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基于合阻抗的人类-SRL同步步行的研究

Zihao Liu¹, Kui Xiang¹, Wutong He¹

¹School of Automation, Wuhan University of Technology, Wuhan, China.

Frontiers in neurorobotics

|October 11, 2023

概括

超数机器人四肢 (SRL) 通过与自然四肢协作来增强人类运动. 在连接中优化弹和减压可以改善步行同步和人机系统性能.

科学领域:

机器人技术机器人技术机器人技术
生物力学生物力学
人机系统人机系统

背景情况:

超数机器人四肢 (SRL) 代表了一个新的可穿戴机器人类别.
与假肢或外骨不同,SRL旨在通过机械与人类四肢的协作来扩大人类的能力.
下肢SRL附着在腰部,与向前行走同步,并独立支垂直重量.

研究的目的:

研究人类-SRL系统中的合动态,以提高步行时的同步.
尽量减少人机系统和人类自然步态之间的干扰.
在SRL系统中确定人机连接的最佳参数.

主要方法:

开发了一个基于被动动态步行理论的合系统模型和一个既定的人-SRL模型.
进行了数值模拟,以确定人机连接的最佳刚度和阻尼系数.
为实验验证设计了一种轮脚式SRL结构和控制系统.

主要成果:

确定了人机连接的最佳刚度和缓系数.
证明了合适的弹和缓冲单元可以改善人机行走过程中的同步.
成功设计和建造了SRL结构和控制系统.

结论:

在人机连接中配置适当的弹和减压单元可以提高步行同步.
通过有效的人机协作,SRL技术具有扩大人类运动和活动的潜力.
进一步的研究和实验验证得到了开发的模型和系统的支持.

关键词:

人机合器是人机合器.被动动动态行走走动态超人数的机器人四肢.同步步行是一种同步步行.带轮腿的机器人肢体

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