Improvement in the performance of passive motion support system with wires based on analysis of brake control
Improvement in the performance of passive motion support system with wires based on analysis of brake control
复制标题
基于制动控制分析的线被动运动支撑系统性能改进
DOI：
10.1109/icra.2011.5980471
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
K. Kosuge
中科院分区：
文献类型：
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作者：
Y. Hirata;K. Suzuki;K. Kosuge
为了帮助康复和运动训练领域的人类运动，我们提出了一种被动运动支持系统，由伺服制动器和控制方法来指导人手的电线。然而，被动系统有时不能产生足够的力来引导人手沿着期望的路径，因为伺服制动器不能产生驱动力，并且系统没有足够的制动单元来产生期望的力。在本文中，我们从理论上考虑了多个制动单元的被动系统的可行制动力区域，并讨论了所需的制动单元的数量，以产生所需的力适当。在可行制动力分析的基础上，开发了一套系统，并进行了路径跟踪实验。实验结果验证了由钢丝绳和伺服制动器组成的被动运动支撑系统的有效性。
To assist human motion in the fields of rehabilitation and sports training, we propose a passive motion support system consisting of wires with servo brakes and a control method to guide the human hand. However, passive systems sometimes cannot generate enough force to guide the human hand along the desired path because the servo brakes cannot generate a driving force and the system does not have enough brake units to generate the desired force. In this paper, we theoretically consider the feasible braking force region of a passive system with multiple brake units and discuss the number of brake units required to generate the desired force appropriately. We also develop a system based on our analysis of the feasible braking force and conduct path-following experiments. The experimental results illustrate the validity of a passive motion support system consisting of wires with servo brakes.
DOI：
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发表时间：
2004
期刊：
Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
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作者：
K.Koyanagi;J.Furusho;L.C.Dong
通讯作者：
L.C.Dong