Influence of a Compatible Design on Physical Human-Robot Interaction Force: a Case Study of a Self-Adapting Lower-Limb Exoskeleton Mechanism
Influence of a Compatible Design on Physical Human-Robot Interaction Force: a Case Study of a Self-Adapting Lower-Limb Exoskeleton Mechanism
复制标题
兼容设计对人机物理交互力的影响：自适应下肢外骨骼机构案例研究
DOI：
10.1007/s10846-019-01063-5
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发表时间：
2020-05-01
影响因子：
3.3
通讯作者：
Ji, Run
中科院分区：
文献类型：
--
作者：
Li, Jianfeng;Zuo, Shiping;Ji, Run
在可穿戴外骨骼的运动学设计中，应很好地处理人与外骨骼关节之间的轴心错位问题。否则，可能会在人类机器人界面上发生大型的人类机器人相互作用（P-HRI）力，这使得P-HRI不舒服甚至不安全。为了解决这个问题，研究人员研究了一种可穿戴外骨骼的运动学设计方法，并且近年来已经进行了巨大的发展。此外，应评估这种设计对外骨骼P-HRI性能的影响，以确定设计是否可行。在本文中，提出了三个自由步态训练的自我适应下LIMB外骨骼机制，并详细设计了外骨骼机理的机械结构。然后，基于提出的外骨骼机理和使用合适的力/扭矩传感器的使用，开发了P-HRI力测量系统。随后，检测到静态和运动模式下人类机器人闭合链的P-HRI力，并评估了自我适应设计对下LIMB外骨骼机制的P-HRI力特征的影响。结果表明，其他人类机器人结缔连接可以大大减少P-HRI力，外骨骼机制的兼容设计有效，因此适用于人类的下LIMB步态训练。
In the kinematic design of wearable exoskeletons, the issue of axis misalignments between the human and the exoskeleton joints should be well dealt with. Otherwise, large physical human-robot interaction (p-HRI) forces may occur at the human-robot interfaces, which makes the p-HRI uncomfortable or even unsafe. To cope with this issue, a kinematically compatible design approach of wearable exoskeletons has been investigated by researchers, and great development has been made in recent years. Moreover, the influence of such a design on the exoskeleton’s p-HRI performance should be evaluated to determine if the design is feasible. In this paper, a self-adapting lower-limb exoskeleton mechanism for three degrees of freedom gait training is proposed, and the mechanical structure of the exoskeleton mechanism is designed in detail. Then, based on the presented exoskeleton mechanism and the use of suitable force/torque sensors, a p-HRI force measurement system is developed. Subsequently, the p-HRI forces of the human-robot closed chain under the static and motion modes are detected, and the influence of the self-adapting design on the lower-limb exoskeleton mechanism’s p-HRI force feature is evaluated. The results indicate that additional human-robot connective joints could reduce the p-HRI force significantly, the compatible design of the exoskeleton mechanism is effective, and is thus applied to human lower-limb gait training.