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Modeling and Similitude01:12

Modeling and Similitude

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Scaled modeling is a fundamental technique in engineering, enabling the study of large and complex systems by creating smaller, manageable replicas that recreate critical characteristics of the original. In hydrology and civil infrastructure, for example, scaled models of dams help analyze water flow, turbulence, and pressure. This method allows for accurate predictions of real-world behavior within a controlled environment, significantly reducing the cost and time involved in full-scale...
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走向多忠实数字人体模型,用于用于触觉人机交互的模拟环境.

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  • 1Corvid Technologies, Mooresville, NC 28117, United States.

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一个新的多效率数字人体模型 (M-DHM) 集成了低效率和高效率模型,以实现更安全的机器人伤亡提取. 这种先进的模拟工具增强了用于救援任务的人机交互规划.

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科学领域:

  • 机器人和自主系统 (RAS)
  • 人与机器人的交互 (HRI)
  • 计算生物力学 计算生物力学

背景情况:

  • 越来越多的人对RAS感兴趣,用于战场伤亡人员的提取和医疗干预.
  • 目前的数字人体模型 (DHM) 缺乏生物真实性和可扩展性的机器人模拟.
  • 在机器人操纵中需要精确的人类建模,以防止在人机交互 (HRI) 期间进一步受伤.

研究的目的:

  • 开发一个适合机器人模拟环境的多忠实数字人体模型 (M-DHM).
  • 将低保真多体动态 (MD) DHM与高保真有限元 (FE) DHM集成.
  • 在HRI事件期间为路径规划人员提供点和分布式加载数据.

主要方法:

  • 开发了一个软件架构,集成两个低保真MD-DHM和一个高保真FE-DHM.
  • 实现了MD-DHM和FE-DHM之间的人体关节动力学和应用力的交换.
  • 开发了检索多忠度解剖负载 (M-AL) 的方法,并使用减少顺序模型进行估计.

主要成果:

  • 成功演示了M-DHM用于下臂的抓取和触摸.
  • 在模拟中验证了重新定位和拖动腿部的模型.
  • 展示了该模型能够为HRI规划提供全面的负载数据的能力.

结论:

  • M-DHM为机器人应用程序推进了下一代规划算法.
  • 潜在的军事应用,如搜救任务.
  • 未来的民用应用包括用于病人操纵和医疗保健的RAS.