Design and Analysis of a Wearable Robotic Forearm
Design and Analysis of a Wearable Robotic Forearm
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DOI：
10.1109/icra.2018.8461212
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发表时间：
2018-05
期刊：
影响因子：
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通讯作者：
Vighnesh Vatsal;Guy Hoffman
中科院分区：
文献类型：
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作者：
Vighnesh Vatsal;Guy Hoffman
提出了一种用于近距离人机协作的可穿戴机器人前臂的设计。该机器人的功能是作为共享工作空间活动的轻量级额外第三臂。我们提出了一个功能原型，这是一个迭代设计过程的结果，包括几个用户研究。对机器人的运动学分析表明，与人类的自然触手相比，机器人的可达工作空间增加了246%。机器人的自由度和运动范围支持机器人作为协作工具的各种使用场景，包括自我切换，在人的手被占用时抓取物体，协助人与人之间的协作以及稳定物体。我们分析了这些场景的生物机械载荷，发现该设计能够在人体工程学磨损限制内运行。然后，我们报告了一项试点人机交互研究，该研究表明，与直接语音控制相比，机器人自主更有效，更受用户青睐。这些结果表明，这里提出的设计是一种很有前途的轻型可穿戴机器人增强设备，可以作为进一步研究人类可穿戴协作的基础。
This paper presents the design of a wearable robotic forearm for close-range human-robot collaboration. The robot's function is to serve as a lightweight supernumerary third arm for shared workspace activities. We present a functional prototype resulting from an iterative design process including several user studies. An analysis of the robot's kinematics shows an increase in reachable workspace by 246 % compared to the natural human reach. The robot's degrees of freedom and range of motion support a variety of usage scenarios with the robot as a collaborative tool, including self-handovers, fetching objects while the human's hands are occupied, assisting human-human collaboration, and stabilizing an object. We analyze the bio-mechanical loads for these scenarios and find that the design is able to operate within human ergonomic wear limits. We then report on a pilot human-robot interaction study that indicates robot autonomy is more task-time efficient and preferred by users when compared to direct voice-control. These results suggest that the design presented here is a promising configuration for a lightweight wearable robotic augmentation device, and can serve as a basis for further research into human-wearable collaboration.