设计和评估一个新的可变刚度关节外骨架
Tao Yang1, Chifu Yang1, Feng Jiang2
1School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
Sensors (Basel, Switzerland)
|October 26, 2024
概括
这项研究引入了具有对抗作用器的生物变硬性关节外骨架 (BVS-HJE). 这种设计允许独立控制关节刚度和扭矩,改善人机交互.
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
- 人与机器的互动 人与机器的互动
背景情况:
- 传统的外骨通常使用刚性执行器,限制了适应性.
- 外骨的固定性阻碍了动态辅助.
- 改进的人机交互需要具有可适应的外骨特性.
研究的目的:
- 设计一个生物变硬性关节外骨架 (BVS-HJE).
- 为了能够独立控制关节的刚性和扭矩.
- 开发适应性外骨架辅助的控制策略.
主要方法:
- 开发了一种BVS-HJE,灵感来自激进分子-对抗分子肌肉对.
- 建立了可变刚度和静态特征的数学模型.
- 提出了一个独立的刚性和扭矩调整的控制策略.
主要成果:
- 该BVS-HJE具有具有可变刚性机制的对抗式执行器.
- 实现了关节刚度和扭矩的独立控制.
- 使用编码器进行力估计,消除了对额外力传感器的需求.
结论:
- 在BVS-HJE提供可适应的刚性和扭矩控制.
- 拟议的控制策略增强了人机交互.
- 实验验证证了执行器的可变刚度和联合可控性.
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