divided into subsystems, in order to make it easier to dismantle the system, as well as system, as well as facilitating the design and development of the system. Figure 5 presents all parts facilitating the design and development of the system. Figure 5 presents all parts of the system. of the system.

Figure 5. Final prototype (water inlet, water filter, control panel, cold water tank, shower, thermostatic Figure 5. Final prototype (water inlet, water filter, control panel, cold water tank, shower, thermostatic valve, hot water take, water pump, water outlet). valve, hot water take, water pump, water outlet).

3.5. Water Tanks 3.5. Water Tanks The tanks are one of the most important components of the system. It is the place to which the The tanks are one of the most important components of the system. It is the place to which hoses connect and where the electric resistance and most of the other components are installed. As the hoses connect and where the electric resistance and most of the other components are installed. such, special attention was given to their design. Firstly, it was decided that both tanks needed to be As such, special attention was given to their design. Firstly, it was decided that both tanks needed transported everywhere, in order to give the caregiver all the independence and mobility that a to be transported everywhere, in order to give the caregiver all the independence and mobility that system like this could provide. Secondly, they were designed to be hygienic and durable, with no a system like this could provide. Secondly, they were designed to be hygienic and durable, with no rust or other particles, from the beginning to the end of the expected life of the component. Finally, rust or other particles, from the beginning to the end of the expected life of the component. Finally, the tanks had to keep the water inside at a given temperature, in order to ensure a safe and the tanks had to keep the water inside at a given temperature, in order to ensure a safe and comfortable comfortable bath. When it come to the materials used, the main aim was to make the system bath. When it come to the materials used, the main aim was to make the system affordable, without affordable, without compromising its specifications. Thus, a stainless steel case was chosen, while compromising its specifications. Thus, a stainless steel case was chosen, while polyurethane foam polyurethane foam ensured the insulation. This way, the system was both visually appealing and ensured the insulation. This way, the system was both visually appealing and functional, without functional, without affecting its cost or quality of the medical care. affecting its cost or quality of the medical care. 3.6. Insulation 3.6. Insulation In the tank design it was intended to ensure a very good thermal insulation, so it was decided In the tank design it was intended to ensure a very good thermal insulation, so it was decided that the water temperature should not decrease by more than 1 °C over the course of three hours. that the water temperature should not decrease by more than 1 ◦ C over the course of three hours. A structure with a stainless steel outer shell, and with polyurethane as the main insulator, was A structure with a stainless steel outer shell, and with polyurethane as the main insulator, was considered. Table 3 lists the water and environmental temperature, as well as the tank’s capacity and considered. Table 3 lists the water and environmental temperature, as well as the tank’s capacity and dimensions. The thermal properties of water, air, and raw materials analyzed and used are shown in dimensions. The thermal properties of water, air, and raw materials analyzed and used are shown in Table 4. Table 4.

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Table 3. Specifications of the heated tank. Temperature (◦ C) Water 42

Dimensions (mm)

Environment 10

Diameter 360

Capacity (L)

Height 400

8.5

Table 4. Properties of the Materials Used, Water and Air Coefficients. Water Specific Heat (Cp)

4872 J/kg·K

Water convection coefficient (hw) Air convection coefficient (hair) Stainless steel thermal conductivity (kss) Polyurethane thermal conductivity (kpu)

8.0567 W/m2 ·K 3640 W/m2 ·K 15 W/m·K 0.035 W/m·K

To improve and certify this mechatronic system a series of mathematical studies were performed so it was possible to test various thicknesses. Each thickness was calculated, as well as the possible new values of Q (heat transfer). The maximum power lost is defined by the thermal energy that is needed to drop the water temperature by 1 ◦ C over the course of one hour. This could be calculated based on the following Equation (1): Q=

p × V × Cp × ∆T ∆t

(1)

where p is the density (kg/m3 ), Cp is the heat capacity at constant pressure (J/(kg·K)), ∆T is the variation in temperature (K), V is the velocity (m/s), and ∆t is the time interval (s). The heat transfer value returned was 17.42 W and it was used in Equation (2) as Qmax. The stainless steel thickness is standardized; for a heater tank wall it must be from 1.4 to 2 mm, but in this particular case the maximum thickness of 2 mm was chosen. Then, the temperature of the interior of the tank surface was determined using Equations (2) and (3): Qmax =

Tin − Tis Rcvi

Tis = Tin − Te f f /(hw × Ais)

(2) (3)

Qmax (W) represents the maximum heat transfer, Tin (K) is the temperature of the exterior of the tank surface, Tis (K) is the temperature of the interior of the tank surface, and R (K·m/W) is the specific thermal resistance. After this step, the effective power loss was calculated for each thickness of the insulation layer. The procedure required calculating the outside radius of the insulation layer for each insulation thickness. This leads to Equation (4) for the area of the outer surface: Aos = π × (r Tss + TPU )2 × 2 + 2 × π × (r Tss + TPU ) × (z + 2 × TPU )

(4)

Here Aos represents the outside surface area, ss represents stainless steel and pu corresponds to the polyurethane. Next, the temperature of the outer face of the insulator was calculated, employing Equations (5) and (6): Tos − Tenv Qmax = (5) 1 hair × Aos

Tos = Tenv +

Qmax h air × Aos

(6)

where Tos is the temperature of the outside surface area; Tenv is the temperature of the environment; and Aos is the outside surface area, and hair is the enthalpy.

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Having determined both temperatures, it was considered the heat conduction of the stainless steel Sensors 2017, 17, 1156 12 of 22 and the polyurethane walls. Thus, for each thickness interaction, the effective losses were calculated, considering distinct flows on the top and sides of the tank, as in Equations (7)–(9): (7) = + Qe f−= Qcil + Qplain − (7) + = (8) + Tes . . −+Tes . . Tis − Tis Qe f = + (8) Rss.cil + Rss.plain + R PU.plain − − R PU.cil + = ln ( . ) Tis − Tes ln( . ) (9) Tis − Tes + × . .   +  Qe f = + Tss × T (9) r T.PU r T.ss 2 × × ln r× 2 ×ln × × k × Ass + k ×PUA r T.ss i.ss ss PU PU 2×π × Tss×kss + 2×π × Tss×k PU Above, Qef is the final heat flow of the tank; T is the temperature; k is the thermal conductivity; the final heat flow of the tank; T is the temperature; k isand the considering thermal conductivity; and Above, A is theQef area.isIn conclusion, in order to achieve the desired insulation a stainless and A is the area. In conclusion, in order to achieve the desired insulation and considering a stainless steel thickness of 2 mm, a layer of polyurethane with a thickness of 30 mm must be used [28,29]. steel thickness of 2 mm, a layer of polyurethane with a thickness of 30 mm must be used [28,29].

3.7. Resistences 3.7. Resistences In order to ensure safe and comfortable bath for the user, temperature becomes a key factor. In order to ensure safe and comfortable bath for the user, temperature becomes a key factor. According to Thermostatic Mixing Valve Manufacturers Association, and in order to avoid burns on According to Thermostatic Mixing Valve Manufacturers Association, and in order to avoid burns on the patient’s skin, the temperature cannot exceed 42 °C, and it cannot drop below 38 °C, because it the patient’s skin, the temperature cannot exceed 42 ◦ C, and it cannot drop below 38 ◦ C, because it can lead to irregular heartbeat and breathing problems. To heat the water to the desired temperature, can lead to irregular heartbeat and breathing problems. To heat the water to the desired temperature, was considered the use of a resistance and a thermostat. Water heating is accomplished by using an was considered the use of a resistance and a thermostat. Water heating is accomplished by using electrical resistance. This kind of system is also used in conventional water heaters and it is very an electrical resistance. This kind of system is also used in conventional water heaters and it is very reliable and safe, as it does not release gases related to combustion systems, for example. Its design reliable and safe, as it does not release gases related to combustion systems, for example. Its design is is simple, and it is easy to introduce and easy to control. simple, and it is easy to introduce and easy to control. After choosing the system, it was needed to select a resistance. It was assumed that preparing a After choosing the system, it was needed to select a resistance. It was assumed that preparing bedridden person for a bath usually requires from 20 to 25 min. As such, it was considered that this a bedridden person for a bath usually requires from 20 to 25 min. As such, it was considered that time interval would be sufficient to heat the water. The expression that allows calculating the this time interval would be sufficient to heat the water. The expression that allows calculating the necessary power to heat the fluid is presented in Equation (10): necessary power to heat the fluid is presented in Equation (10): × ×∆ (10) =m × Cp × ∆T Q= (10) t Q required to cool or heat within a specific time interval is calculated in relation to m (mass of water), Cp (specific heatorofheat water), ΔT (temperature t (time required to to heat). Q required to cool within a specific timevariation), interval isand calculated in relation m (mass of The of water in of these conditions is 4180 J/(kg·°C). Its total is required 30 kg andtothe temperature water), CpCp (specific heat water), ∆T (temperature variation), and mass t (time heat). difference extreme conditions, of is 324180 °C (water 10 °C being heated upthe totemperature 42 °C). Two The Cpis, ofin water in these conditions J/(kg·◦filled C). Itsattotal mass is 30 kg and ◦ ◦ ◦ electric resistances were used, considering their size, electrical consumption from grid. difference is, in extreme conditions, of 32 C (water filledcost at 10and C being heated up to 42 C). Twothe electric Based on these factors, two resistances of cost 1500and watts each were chosen. from The the calculated heating resistances were used, considering their size, electrical consumption grid. Based on interval was approximately thechosen. above value [31–35]. heating interval was these factors, two resistances22ofmin, 1500which wattsmatches each were The calculated approximately 22 min, which matches the above value [31–35]. 3.7.1. Water Pump 3.7.1. Water Pump The system is composed by two water pumps, each one placed in the water outlet of each water composed byistwo water pumps, each tank.The Thesystem water is pump selected presented in Figure 6. one placed in the water outlet of each water tank. The water pump selected is presented in Figure 6.

Figure 6. Water pump model (adapted from [36]). Figure 6. Water pump model (adapted from [36]).

This water pump has a pumping capacity of 6.8 L/min with a pressure of 4.33 PSI (0.298542 bar) which is enough taking into account that the desired final water flow of the system is 5 L/min.

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This water pump has a pumping capacity of 6.8 L/min with a pressure of 4.33 PSI (0.298542 bar) which is enough taking into account that the desired final water flow of the system is 5 L/min. Sensors 2017, 17, 1156 3.7.2. Water Filter

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3.7.2. Water The water fromFilter the mains may contain impurities, so the use of a water filter is important in order to remove possible in the pipes, as well chlorine, which The water fromimpurities the mains may contain impurities, so as thehigh use oflevels a wateroffilter is important in could be order to remove possible impurities in the pipes, as well as high levels of chlorine, which could be uncomfortable to the bedridden. For these reasons, a water filter was selected (Figure 7), which is set uncomfortable to the bedridden. For these reasons, a water filter was selected (Figure 7), which is set up at the entry of water in the tanks. It is recommended to clean the filter after each bath, to ensure up at the entry of water in the tanks. It is recommended to clean the filter after each bath, to ensure a a constant constant qualityquality of water. of water.

Figure 7. Water from [37]). Figure 7. Waterfilter filter (adapted (adapted from [37]). 3.7.3. Water Temperature Control 3.7.3. Water Temperature Control The water temperature control is based on mixing two different water flows with known

The water temperature control is based on mixing different flows with temperatures: the cold water flow and the hot water flow [38].two To determine the water relation between the known flows,the there are some principles that the needhot to be assumed in order the calculations and between temperatures: cold water flow and water flow [38]. to Tosimplify determine the relation order to assure a correct final equation of flows. Ininthis part is the flows, respected there areinsome principles that need to be assumed order todetermined simplify the theequation calculations and of water flows, considering: respected in order to assure a correct final equation of flows. In this part is determined the equation of  considering: Cold Water Temperature: Tc water flows,

• • •

 Hot Water Temperature: TH Water Mixed Water Temperature: TO. Temperature: Tc

Cold following principles Hot WaterThe Temperature: TH were assumed, in order to simplify the calculations: Flow Temperature: in steady state: TO. Mixed Water ∆

= 0; ∆

=0

The following principles were assumed, in order to simplify the calculations: Negligible Kinetic Energy and Potential Energy: Flow in steady state: = VC 0 =0 ∆mVC = =0; ∆E

(11)

(12)

(11)

 NoKinetic interaction of work: The conservation of mass it is an important tool used in the analysis of Negligible Energy and Potential Energy: physical systems. To determine the mixing flow, the mass balance and the energy balance provide important equivalences in the calculation of the final flow equation:

EC = EP = 0

(12)

Mass Balance:

•

No interaction of work: The conservation of=mass = it is an important tool used in the (13)analysis of ∆ physical systems. To determine the mixing flow, the mass balance and the energy balance provide (14) = → + = important equivalences in the calculation of the final flow equation: Energy Balance:

Mass Balance:

=

−

(15)

∆msistema m adm =and msai − : Rate of energy transferred by = heat, work, mass transfer. : Rate of change of kinetic energy, potential energy, ... m adm = msai → m1 + m2 = m3 =

Energy Balance:

×ℎ +

×ℎ =

×ℎ

Esystem = Eadm − Esai

(13) (14) (16) (17)

Assuming the aforementioned principles (Q = 0; W = 0; E_C = E_P = 0):

Eadm − Esai : Rate of energy transferred transfer. × ℎ + by heat, × ℎ =work, ( + and ) ×mass ℎ Esystem : Rate of change of kinetic energy, potential energy, ...

(15)

(18)

Eadm = Esai

(16)

m1 × h1 + m2 × h2 = m3 × h3

(17)

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Assuming the aforementioned principles (Q = 0; W = 0; E_C = E_P = 0): m1 × h1 + m2 × h2 = ( m1 + m2 ) × h3

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m1 h1 m h ( m1 + m2 ) × h3 + 2 2 = m2 m2 m2

2017, 17, 1156 With Sensors the next relation (γ), to simplify the Equation (19): ℎ

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+

ℎ

=

(

+

)×ℎ

( + ℎ )×ℎ m ℎ γ = 1 ; γ+× h1 +=h2 = (γ + 1) × h3 With the next relation (γ), to m simplify the Equation (19): ( + ℎ )×ℎ 2 ℎ

(18) (19) 14 of 22 14 of 22

(19) 14 of 22 (19)

+ = (19) With the next relation (γ), to simplify the Equation (19): ; × ℎ + ℎ = ( + 1) × ℎ = (20) Using theWith nexttheexpression, it is possiblethe to know the relation between the hot water next relation (γ), to=simplify ; × ℎ Equation + ℎ = ((19): + 1) × ℎ (20) water flows (γ): Using the next expression, it is possible to know the relation between the hot water and cold ; × ℎ h+3 ℎ + 1) × ℎ (20) − h=the 2 ( relation water flowsthe (γ):next expression, it = Using is possible to know between the hot water and cold

γ=

(20) and cold (21)

h1 − water flows (γ): 3 relation between the hot water and cold − ℎhthe Using the next expression, it is possible = toℎknow (21) ℎ − ℎ ℎ − ℎ water flows (γ): = (21) 3.7.4. Thermostatic Valve ℎℎ −−ℎℎ = (21) 3.7.4. Thermostatic Valve ℎ − ℎ Sense DMV2-Individual Shower (Figure The thermostatic valve selected was an Armstrong 3.7.4.The Thermostatic Valve thermostatic valve selected was an Armstrong Sense DMV2-Individual Shower (Figure 8).

8). This valve allows setting the minimum and/or maximum temperature values. Thus, it is accompanied This valve allows setting theprogrammed minimum and/or maximum temperature values. Thus, it isand accompanied ◦C 3.7.4. Thermostatic Valve The thermostatic valve selected was an Armstrong Sense DMV2-Individual (Figure by a control panel which will be for temperatures between 38 Shower 42 ◦ C8).(±1 ◦ C) [8]. by a valve control panelsetting whichthe will be programmed for temperatures between 38 °C andit42 (±1 °C) [8]. This allows minimum and/or maximum temperature values. Thus, is °C accompanied The thermostatic valve selected as was an Armstrong Sense DMV2-Individual Shower (Figure 8). It is, also, used a temperature controller indicated in Figure 9. It is, also, used a temperature controller as indicated in Figure 9. by a control panel setting which will be programmed for temperatures between 38 °CThus, and 42 (±1 °C) [8]. This valve allows the minimum and/or maximum temperature values. it is°C accompanied Itby is,aalso, used a temperature as indicated in Figure 9. between 38 °C and 42 °C (±1 °C) [8]. control panel which willcontroller be programmed for temperatures It is, also, used a temperature controller as indicated in Figure 9.

Figure 8. Thermostatic valve (adapted from [31]).

Figure 8. Thermostatic valve (adapted from [31]). Figure 8. Thermostatic valve (adapted from [31]).

Figure 8. Thermostatic valve (adapted from [31]).

Figure 9. Temperature controller (adapted from [31]). Figure 9. Temperature controller (adapted from [31]).

Figure 9. Temperature controller (adapted from [31]). Figure 9. Temperature controller (adapted from [31]).

Figure 10. Thermostatic valve scheme [31]. Figure 10. Thermostatic valve scheme [31]. Figure 10. Thermostatic valve scheme [31].

Figure 10. Thermostatic valve scheme [31].

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Sensors 2017, 17, 1156 Sensors 2017, 17, 1156 Figure 10 presents

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of 22 the scheme of the valves and the control checkpoints of temperature15to assure that the mixed had the correct in order to prevent temperatures outsidetothe range of Figureflow 10 presents the schemetemperature, of the valves and the control checkpoints of temperature assure Figure 10 presents the scheme of the valves and the control checkpoints of temperature to assure ◦ C.the mixed flow had the correct temperature, in order to prevent temperatures outside the range 38–42that

that the mixed flow had the correct temperature, in order to prevent temperatures outside the range of 38–42 °C. of 38–42 °C.

3.7.5. Sensors

3.7.5. Sensors 3.7.5.total Sensors The scheme of the system is a model which shows the internal operation of the device, as can The total scheme of the system is a model which shows the internal operation of the device, as be identified Figure 11 using important sensors: a temperature sensor and aoflevel sensor,as which Thein total scheme of the two system is a model which shows the internal operation the device, can be identified in Figure 11 using two important sensors: a temperature sensor and a level sensor, aim tocan ensure the safety of the11 integrated The sensors used in thissensor system be exemplified be identified in Figure using twosystem. important sensors: a temperature andcan a level sensor, which aim to ensure the safety of the integrated system. The sensors used in this system can be which aim to ensure the safety of the integrated system. The sensors in this system be to discriminate respective characteristics that were applied thisused device. Figure 12, can shows exemplified the to discriminate the respective characteristics that wereinapplied in this device. Figure 12, the exemplified to discriminate the respective characteristics that were applied in this device. Figure 12, scheme where two level sensors are used in are theused two in different supply shows the scheme where two level sensors the two water different watertanks. supply tanks. shows the scheme where two level sensors are used in the two different water supply tanks.

Figure11. 11.Global Global scheme Figure schemeofofthe thesystem. system. Figure 11. Global scheme of the system.

Figure 12. Level sensor scheme. Figure 12. Level sensor scheme.

Figure 12. Level sensor scheme.

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The level sensor has been implemented to ensure the amount of water and the water tank filler Thelevel levelsensor sensorhas hasbeen beenimplemented implementedtotoensure ensurethe theamount amountofofwater waterand andthe thewater watertank tankfiller filler The 2017, 17, 1156 16 of 22 limit.Sensors The Float Liquid Level Sensor chosen was the STANDEXMEDER [36] (Figure 13). The material limit. The Float Liquid Level Sensor chosen was the STANDEXMEDER [36] (Figure 13). The material limit. The Float Liquid Level Sensor chosen was the STANDEXMEDER [36] (Figure 13). The material of construction is nylon and some of the characteristics indicates that may be used in temperature up construction nylon and someimplemented thecharacteristics characteristics indicates thatwater maybe beused used temperature up ofofconstruction isisnylon and ofofthe indicates that may inintemperature up The level sensor hassome been ensure the amount and the water tank0.7 filler 80 °C, tightening torque was 0.5 N/m andtothe floating specificofdensity approximately g/cm33. ◦ C, the 3. . 80°C, thetightening tightening torque was 0.5N/m N/m and the floating specificdensity density approximately 0.7g/cm g/cm limit. The Float Liquid Level Sensor chosen was the STANDEXMEDER [36] (Figure 13). The material 80 the torque was 0.5 and the floating specific approximately 0.7 The sensor resistance measured with 40% overdrive was max 280 mOhm. of construction is nylon and some of the characteristics indicates that may be used in temperature up The sensor resistance measured with 40% overdrive was max 280 mOhm. The sensor resistance measured with 40% overdrive was max 280 mOhm. 80 °C, the tightening torque was 0.5 N/m and the floating specific density approximately 0.7 g/cm3. The sensor resistance measured with 40% overdrive was max 280 mOhm.

Figure 13. Float liquid level sensor (adapted from [39]). Figure Figure13. 13.Float Floatliquid liquidlevel levelsensor sensor(adapted (adaptedfrom from[39]). [39]). Figure 13. Float liquid level from [39]).sensor, Figure 14, to control The heating system of this water requires the sensor use of(adapted a temperature The heating system of this water requires the use of a temperature sensor, Figure 14, to control the temperature variation thewater waterrequires within the must takesensor, into account the heating limit The heating system ofof this the device use of athat temperature Figure14, 14,toto control the The heating system water requires use ofthat a temperature sensor, Figurethe controllimit the temperature variation of of thethis water within thethe device must take into account heating of the water that reaches 60 °C internally. This sensor can provide information on tank status, as well temperature variation of the water within the device that must take into account the heating limit of temperature variation the water within the device must take into account the heating of the the water that reaches 60◦ °Cofinternally. This sensor canthat provide information on tank status,limit as well as water temperature. thefaucet water that reaches 60 C internally. This sensor can provide information on tank status, as well as of the water that reaches 60 °C internally. This sensor can provide information on tank status, as well as faucet water temperature. faucetaswater faucettemperature. water temperature.

Figure14. 14.Temperature Temperature sensor scheme. Figure sensor scheme. Figure14. 14.Temperature Temperaturesensor sensorscheme. scheme. Figure In order to guarantee water heating safety, three temperature sensors are used throughout the In order to guarantee water heating safety, three temperature sensors are used throughout the system. temperature (PTT-341 [40]) were implemented (Figure 15), to throughout measure the the In order guarantee waterprobes heating safety,three three temperature sensors are used throughout the In order Soaking totoguarantee water heating safety, temperature sensors are used system. Soaking of temperature probesstill (PTT-341 [40]) were implemented (Figure 15), and to measure the temperature the liquid internals in the pipeline. They use a high quality thermistor a nickel system.Soaking Soakingtemperature temperatureprobes probes(PTT-341 (PTT-341[40]) [40])were wereimplemented implemented(Figure (Figure15), 15),totomeasure measurethe the system. temperature of the liquid internals still in the pipeline. use a high quality thermistor and a nickel sensor element, and have the capacity measure highThey temperatures above 90 °C. temperature of the liquid internals still intothe pipeline. They use a high quality thermistor and a nickel

temperature of the liquid internals still in the pipeline. They use a high quality thermistor and a nickel sensor element, and have the capacity to measure high temperatures above 90 ◦°C. sensorelement, element,and andhave havethe thecapacity capacitytotomeasure measurehigh hightemperatures temperaturesabove above90 90°C. C. sensor

Figure 15. Soaking temperature probe (PTT-341) (adapted from [40]).

Figure 15. Soaking Soaking temperature temperature probe probe (PTT-341) (adapted from [40]). 15. 4. Validation ofFigure the Concept Figure 15. Soaking temperature probe (PTT-341) (adapted from [40]). It should be considered that this mechatronic system is still in development. However, the 4. Validation Validation of the Concept validation of this device requires a methodological sequence of tasks for designing prototype 4. Validation ofsection the Concept validation 1:1 scale. Thethat tests will performed during theisbath, through the caregivers who are the should on beaconsidered considered thatthis thisbe mechatronic system is still development. However, It should be mechatronic system still in in development. However, It should be considered that this mechatronic system is still in development. However, the responsible for the procedure. One can describe the steps that will be followed for device usage the validation section of this device requires a methodologicalsequence sequenceofoftasks tasksfor fordesigning designingprototype prototype validation section of this device requires a methodological validation section of this device requires a methodological sequence of tasks for designing prototype validation. The following will be analyzed: validation on a 1:1 scale. The tests will be performed during the bath, through the caregivers who

validation on a 1:1 scale. The tests will be performed during the bath, through the caregivers who are validation on a 1:1 scale.procedure. The tests will be performed during the that bath,will through the caregivers who are are responsible One describe steps befollowed followed for device device usage responsible for for the the procedure. One cancan describe thethe steps that will be for responsible for the procedure. One can describe the steps that will be followed for device usage validation. The following will be analyzed: validation. The following will be analyzed:

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Device installation time in the care environment; The portability of the equipment; Filling time; Testing the water temperature in the external environment; Sensors 2017, 17, 1156 Process control (time, temperature, pressure, configuration conditions, etc.); Software Parameters;  Device installation time in the care environment;  The portability the equipment; Process Operation of Procedures;  Fillingfailure time; modes; Potential  Testing the water temperature in the external environment; Product Acceptability;  Process control (time, temperature, pressure, configuration conditions, etc.); Process Stability.  Software Parameters; 

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Process Operation Procedures;

The use of the devices in the intended use environment must be taken into account. The environment,  Potential failure modes; chosen the caregiver, might be the bedroom or the bathroom. The following validation steps should  byProduct Acceptability; be considered:  Process Stability. The Supply use of the in the intended use environment must be taken into account. The 1st step: thedevices water tank; environment, chosen by the caregiver, might be the bedroom or the bathroom. The following 2nd step: Move to the care environment; validation steps should be considered: 3rd step: Test to Turn on the device; 1st step: theInterface; water tank; 4th step: TestSupply Control 2nd step: Move to the care environment; 5th step: Adjust device for use 3rd step: Test to Turn on the device; 6th step: Start counting usage time; 4th step: Test Controlthe Interface; 7th step: Output water temperature test; 5th step: Adjust device for use 6th step: Starttest counting the usage time; 8th step: Length and shower use; 7th step: Output water temperature test; 9th step: End the bath; 8th step: Length test and shower use; 10th step: Stop time counting.

9th step: End the bath; 10th aims step: Stop time counting. The test to validate formal and functional aspects such as: ergonomics, interface, usability test aims to validate formal and functional aspects such as: ergonomics, interface, usability and time The of use. and time of use.

5. Results 5. Results

The system is supported by a structure with three multidirectional wheels that allows the The is supported by a structure with three multidirectional wheels that allows the movement of system the device. movement of the device. The structure was developed with the aim of providing stability during the movement of the The structure was developed with the aim of providing stability during the movement of the device, considering impacts. Figure 16 presents the designed structure. device, considering impacts. Figure 16 presents the designed structure.

Figure 16. Support structure (unit: mm).

Figure 16. Support structure (unit: mm).

The structure was made of stainless steel and designed to support a maximum mass of 240 kg (2400 N). The typical safetyoffactor of medical devices—three times the system normal mass—was The structure was made stainless steel and designed to support a maximum mass of 240 kg considered. Using the Solidworks software some simulations were performed the mass—was aim of (2400 N). The typical safety factor of medical devices—three times the systemwith normal observing the structure behavior when a load is applied (Figure 17).

considered. Using the Solidworks software some simulations were performed with the aim of observing the structure behavior when a load is applied (Figure 17).

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Figure 17. Simulation study: (A) Stress, (B) Strain. Figure 17. Simulation study: (A) Stress, (B) Strain.

5.1. Shower 5.1. Shower Physiologically, bathing allows cleaning and scrubbing dead skin, preventing irritations and Physiologically, bathing allows Itcleaning and scrubbing irritations and rashes that could become infections. allows people to remaindead cleanskin, and preventing relaxed through the whole rashes that could become infections. It allows people to remain clean and relaxed through the whole washing process. For this, and because the intention was to design a product that is not operated by washing this, and because the that intention was to to use design producta that not operated the user, process. but by a For caretaker, a showerhead was easy andaoffered quickis response was by the user, but by a caretaker, a showerhead that was easy to use and offered a quick response was considered [41]. Moreover, the skin of bedridden people is more susceptible to injuries than the skin considered [41]. Moreover, skinand of bedridden is more susceptible to the injuries than the loop skin of active individuals. Thus, the a flow a pressurepeople controller independent from temperature of active individuals. Thus, a flow and a pressure controller independent from the temperature loop are needed. Based on these requirements, the selected shower was a HotelSpa® AquaCare Series ® are needed. Based on these requirements, the selected Ultra-Luxury 7—featuring a good quality/price ratio [42].shower was a HotelSpa AquaCare Series Ultra-Luxury 7—featuring a good quality/price ratio [42]. 5.2. Interface 5.2. Interface The interface was designed to help the caregiver and provide important information about the The interface was designed to help the caregiver and provide important information about the bath parameters. It is divided into three parts, one for each main step (Filling, Heating, and Bathing), bath parameters. It is divided into three parts, one for each main step (Filling, Heating, and Bathing), plus a start button and an emergency button. A numeric panel is used to select the desired plus a start button and an emergency button. A numeric panel is used to select the desired temperature temperature and display information about filling, heating and bathing temperature and time. Figure and display information about filling, heating and bathing temperature and time. Figure 18 presents 18 presents the initial design of the control panel. It is composed by the following parts: the initial design of the control panel. It is composed by the following parts: Armstrong Sense DMV2 control panel for regulating temperature, presented in Section 3.7.4. Armstrong Sense DMV2 control panel for regulating temperature, presented in Section 3.7.4. A button for presetting water levels: (a) when the hot water tank is full, the valve between the A button for presetting water levels: (a) when the hot water tank is full, the valve between the two tanks closes; (b) starting filling the cold water tank; (c) when the cold water tank is almost full, a two tanks closes; (b) starting filling the cold water tank; (c) when the cold water tank is almost full, light on the control panel turns on, accompanied by a sound warning the caregiver that the tank is a light on the control panel turns on, accompanied by a sound warning the caregiver that the tank is almost full; (d) when the tank is full, a sensor gives a signal to interrupt the water flow. almost full; (d) when the tank is full, a sensor gives a signal to interrupt the water flow. A button for starting the heating of water: (a) when the water temperature reaches 43 °C, a light A button for starting the heating of water: (a) when the water temperature reaches 43 ◦ C, a light on the control panel turns on, accompanied by a sound signal warning the caregiver that he or she on the control panel turns on, accompanied by a sound signal warning the caregiver that he or she can can start bathing the patient. When the thermostat provides a temperature reading of 43 °C, the start bathing the patient. When the thermostat provides a temperature reading of 43 ◦ C, the heating heating is stopped; is stopped; A button used to initialize/stop the bath; A to initialize/stop bath;off; A button button used for turning the system the on and A button for turning the system on and off; An emergency button. An emergency button.

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Figure 18. Interface—control panel of the system. Figure 18. Interface—control panel of the system. Figure 18. Interface—control panel of the system. 5.3. Step-by-Step 5.3. Step-by-Step section presents the steps that must be followed for an efficient use of the PWS (Figure 19). 5.3.This Step-by-Step This the steps that be followed for an efficient use of theits PWS First, thesection devicepresents must be connected to anmust external water supply and to be filled until full (Figure capacity.19). This section presents the steps that must be followed for an efficient use of the PWS (Figure First, device must be connected to an water supply to be filled its full 19). capacity. Thisthe connection is made with the help ofexternal an adaptor between theand water outlet ofuntil the external water First, the device must be connected to an external water supply and to be filled until its full capacity. This connection made with thedevice help of an adaptor between water outlet of theaccumulating external water supply and theis water inlet of the (Figure 19-1). The water the supply is stopped after This connection is made with the help of an adaptor between the water outlet of the external water supply and the15 device (Figure 19-1). tank; The water supply is stopped after accumulating 30 L in thethe hotwater waterinlet tank,ofand L in the cold water the user removes the connection between supply and the water inlet of the device (Figure 19-1). The water supply is stopped after accumulating and the water supply. 30 the L 30 indevice the hot water tank, and 15 L in the cold water tank; the user removes the connection between L in the hot water tank, and 15 L in the cold water tank; the user removes the connection between The user pushes the system to the environment where the healthcare task needs to be performed, the device and the water supply. the device and the water supply. namely theuser bed (Figure 19-2). The The user pushes thethe system wherethe the healthcare needs be performed, pushes systemtotothe theenvironment environment where healthcare tasktask needs to beto performed, After connecting the device to the energy supply, the caregiver hits the start button on the control namely the bed (Figure 19-2). namely the bed (Figure 19-2). panel to initialize thethe device (Figure 19-3). He/she must select thehits parameters of button theon bath, including After connecting the device the energy supply, the thethe start button the After connecting device totothe energy supply, thecaregiver caregiver hits start oncontrol the control the heating mode (1500 W or 3000 W) and the desired water temperature which defines the water panel to initialize the device (Figure 19-3). He/she must select the parameters of the bath, including panel to initialize the device (Figure 19-3). He/she must select the parameters of the bath, including flows between the two tanks. While the water is being heated, the caregiver can prepare the bath for the heating mode (1500 W or 3000 W) and the desired water temperature which defines the water the heating mode (1500 W or 3000 W) and the desired water temperature which defines the water between the two tanks. While the water is being heated, the caregiver can prepare the bath for theflows bedridden patient. flows between the two tanks. While the water is being heated, the caregiver can prepare the bath for theAfter bedridden patient. that, the bath system is ready for use. The last step (Figure 19-4) requires that the caregiver the bedridden patient. After that, the system isthe ready for use. The last step (Figure 19-4) the requires thatwater the caregiver perform the activitybath of bathing patient. The caregiver can control shower flow and After that, the bath of system is ready for use. The last step (Figure 19-4) requires thatflow the caregiver perform the activity bathing the patient. The caregiver can control the shower water and pressure. perform the activity of bathing the patient. The caregiver can control the shower water flow and pressure. pressure.

Figure19. 19.Simulation Simulation of steps. Figure ofuse—four use—fourtotal total steps. Figure 19. Simulation use—four total steps.

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5.4. Concept Design 5.4. Concept Design The most important part of the device is its use and the viability of the social concept that is The most important part of the device is its use and the viability of the social concept that is integrated with the functional concept of the designed mechatronic system. In order to improve the integrated with the functional concept of the designed mechatronic system. In order to improve the quality of life of caregivers and bed rest, the system comprises the various functions and objectives quality of life of caregivers and bed rest, the system comprises the various functions and objectives translated into the versatility of this prototype. The simulation of use, illustrated in Figure 20, defines translated into the versatility of this prototype. The simulation of use, illustrated in Figure 20, defines the possibility of a comfortable bath through the use of the bathing system that allows its use by only the possibility of a comfortable bath through the use of the bathing system that allows its use by only one person. one person.

Figure 20. Simulation of use—design solution. Figure 20. Simulation of use—design solution.

6. Conclusions 6. Conclusions The demographic increase of the elder population and associated social problems are opening a The demographic increase of the elder population and associated social problems are opening new area in research, in particular for new medical devices designed to fulfill the needs that exist in a new area in research, in particular for new medical devices designed to fulfill the needs that exist the medical care for bedridden people. By analyzing the difficulties that exist in taking care of people in the medical care for bedridden people. By analyzing the difficulties that exist in taking care of with disabilities, such as physical effort, dedication and need for equipment, new products need to people with disabilities, such as physical effort, dedication and need for equipment, new products be developed to help people in attending bedridden patients in a safe, mobile, comfortable, and need to be developed to help people in attending bedridden patients in a safe, mobile, comfortable, hygienic environment. and hygienic environment. The goal of this project is to develop a Portable Washing System—in short a PSW—to assist in The goal of this project is to develop a Portable Washing System—in short a PSW—to assist in bathing bedridden patients. An important aspect is that the main purpose of the device is to help the bathing bedridden patients. An important aspect is that the main purpose of the device is to help the caregiver, as the primary user of the device. It is worth mentioning that sometimes only one caregiver caregiver, as the primary user of the device. It is worth mentioning that sometimes only one caregiver is available, often the spouse of the bedridden person. is available, often the spouse of the bedridden person. The presented Portable Washing System concept allows incorporating all the components The presented Portable Washing System concept allows incorporating all the components necessary for the operation of the system according to the defined specifications to help caregivers in necessary for the operation of the system according to the defined specifications to help caregivers in daily tasks. The aim of this project is to provide a benefit in terms of technical device innovation and daily tasks. The aim of this project is to provide a benefit in terms of technical device innovation and to facilitate bathing patients in bed minimizing the repetitive processes caregivers must perform in to facilitate bathing patients in bed minimizing the repetitive processes caregivers must perform in daily care. Moreover, when compared to current commercial systems, is an interesting solution for daily care. Moreover, when compared to current commercial systems, is an interesting solution for underdeveloped countries where a fragile economy may not allow the acquisition of more underdeveloped countries where a fragile economy may not allow the acquisition of more sophisticated sophisticated and costly devices. and costly devices. In the future, we will consider building a physical prototype (taking into account caregivers’ In the future, we will consider building a physical prototype (taking into account caregivers’ opinions) and testing it in a controlled environment. The final step is to test it in institutions and opinions) and testing it in a controlled environment. The final step is to test it in institutions and private homes for improving system performance. private homes for improving system performance. Author Contributions: All authors contributed extensively to the study presented in this manuscript. K.B., M.C., Author Contributions: All authors contributed extensively to the study presented in this manuscript. K.B., M.C., J.M.and andP.C. P.C. designed mechanical system from conceptual model till main the main calculations performed. F.S. J.M. designed thethe mechanical system from conceptual model till the calculations performed. F.S. and anddeveloped V.C. developed the part corresponding to application the application of sensors and electrical actuators;D.M. D.M.performed performed V.C. the part corresponding to the of sensors and electrical actuators; studies about system dynamics and contributed on 3D modeling. J.M. coordinated the development of the project. All authors contributed with valuable discussions and scientific advices in order to improve the quality of the work and, also, contributed to write the final manuscript.

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studies about system dynamics and contributed on 3D modeling. J.M. coordinated the development of the project. All authors contributed with valuable discussions and scientific advices in order to improve the quality of the work and, also, contributed to write the final manuscript. Conflicts of Interest: The authors declare no conflict of interest.

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