Dynamics simulation for an upper-limb human-exoskeleton assistance system in a latent-space controlled tool manipulation task
Dynamics simulation for an upper-limb human-exoskeleton assistance system in a latent-space controlled tool manipulation task
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DOI：
10.1109/simpar.2018.8376286
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发表时间：
2018-05
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影响因子：
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通讯作者：
J. Kuehn;Tingli Hu;Moritz Schappler;S. Haddadin
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文献类型：
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作者：
J. Kuehn;Tingli Hu;Moritz Schappler;S. Haddadin
介绍了一种较为完整、复杂的外骨骼式人体上肢辅助系统动力学仿真工具。该异构仿真模型将6自由度（DoF）可穿戴外骨骼的铰接动力学与具有12个骨骼DoF和42个肌肉DoF的上肢人体神经力学模型以及相应的控制相耦合。此外，工具介导的操作任务的过程力可以被馈送到整个系统中。此模拟工具可用于各种目的，例如1）以人为中心的外骨骼控制器的设计及评估，2）在外骨骼使用期间评估人类运动控制假设，及3）研究外骨骼系统及操纵任务的各种性质及性能。该框架被示例性地用于设计和实现用于外骨骼辅助下的动力钻井操纵任务的人类运动学潜空间控制器。
This paper introduces a more complete and complex dynamics simulation tool for an exoskeletal human upper limb assistant system. This heterogeneous simulation model couples the articulated dynamics of a 6 degree-of-freedom (DoF) wearable exoskeleton with an upper-limb human neu-romechanics model of 12 skeletal and 42 muscular DoFs with corresponding controls. Furthermore, the process forces of toolmediated manipulation tasks can be fed into the overall system. This simulation tool can be used for various purposes such as 1) design and evaluation of human-centered exoskeleton controllers 2) evaluating human motor control hypotheses during exoskeleton use and 3) investigating various properties and the performance on exoskeleton systems and manipulation tasks. This framework is used exemplary in designing and implementing a human kinematic latent-space controller for a power drilling manipulation task under exoskeletal assistance.