Connecting a Human Limb to an Exoskeleton
Connecting a Human Limb to an Exoskeleton
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DOI：
10.1109/tro.2011.2178151
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发表时间：
2012-06-01
影响因子：
7.8
通讯作者：
Morel, Guillaume
中科院分区：
文献类型：
--
作者：
Jarrasse, Nathanael;Morel, Guillaume
在开发机器人外骨骼时，设备与其所连接的人体肢体之间的物理连接设计是一个至关重要的问题。实际上，在每个连接点处使用嵌入会导致在相互作用端口处由超静定性引起的不可控制的力。在实践中，这些力可能很大，因为通常人类肢体运动学和外骨骼运动学不同。为了科普超静定，文献建议在机械环内添加被动机械。然而，迄今为止提出的经验解决方案缺乏适当的分析和一般性。本文研究了通过多个被动机构连接两个相似运动链的一般问题。我们推导出一个建设性的方法，允许所有可能的分布的自由度的自由度在不同的固定机制的测定。它还提供了全球均衡性的形式证明。通过两个例子与结论性的实验结果说明了实用性：一个初步的研究与手臂外骨骼控制的运动（被动模式）和一个更大的运动上10个健康的受试者执行指向任务的透明机器人（主动模式）的人体模型。
When developing robotic exoskeletons, the design of physical connections between the device and the human limb to which it is connected is a crucial problem. Indeed, using an embedment at each connection point leads to uncontrollable forces at the interaction port, induced by hyperstaticity. In practice, these forces may be large because in general the human limb kinematics and the exoskeleton kinematics differ. To cope with hyperstaticity, the literature suggests the addition of passive mechanisms inside the mechanism loops. However, empirical solutions that are proposed so far lack proper analysis and generality. In this paper, we study the general problem of connecting two similar kinematic chains through multiple passive mechanisms. We derive a constructive method that allows the determination of all the possible distributions of freed degrees of freedom across different fixation mechanisms. It also provides formal proofs of global isostaticity. Practical usefulness is illustrated through two examples with conclusive experimental results: a preliminary study made on a manikin with an arm exoskeleton controlling the movement (passive mode) and a larger campaign on ten healthy subjects performing pointing tasks with a transparent robot (active mode).