一个辅助关节外骨架的设计和应用,用于塔爬
Ming Li1, Hong Yin1, Zhan Yang1
1State Grid Hubei Electric Power Co., Ltd., Extra High Voltage Company, Wuhan 430050, China.
Sensors (Basel, Switzerland)
|December 17, 2024
概括
这项研究开发了一种辅助部外骨架机器人,以提高塔楼登维护人员的安全性和效率. 机器人有效地减少了肌肉活动,表明它有潜力帮助工人在艰苦的任务中.
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:
- 为了维护电力而爬上塔楼会给人员带来安全风险和身体压力.
- 现有的方法缺乏足够的辅助技术来缓解这些挑战.
- 外骨技术为提高工人的性能和安全提供了潜在的解决方案.
研究的目的:
- 设计和评估用于塔爬的辅助关节外骨架机器人.
- 分析塔楼登山者的动力学和生物力学数据.
- 开发和测试一种基于神经网络的外骨控制算法.
主要方法:
- 设计了一个辅助关节外骨架机器人.
- 收集了塔楼登山者在登山期间的动力学数据.
- 开发了一个基于神经网络的辅助控制算法.
- 与志愿者进行了登塔的实验,测量了来自关键部肌肉 (双腿骨,大腿,半膜体,半体) 的表面电肌图 (sEMG) 信号.
主要成果:
- 外骨架机器人证明了主要关节肌肉sEMG信号的根平均平方 (RMS) 值的减少.
- 动力学分析提供了洞察塔登的生物力学.
- 神经网络算法有效地控制了外骨的辅助.
结论:
- 设计的外骨架机器人可以有效地协助人员在塔楼登操作.
- 机器人有助于减少维护工人的体力负担.
- 这项技术有可能提高电力基础设施维护的安全性和效率.
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