Prototype of Wearable Robot with Tactile Sensor Measurable Contact Force Distribution with User
Prototype of Wearable Robot with Tactile Sensor Measurable Contact Force Distribution with User
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DOI：
10.1109/icarcv.2018.8581233
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发表时间：
2018-11
期刊：
影响因子：
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通讯作者：
Daiki Ito;Yuki Funabora;S. Doki;K. Doki
中科院分区：
文献类型：
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作者：
Daiki Ito;Yuki Funabora;S. Doki;K. Doki
为了提高穿戴式辅助机器人的安全性，研制了一种适用于接触力分布反馈控制系统的穿戴式辅助机器人样机。由于穿戴式辅助机器人直接接触用户并施加力，因此确保用户的安全是最重要的。为了从控制的角度提高安全性，研究了接触力分布反馈控制系统。该系统直接控制用户和机器人之间的接触力。虽然该系统在原理上用简单的机器人模型进行了仿真验证，但还没有用实际机器人进行验证。没有可穿戴机器人可测量与用户的接触力分布。为了测量控制系统的接触力分布，需要两点：测量再现性和测量分布。在本文中，原型机器人，满足这两点。通过测量实验，确认机器人具有系统所需的两个点。
To improve safety of wearable assist robots, the authors make a prototype wearable robot suitable for the contact force distribution feedback control system. Because wearable assist robots contact the user and apply force directly, ensuring safety of the user is most important. In order to improve safety from the aspect of control, a contact force distribution feedback control system has been researched. The system controls contact force between the user and a robot directly. Although the system validated in principal with a simple robot model on simulation, validation with an actual robot has not done yet. There are no wearable robots measurable the contact force distribution with user. In order to measure the contact force distribution for the control system, two points: measurement reproducibility and measurement as distribution, are necessary. In this paper, a prototype robot that satisfies the two points is made. The robot is confirmed to have the two points necessary for the system by measurement experiment.