Development of wire-type motion support system controlled by servo brakes
Development of wire-type motion support system controlled by servo brakes
复制标题
伺服制动器控制的线式运动支持系统的开发
DOI：
10.1109/robio.2011.6181610
复制
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;Y. Tozaki;K. Kosuge
本论文旨在研制一种伺服制动器控制的被动式绳式运动支撑系统，以辅助康复及运动训练领域的人体运动。我们还提出了一种控制方法来指导人手使用伺服制动器，不能产生驱动力。这种被动系统本质上是安全的，钢丝绳式运动支撑系统具有广泛的工作范围。但是，使用伺服制动器的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，因为系统没有足够的制动单元来产生期望的力。本文考虑了多制动单元被动系统的可行制动力区域，并讨论了产生适当期望制动力的方法。最后进行了路径跟踪实验，实验结果验证了伺服制动器控制的绳式被动运动支撑系统的有效性。
In this paper, we develop a passive wire-type motion support system controlled by servo brakes to assist human motion in the fields of rehabilitation and sports training. We also propose a control method to guide the human hand by using the servo brakes which cannot generate a driving force. This passive system is intrinsically safe and wire-type motion support system has a wide operating range. But, passive systems using servo brakes sometimes cannot generate enough force to guide the human hand along the desired path because the system does not have enough brake units to generate the desired force. In this paper, we consider the feasible braking force region of a passive system with multiple brake units and discuss the method to generate the desired force appropriately. We conduct a path-following experiment and the experimental results illustrate the validity of the wire-type passive motion support system controlled by 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