Evaluation Framework for Passive Assistive Device Based on Humanoid Experiments
Evaluation Framework for Passive Assistive Device Based on Humanoid Experiments
复制标题
基于仿人实验的被动辅助器具评估框架
DOI：
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复制
发表时间：
2017
期刊：
影响因子：
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通讯作者：
Takayuki Tanaka
中科院分区：
文献类型：
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作者：
Yumeko Imamura;Ko Ayusawa;E. Yoshida;Takayuki Tanaka
本研究提出了一个增强的框架，用于评估使用人形机器人的被动辅助装置产生的辅助效果。仿人机器人实验可以通过测量关节扭矩来评估可穿戴设备，而关节扭矩是无法从人体直接测量的。在本文中，我们引入了一种“辅助扭矩估计图”作为一种有效的方法，通过插值测量机器人的关节扭矩和关节角度来估计运动范围内的支持扭矩。这张图的目的是估计复杂运动的支持力矩，而不进行类人实验或人体实验。我们生成了一个实际的辅助服的估计图，以减少腰椎区域的负荷，我们通过实验验证了所提出的方法的有效性。此外，利用人形机器人HRP-4验证了该辅助服的几何仿真模型。拟议的框架有望导致这种辅助设备的有效设计，从而减少需要进行的人体实验。
This study presents an enhanced framework for evaluating an assistive effect generated by a passive assistive device using a humanoid robot. The humanoid robotic experiments can evaluate wearable devices by measuring the joint torque, which cannot be measured directly from the human body. In this paper, we introduce an “assistive torque estimation map” as an efficient means for estimating the supportive torque within the range of motions by interpolating the measured joint torques and joint angles of the robot. This map aims to estimate the supportive torques for complex motions without conducting humanoid experiments or human-subject experiments with these motions. We generated an estimation map for an actual assistive suit that decreases the load on the lumbar region and we verified the validity of the proposed method by experimentation. In addition, the geometric simulation model of the assistive suit was validated based on the proposed experiments by using the humanoid robot HRP-4. The proposed framework is expected to lead to an efficient design of such assistive devices so that fewer human-subject experiments need to be conducted.
跑步过程中肌肉对推进和支撑的贡献。
影响因子：
2.4
作者：
Hamner, Samuel R.;Seth, Ajay;Delp, Scott L.
通讯作者：
Delp, Scott L.