阻碍协助:使用连接层阻塞机制的上肢辅助软机器人服
Namho Kim1,2, Jonghoon Park2, Dongjun Shin2
1Department of Mechanical Engineering, Chung-Ang University, Seoul, Republic of Korea.
Soft robotics
|November 29, 2024
概括
柔软的可穿戴机器人现在可以调整它们的度以匹配肌肉收缩,减少异常运动期间的用户负荷. 这种基于阻抗的新方法增强了人类运动辅助,降低了受伤风险.
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
- 材料科学 材料科学 材料科学
背景情况:
- 柔软的可穿戴机器人提供舒适和易于使用.
- 在足够的辅助力下平衡低阻抗以获得舒适度是一个关键的挑战.
- 现有的设计往往尽量减少阻抗,可能限制辅助功能.
研究的目的:
- 为可穿戴机器人提出并验证基于阻抗的辅助策略.
- 为了利用软可穿戴机器人的阻抗变化来匹配人类肌肉收缩类型.
- 为了减少肌肉负荷并增强人类运动辅助.
主要方法:
- 开发用于可变阻抗控制的链接层干扰机制.
- 将该机制集成到可穿戴机器人原型中,用于人类多度自由度关节.
- 基于阻抗的辅助方法的实验验证.
主要成果:
- 连接层阻塞机制显示了阻抗和定向扭矩的广泛可变范围.
- 可穿戴机器人原型有效地利用阻抗变化来协助人类运动.
- 实验结果证实了拟议的基于阻碍的辅助策略的有效性.
结论:
- 可穿戴机器人中的适当放大阻抗可以有益地协助人类运动.
- 这种方法为可穿戴机器人设计提供了新的可能性,提高了任务效率并降低了受伤风险.
- 阻抗,通常最小化,可以是一个有价值的设计参数,当适当放大.
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