Stationary torque replacement for evaluation of active assistive devices using humanoid
Stationary torque replacement for evaluation of active assistive devices using humanoid
复制标题
使用人形机器人评估主动辅助装置的固定扭矩替代
DOI：
--
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Hiroshi Kobayashi
中科院分区：
文献类型：
--
作者：
Takahiro Ito;Ko Ayusawa;E. Yoshida;Hiroshi Kobayashi
本文提出了一种方法，称为“固定扭矩替代”的主动可穿戴辅助设备，旨在帮助人类移动的驱动器，通过使用仿人机器人的支持效果进行评估。所提出的方法允许类人估计扭矩相当于输出支持扭矩的辅助设备在静态姿势重定向从测量的人体运动。该计划的特点是定量评估的情况下，接近实际的人类使用的人形，再现人体运动，通过保持其平衡的可穿戴设备。为了验证所提出的方法，我们已经评估了一个主动的可穿戴设备“肌肉服”由气动执行器供电，通过使用全尺寸的人形平台HRP-4。
This paper presents a method called “stationary torque replacement” for evaluating the supportive effect of active wearable assistive devices that are designed to help humans move with actuators, by using a humanoid robot. The proposed method allows the humanoid to estimate torque equivalent to the output supportive torque of the assistive device in static postures retargeted from measured human motions. The scheme is characterized by quantitative evaluation under situations close to actual human usage with a humanoid that reproduces human motions by maintaining its balance the wearable devices. In order to validate the proposed method, we have evaluated an active wearable device “Muscle Suit” powered by pneumatic actuators by using the full-size humanoid platform HRP-4.