Interaction force modeling and analysis of the human-machine kinematic chain based on the human-machine deviation

Area of Science:

• Robotics
• Biomechanics
• Mechanical Engineering

Background:

• Human-machine interaction forces are crucial in robotics and assistive devices.
• Accurate modeling of these forces is essential for safe and effective system design.
• Existing models may not fully capture the complexities of kinematic deviations.

Purpose of the Study:

• To establish a mechanical model for human-machine interaction forces.
• To propose a virtual rigid body model incorporating screw theory and kinematic chain deviations.
• To provide a theoretical foundation for future human-machine interaction force controller design.

Main Methods:

• Developed a mechanical model based on the man-machine kinematic chain.
• Integrated screw theory and a virtual rigid body model.
• Utilized a 6-sps parallel mechanism for calibration simulation.
• Employed finite element software for model calibration.
• Conducted numerical simulations using a knee exoskeleton example.

Main Results:

• Successfully modeled human-machine interaction forces.
• Demonstrated the calculation of human-machine kinematic chain deviation using the virtual model.
• Illustrated the relationship between exoskeleton driving force, human-machine deviation, and virtual stiffness.
• Validated the model's principles through simulations.

Conclusions:

• The proposed virtual rigid body model effectively interprets human-machine contact forces.
• The modeling method offers a valuable theoretical reference for designing human-machine interaction force controllers.
• This approach enhances understanding and control of complex human-robot systems.