一个上肢远程操作外骨,具有无步臂长度参数化和自适应力触发阻抗混合
Puyi Zeng1, Yuqin Xu1, Shaobin Zheng1
1Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen, China.
Scientific reports
|February 5, 2026
概括
这项研究引入了一种新的上肢外骨远程操作系统,用于高风险环境. 该系统提供了更好的准确性,适应性和动态控制,克服了当前技术的局限性.
科学领域:
- 机器人技术和人机交互的人机交互
- 生物力学和外骨技术
- 控制系统工程 控制系统工程
背景情况:
- 现有的外骨远程操作系统面临着手臂长度调整,动态控制和精度方面的挑战.
- 像深海勘探和核维护等高风险作业需要先进的远程控制解决方案,以确保人员安全.
研究的目的:
- 开发和验证一个可复制的单边上肢外骨远程操作系统,具有增强的动力匹配和控制.
- 解决当前远程操作技术在适应性,准确性和动态响应方面的局限性.
主要方法:
- 设计了一个7-DOF主动驱动外骨架构,结合了低惯性关节,人体工程学对齐,被动头骨胸部补偿和数字自适应手臂长度调整.
- 实施了一种混合控制策略,将主端位置阻抗控制与奴隶端基于力的阻抗反相结合,利用拉格朗奇方程和自适应加权系数.
- 使用利亚普诺夫函数和拉萨尔不变原理验证了系统稳定性,在Linux实时内核和ROS架构中的Franka Panda机器人上进行了实验.
主要成果:
- 该系统展示了高精度的主-奴隶同步,准确地复制空间轨迹,有效地补偿重力.
- 废弃实验显示,在多次使用后,峰值接触力 (68.8%) 显著减少,手臂长度测量的偏差最小.
- 外骨系统成功克服了适应性和强度的缺陷,实现了精确的负载补偿.
结论:
- 开发的单边上肢外骨远程操作系统为高风险场景提供了卓越的适应性,强度和精度.
- 该系统的功能扩展到对半患者的康复培训中的潜在应用.
- 这项研究推进了远程操作技术,为远程操纵和人机交互提供了可靠的解决方案.
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