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开源设计低成本的感应弹性执行器,用于协作假肢和整形

Filippo Sanfilippo¹, Martin Økter¹, Jørgen Dale¹

¹Department of Engineering Sciences, University of Agder (UiA), Jon Lilletuns vei 9, Grimstad, NO-4879, Norway.

|August 23, 2024

概括

我们开发了一种低成本,可3D打印的弹性执行器,用于假肢和整形的协作机器人 (cobots). 这种开源设计增强了用户,研究人员和从业人员的安全性和适应性.

科学领域:

机器人技术机器人技术机器人技术
生物医学工程生物医学工程
机械工程机械工程

背景情况:

协作机器人 (cobots) 需要合规的执行器来安全地与人类互动.
现有的对假肢和整形器械的合规协作机器人通常是昂贵和复杂的.
在这个领域,需要可访问,可适应的执行器解决方案.

研究的目的:

引入创新的,具有成本效益的,传感式弹性执行器设计,用于假肢和整形应用.
为教育和研究目的提供开源的硬件和软件框架.
提高辅助设备中的协作机器人的适应性和安全性.

主要方法:

模块化执行器设计利用3D打印进行定制和快速制造.
集成的传感能力,以实时反.
实施和验证阻抗和入口控制技术.
所有硬件和软件组件的开源发布.

主要成果:

在阻抗控制中获得9.67Nm的扭矩标准偏差.
在入口控制中获得0.2563半径的角度标准偏差.
通过3D打印和模块化来证明高效和负担得起的制造.
验证了设计对先进控制策略的支持.

结论:

开发的低成本,传感弹性执行器为假肢和整形器械的协作机器人提供了可行的和可访问的解决方案.
设计的开源性质促进了更广泛的采用和该领域的进一步创新.
这种教育框架有助于提高用户在辅助机器人应用中的安全性,舒适性和适应性.

关键词:

科博特可以使用Cobots.弹性关节弹性关节弹性关节这是一个开源的开源软件.整形矯正器具整形矯正器具假肢的使用假肢的使用

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