Extenders: Human Machine Interaction via the Transfer of Power and Information Signals
Extenders: Human Machine Interaction via the Transfer of Power and Information Signals
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扩展器：通过传输电力和信息信号进行人机交互
DOI：
10.1109/iros.1988.593691
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
H. Kazerooni
中科院分区：
文献类型：
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作者：
H. Kazerooni
明尼苏达大学机械工程系明尼阿波利斯，明尼苏达州 55455 美国 摘要 机器人操纵器旨在执行原本由人类操作员执行的任务。没有任何机械手能够达到人类执行这些任务的速度和准确性。但操纵者有能力在某一特定领域超越人类的能力；力量。通过任何合理的观察和经验，人类执行各种体力任务的能力不仅受到其智力的限制，而且受到其体力的限制。如果在适当的环境中，我们能够在人类智力的监督控制下，将机器的机械动力与智力驱动的人手更紧密地结合起来，那么我们将拥有一个优于人类及其全自动机器人松散集成组合的系统，就像当今的机器人系统一样。因此，我们必须制定一种根本方法来解决在某些环境中“扩展”人类机械力量的问题。 “延长器”将是一类人类佩戴的机器人，用于增强人类的机械能力，而佩戴者的智力仍然是操纵延长器的中央智能控制系统。人体与扩展器物理接触，与扩展器交换信息信号和能量。命令通过佩戴者和扩展器之间的接触力传输到扩展器，而不是使用操纵杆（主臂）、按钮或键盘来执行以前的手持放大器中使用的命令。相反，操作员在执行任务时成为扩展器的组成部分。在这种独特的配置中，除了信息信号传输之外，人与扩展器之间还发生机械动力传输。当佩戴者使用扩展器来触摸和操纵物体时，扩展器以反馈方式将扩展器正在操纵的实际外部负载的按比例缩小的值传送到佩戴者的手上。佩戴者手上的这种自然反馈力使他能够“感觉”到操作中外力的按比例缩小的值。延长器可用于在工厂、造船厂、机场和建筑工地搬运非常重的负载。例如，在某些情况下，延长器可以代替叉车。本文描述了原型扩展器2的实验结果。
Mechanical Engineering Department University of Minnesota Minneapolis, MN 55455 USA Abstract Robot manipulators are designed to perform tasks which would otherwise be executed by a human operator. No manipulator can even approach the speed and accuracy with which humans execute these tasks. But manipulators have the capability to exceed human ability in one particular area; strength. Through any reasonable observation and experience, the human's ability to perform a variety of physical tasks is limited not by his1 intelligence, but by his physical strength. If, in the appropriate environment, we can more closely integrate the mechanical power of a machine with intellectually driven human hand under the supervisory control of the human's intellect, we will then have a system which is superior to a loosely-integrated combination of a human and his fully automated robot as in the present day robotic systems. We must therefore develop a fundamental approach to the problem of this "extending" human mechanical power in certain environments. "Extenders" will be a class of robots worn by humans to increase human mechanical ability, while the wearer's intellect remains the central intelligent control system for manipulating the extender. The human body, in physical contact with the extender, exchanges information si~als and Dower with the extender. Commands are transferred to the extender via the contact forces between the wearer and the extender as opposed to use of joystick (master arm), push-button or key-board to execute such commands that were used in previous man amplifiers. Instead, the operator becomes an integral part of the extender while executing the task. In this unique configuration the mechanical power transfer between the human and extender occurs in addition to information signal transfer. When the wearer uses the extender to touch and manipulate an object, the extender transfers to the wearer's hand, in feedback fashion, a scaled-down value of the actual external load which the extender is manipulating. This natural feedback force on the wearer's hand allows him to "feel".the scaled-down value of the external forces in the manipulations. Extenders can be utilized to maneuver very heavy loads in factories, shipyards, airports, and construction sites. In some instances, for example, extenders can replace forklifts. This article describes the experimental results for a prototype extender2.