Essential considerations for design and control of human-interactive robots
Essential considerations for design and control of human-interactive robots
复制标题
人机交互机器人设计和控制的基本考虑因素
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
N. Hogan
中科院分区：
文献类型：
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作者：
Hyunglae Lee;N. Hogan
管理性能和稳定性之间的权衡是物理人机交互中的一个关键问题，随着许多领域对物理人机交互机器人的需求不断增长，这一点变得比以往任何时候都更加重要，例如辅助机器人和康复机器人。在本文中，我们提出了两个基本的考虑设计和控制的机器人与人类的物理互动：能量被动性和机械阻抗。表征人类神经肌肉系统的被动、耗散和主动行为对于确保和控制物理人机交互中的耦合稳定性至关重要。此外，在交互端口处的人体机械阻抗的表征提供了详细的定量信息来描述交互动力学。这些特征的重要性通过简单的例子和作者之前对人类脚踝的研究得到了证明。机器人设计和控制的定量指导方针的影响进行了讨论。
Managing the trade-off between performance and stability is a crucial issue in physical human-robot interaction, and this has become more important than ever apace with growing needs for physically human-interactive robots in many fields, such as assistive robotics and rehabilitation robotics. In this paper, we present two essential considerations for design and control of robots physically interacting with humans: energetic passivity and mechanical impedance. Characterization of passive, dissipative, and active behavior of the human neuromuscular system is essential to ensure and control coupled stability in physical human-robot interaction. In addition, characterization of human mechanical impedance at the interaction port provides detailed quantitative information to describe interactive dynamics. The importance of these characterizations is demonstrated by simple examples and the authors' previous research on the human ankle. Implications for quantitative guidelines for robot design and control are discussed.
DOI：
10.1115/1.4007181
发表时间：
2012-12-12
期刊：
Journal of medical devices
影响因子：
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作者：
Quintero HA;Farris RJ;Goldfarb M
通讯作者：
Goldfarb M