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

本研究的目的是设计和控制机器，通过同时交换电力和信息信号，与人类进行稳定的动态交互。通常，人与机器的互动只涉及信息信号的交换，即按下启动按钮并启动电动搅拌机，但不直接向搅拌机传递动力，也不感受搅拌机叶片上的负荷。矫形器是一种直接安装在人身上的装置，用于执行任务或帮助残疾人，它是一种涉及人与机器之间能量和信息交换的机器。本研究分为五个阶段，重点是(1)开发用于人手动态行为在线计算机建模的学习控制器，(2)开发用于设计监督控制器的规则，以创建人类无法独立执行的特定行为，(3)研究了一种能够与人进行能量和信息信号交换的多自由度矫形器的设计；(4)设计制造了一个原型矫形器和计算环境；(5)对该系统的性能进行了实验评估。最终的目标是一个原型矫形器，它以反馈的方式转移到人的手上，这是矫形器操纵的实际外部负载的缩小版。人类手上的这种自然反馈力让她感受到矫形器上外力的修改版本。

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.