一个新的弹性模型,用于外骨-用户合接口
概括
这项研究引入了一个新的计算模型来预测可穿戴机器人的压力分布. 该模型有助于识别高压区域,以提高辅助设备中的用户舒适性和安全性.
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
- 人与机器人的交互
背景情况:
- 目前对可穿戴辅助机器人的物理人机交互 (pHRI) 的研究,如下肢外骨架,优先考虑控制器增强的净力估计.
- 估计穿戴式机器人的物理接口的力分布,对于用户的安全和舒适至关重要,在很大程度上被忽视了.
研究的目的:
- 提出和验证一种新的计算模型,用于预测可穿戴机器人界面中的静态压力分布.
- 解决了解力分布的差距,以提高用户的安全性和舒适性.
主要方法:
- 一个新的计算模型被开发使用接口几何和带张力作为输入.
- 该模型将支表面视为弹性基础,以预测穿戴过程中的静态压力场.
- 该模型的准确性与来自商业可穿戴机器人界面的实验数据进行了验证.
主要成果:
- 计算模型成功预测了静态压力分布的负载模式.
- 虽然预测的压力大小与实验数据不同,但观察到类似的负载模式.
- 差异归因于模型假设和局限性,表明可靠的扩展和设计改进的潜力.
结论:
- 开发的计算模型为评估和改进可穿戴机器人接口设计提供了有价值的工具.
- 通过模拟识别高压区域可以为设计修改提供信息,以提高用户舒适性和安全性.
- 进一步的模型改进有望创造更安全,更舒适的辅助可穿戴机器人.
相关概念视频
Deformation of Member under Multiple Loadings
220
When a rod is made of different materials or has various cross-sections, it must be divided into parts that meet the necessary conditions for determining the deformation. These parts are each characterized by their internal force, cross-sectional area, length, and modulus of elasticity. These parameters are then used to compute the deformation of the entire rod.
In the case of a member with a variable cross-section, the strain is not constant but depends on the position. The deformation of an...
In the case of a member with a variable cross-section, the strain is not constant but depends on the position. The deformation of an...
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Elastic Strain Energy for Shearing Stresses
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As discussed in previous lessons, strain energy in a material is the energy stored when it is elastically deformed, a concept crucial in materials science and mechanical engineering. This energy results from the internal work done against the cohesive forces within the material. When a material undergoes shearing stress and corresponding shearing strain, the strain energy density, which is the energy stored per unit volume, is calculated. Within the elastic limit, where the stress is...
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Relation between Poisson's ratio, Modulus of Elasticity and Modulus of Rigidity
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Deformation occurs in axial and transverse directions when an axial load is applied to a slender bar. This deformation impacts the cubic element within the bar, transforming it into either a rectangular parallelepiped or a rhombus, contingent on its orientation. This transformation process induces shearing strain. Axial loading elicits both shearing and normal strains. Applying an axial load instigates equal normal and shearing stresses on elements oriented at a 45° angle to the load axis.
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Circular Shafts - Elastoplastic Materials
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The study of solid circular shafts under stress shows that within the elastic limit, stress increases directly to the distance from the shaft's center. This relationship holds until the shaft reaches a critical point of stress, beyond which it begins to yield, marking the transition from elastic to plastic deformation. At this crucial juncture, the maximum torque the shaft can endure without permanent deformation is determined, signifying the limit of its elastic behavior.
As torque on the...
As torque on the...
176
Members Made of Elastoplastic Material
158
The behavior of elastoplastic materials under bending stresses, particularly in structural members with rectangular cross-sections, is crucial for predicting material responses and understanding failure modes. Initially, when a bending moment is applied, the stress distribution across the section follows Hooke's Law and is linear and elastic. This distribution means the stress increases from the neutral axis to the maximum at the outer fibers, up to the elastic limit.
As the bending moment...
As the bending moment...
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Elastic Strain Energy for Normal Stresses
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Strain energy quantifies the energy stored within a material due to deformation under loading conditions, a fundamental concept in materials science and engineering. The strain energy can be modeled when a material is subjected to axial loading with uniformly distributed stress. In this scenario, the stress experienced by the material is the internal force divided by the cross-sectional area, and the strain induced is directly proportional to this stress through the modulus of elasticity.
If...
If...
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