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

这项研究涉及机器的设计和控制， 将与人类进行稳定的动态互动， 功率和信息信号的交换。 通常，人类 与机器的交互包括信息交换 仅信号，即，按下启动按钮并激活 电动搅拌器，但不直接向搅拌器传递动力， 或感受搅拌器叶片上的负荷。 矫形器、器械 为了执行任务而直接附着在人身上的 或帮助残疾人，是机器的例子， 这确实涉及到权力和信息的交换， 人类和机器。 这项研究是一个五阶段的活动， 重点研究了（1）在线学习控制器的开发 人手动态行为的计算机建模;（2）开发 的规则，为设计一个管理控制器，以创建 人类无法独立完成的特定行为，（3） 多自由度矫形器的设计研究， 可以与人类交换能量和信息信号，（4） 设计和制作矫形器原型， 环境，和（5）性能的实验评价 这个系统。 最终的目标是一个原型矫形器 以反馈的方式， 按比例缩小的实际外部负荷， 矫形器就是操纵 这种自然的反馈力 人类的手让她感觉到一个修改版本的外部 对矫形器的作用力。

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.