In order to ease the posture changing and transferring of the
bedridden people, a novel design of a set of two beds with
multiple functionalities is proposed and implemented. For the
posture changing task, a main bed with four pieces of bedplates
is designed. By dividing a bed into four pieces, the bed adds more
degrees of freedom to achieve sitting and leg-lifting motion for
moving knee, hip, and waist positions. For the transferring task,
an actuation device with moving belts is designed to attach to
each bedplate. By operating the belt apparatus, the bedridden
people can be transferred from the main bed to the nursing
bed [6]–[13].