Extender: a case study for human-robot interaction via transfer of power and information signals
Extender: a case study for human-robot interaction via transfer of power and information signals
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扩展器：通过电力和信息信号传输进行人机交互的案例研究
DOI：
10.1109/roman.1993.367756
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发表时间：
1993
期刊：
影响因子：
--
通讯作者：
H. Kazerooni
中科院分区：
文献类型：
--
作者：
H. Kazerooni
人类完成体力劳动的能力受到体力的限制，而不是智力。作者将“扩展器”定义为一类由人类佩戴以增强人类机械强度的机器人操纵器，而佩戴者的智力仍然是操纵扩展器的中央控制系统。作者的研究目标是通过设计，建造和控制几个原型实验直接驱动/非直接驱动多自由度液压/电动扩展器来确定人类穿戴的机器人系统控制的基本规则。扩展器的设计与传统机器人的设计不同，因为扩展器在物理层面上与人类交互。两组力传感器测量由人和环境施加在延伸器上的力（即，负载）。通过选择合适的力补偿器，设计了扩展器对这种接触力的顺应性。分析了人、伸缩器和被操纵物体系统的稳定性。确定延长器性能的数学表达式，以量化力增加。对实验扩展器的控制和性能进行了实验研究，以验证理论预测。<<ETX>>
A human's ability to perform physical tasks is limited by physical strength, not by intelligence. The author defines "extenders" as a class of robot manipulators worn by humans to augment human mechanical strength, while the wearer's intellect remains the central control system for manipulating the extender. The author's research objective is to determine the ground rules for the control of robotic systems worn by humans through the design, construction, and control of several prototype experimental direct-drive/non-direct-drive multi-degree-of-freedom hydraulic/electric extenders. The design of extenders is different from the design of conventional robots because the extender interfaces with the human on a physical level. Two sets of force sensors measure the forces imposed on the extender by the human and by the environment (i.e., the load). The extender's compliances in response to such contact forces were designed by selecting appropriate force compensators. The stability of the system of human, extender, and object being manipulated was analyzed. A mathematical expression for the extender performance was determined to quantify the force augmentation. Experimental studies on the control and performance of the experimental extender were conducted to verify the theoretical predictions.<<ETX>>