A Powered Low-Back Exoskeleton for Industrial Handling: Considerations on Controls
A Powered Low-Back Exoskeleton for Industrial Handling: Considerations on Controls
复制标题
用于工业搬运的动力低背外骨骼：控制方面的考虑
DOI：
10.1007/978-3-319-46532-6_47
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
D. Caldwell
中科院分区：
文献类型：
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作者：
Stefano Toxiri;J. Ortiz;Jawad Masood;Jorge Fernandez;Luis A. Mateos;D. Caldwell
一种动力低背外骨骼正在开发中，以支持工业中的手动材料处理。控制这一设备带来了几个挑战。在低层，执行单元需要能够输出大扭矩以及透明的相互作用。在高层次上，外骨骼需要根据从环境和佩戴者获得的信息来调整其辅助功能，以最大限度地发挥其有益效果。这些挑战与工业应用有很大的相关性，在工业应用中，复杂性、成本和侵入性是成功部署的关键。在描述外骨骼开发目前的进展时，试图强调和讨论这些挑战和可能的技术解决方案。
A powered low-back exoskeleton is being developed to support manual material handling in industry. Controlling this device poses several challenges. At the low-level, the actuation units need to be capable of large torque outputs as well as transparent interaction. At the high-level, the exoskeleton needs to modulate its assistance based on information acquired from the environment and the wearer, so as to maximise its beneficial effect. These challenges have great relevance to industrial applications, where complexity, cost and invasiveness are key to successful deployment. In describing the current progress in the development of the exoskeleton, an attempt is made to highlight and discuss these challenges and possible technical solutions.