Self-Alignment Mechanisms for Assistive Wearable Robots: A Kinetostatic Compatibility Method
Self-Alignment Mechanisms for Assistive Wearable Robots: A Kinetostatic Compatibility Method
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DOI：
10.1109/tro.2012.2226381
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发表时间：
2013-02-01
影响因子：
7.8
通讯作者：
Carrozza, Maria Chiara
中科院分区：
文献类型：
--
作者：
Cempini, Marco;De Rossi, Stefano Marco Maria;Carrozza, Maria Chiara
可穿戴机器人技术领域的发展势头正在增强，这要归功于其在康复工程、辅助机器人和功率增强方面的潜在应用。这些器械设计用于与用户直接接触，以帮助移动或增加特定骨骼关节的力量。所谓的物理人机界面的设计是至关重要的，因为它不仅决定了机器人的功效，而且还决定了设备与人体骨骼的运动兼容性以及对不同人体测量学的适应程度。不处理这些问题会导致机器人和用户关节之间的错位。轴未对准导致无法控制有效传递到用户关节的扭矩，并在关节和软组织上产生不期望的加载力。在本文中，我们提出了一个通用的分析方法，能够帮助人体关节的外骨骼设计，而不会受到错位的影响。该方法是基于耦合机构（机器人-人骨架）的运动静力学分析，可应用于自对准机构的设计。该方法的例子是在一个辅助机器人链的设计为两个自由度（DOF）的人类关节。
The field of wearable robotics is gaining momentum thanks to its potential application in rehabilitation engineering, assistive robotics, and power augmentation. These devices are designed to be used in direct contact with the user to aid with movement or increase the power of specific skeletal joints. The design of the so-called physical human-robot interface is critical, since it determines not only the efficacy of the robot but the kinematic compatibility of the device with the human skeleton and the degree of adaptation to different anthropometries as well. Failing to deal with these problems causes misalignments between the robot and the user joint. Axes misalignment leads to the impossibility of controlling the torque effectively transmitted to the user joint and causes undesired loading forces on articulations and soft tissues. In this paper, we propose a general analytical method for the design of exoskeletons able to assist human joints without being subjected to misalignment effects. This method is based on a kinetostatic analysis of a coupled mechanism (robot-human skeleton) and can be applied in the design of self-aligning mechanisms. The method is exemplified in the design of an assistive robotic chain for a two-degree-of-freedom (DOF) human articulation.