A Theoretical and Experimental Study on Augmenting Human Motor-Cognitive Ability Via Human-Robot Interaction

这项研究致力于机器的设计和控制，通过同时交换功率和信息信号，与人类进行稳定的动态交互。通常，人与机器的交互只涉及信息信号的交换，即按下启动按钮并激活电动搅拌器，但不直接向搅拌器输送电力，也不感受搅拌器叶片上的负载。矫形器是为了执行任务或帮助残疾人而直接连接到人身上的设备，是机器的例子，它确实涉及到人与机器之间的权力和信息交换。这项研究是五个阶段的活动，其重点是(1)开发用于在线计算机模拟人类手动态行为的学习控制器，(2)开发用于设计监督控制器的规则以创建人类不能在没有辅助的情况下执行的特定行为，(3)研究能够与人类交换功率和信息信号的多自由度矫形器的设计，(4)原型矫形器和计算环境的设计与制作；(5)系统性能的实验评价。最终目标是一个原型矫形器，它以反馈的方式将矫形器正在操纵的实际外部负荷的缩小版本转移到人类的手中。人类手上的这种自然反馈力让她感觉到矫形器上的外力的修改版本。

This research addresses the design and control of machines that will have stable dynamic interaction with humans via simultaneous exchange of both power and information signals. Typically, human interaction with machines involves an exchange of information signals only, i.e., pushing the start button on and activating an electric mixer, but not transferring power directly to the mixer, or feeling the load on the mixer blades. Orthoses, devices attached directly to a human for the purpose of performing a task or aiding a handicapped individual, are examples of machines which do involve the exchange of power and information between human and machine. This research is a five phase activity which focuses on (1) development of a learning controller for on line computer modeling of human hand dynamic behavior, (2) development of the rules for the design of a supervisor controller to create a particular behavior that humans cannot perform unaided, (3) study of the design of a multi degree of freedom orthosis that can exchange power and information signals with humans, (4) design and fabrication of a prototype orthosis and computing environment, and (5) experimental evaluation of the performance of this system. The ultimate objective is a prototype orthosis which transfers to the human's hand, in feedback fashion, a scaled down version of the actual external load which the orthosis is manipulating. This natural feedback force on the human's hand lets her feel a modified version of the external forces on the orthosis.