Development of Dummy Based on Impedance Properties of Human Soft Tissue Using a Nonlinear Viscoelastic Model
Development of Dummy Based on Impedance Properties of Human Soft Tissue Using a Nonlinear Viscoelastic Model
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DOI：
10.1109/access.2023.3237763
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发表时间：
2023
期刊：
影响因子：
3.9
通讯作者：
Jian Liu;Yoji Yamada;Yasuhiro Akiyama;S. Okamoto;Yumena Iki
中科院分区：
文献类型：
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作者：
Jian Liu;Yoji Yamada;Yasuhiro Akiyama;S. Okamoto;Yumena Iki
在人与机器人的物理交互(PHRI)中确保人类安全已经被广泛研究，以允许机器人应用的扩展。具有与人体软组织相同的阻抗特性的假人是验证PHRI实验安全保证的合适替代品。本研究展示了具有高生物保真度的假人的发育过程。设计了模拟夹持场景的心理生理学实验，选取手掌中央、大鱼际隆起和食指垫作为人体手部的三个软组织进行撞击，以获得接触力的动态响应。通过对接触力的曲线拟合，建立了三种软组织的非线性五元粘弹性模型。随后，使用聚氨酯树脂材料制造了三个假人。通过与软组织的参数比较和曲线比较来检验假人的生物逼真度，以检查接触力的稳态力和动态响应是否位于软组织校准曲线所包围的相应范围内。在稳态力超过约5N的情况下，三个假人都表现出很高的生物保真度，尽管它们具有不同于软组织的弹性非线性。
Securing human safety in a physical human–robot interaction (pHRI) has been extensively studied to allow for the expansion of robotic applications. Dummies with the same impedance properties as those of human soft tissues are suitable substitutes for the validation of the safety assurance of the pHRI experiment. This study demonstrated the development process of dummies with high biofidelity. A psychophysiological experiment was designed to replicate the clamping scenario, and the center of the palm, thenar eminence, and forefinger pad were selected as three soft tissues of the human hand to be impacted to obtain the dynamic response of the contact force. A nonlinear five-element viscoelastic model was developed to quantify the viscoelasticity of the three soft tissues through curve fitting of the contact force. Subsequently, three dummies were fabricated using a polyurethane resin material. The biofidelity of the dummies was examined via a parametric comparison with the soft tissues and curve comparisons to examine whether the steady-state force and the dynamic response of the contact force were located within the corresponding ranges enclosed by the calibration curves of the soft tissues. All three dummies showed high biofidelity in the case where the steady-state force exceeded approximately 5 N, even though they have different nonlinearity of elasticity from that of soft tissues.