Intelligent Power Assist Systems Auto-Adaptive to Varying Human Characteristics and Enviornmental Conditions

提出的研究是一项有针对性的调查，以发展对智能动力辅助系统的理解。智能助力系统区别于传统助力装置和触觉装置。传统动力辅助装置的作用仅限于放大或增加用户提供的电力。触觉设备向用户提供有关环境的反馈信息，但这些信息是合成的。换句话说，触觉设备不能在用户和环境之间提供直接的物理耦合。智能动力辅助系统将辅助动力（或力）添加到人类操作员提供的动力（或力）输入中。本研究的技术目标是：1)研究自适应处理人机环境交互的智能助力系统；2)为系统开发信号处理和控制算法，通过感知人的意图，以最佳方式增强助力功率，将人与不希望的环境干扰输入隔离，同时保持人与环境之间基本的双边物理耦合，从而辅助操作员；3)以电动自行车系统为例，验证了该算法的优越性。许多现代技术，特别是自动化和机电一体化，最初是为了实现更高的生产率和更好的产品质量。它们现在正稳步渗透到我们的日常生活中。我们被机电产品包围，并以多种方式与它们互动。因此，在机电产品的设计和开发中考虑人为因素已变得至关重要，本研究旨在为这些考虑提供科学依据。这些技术目标影响了广泛的应用，包括轮椅、助力转向系统和电动自行车。实现这些目标有望提高包括身体残疾者在内的大部分人口的生活质量。采用电动自行车作为实验试验台。从能源、环境影响和公共健康的角度来看，电动自行车是一种有吸引力的交通工具。智能动力辅助装置有可能使电动自行车成为对更广泛人群更具吸引力的交通工具。更广泛的影响将是教育、外联和国际合作。项目团队由首席研究员、研究生研究员和本科生研究员组成。

The proposed research is a targeted investigation to develop the understanding of intelligent power assist systems. Intelligent power assist systems are distinguished from conventional power assist devices and haptic devices. The role of conventional power assist devices is limited to amplifying or augmenting the power supplied by users. Haptic devices supply users with feedback information on the environment, but the information is synthesized. In other words, haptic devices do not provide direct physical coupling between the user and the environment. Intelligent power assist systems add assistive power (or force) to the power (or force) input supplied by a human operator. The technical objectives of the research are: 1) to study intelligent power assist systems which adaptively handle the interaction between human-machine-environment, 2) to develop signal processing and control algorithms for the system to assist the operator by sensing the human's intention, optimally augmenting assistive power and isolating the human from undesired environmental disturbance inputs while retaining essential bilateral physical coupling between the human and the environment, and 3) to demonstrate the advantages of such algorithms by experiments with an electric bicycle-based system. Many modern technologies, in particular automation and mechatronics, were originally intended to achieve higher productivity and better product quality. They are now steadily penetrating our daily lives. We are surrounded by mechatronic products and interact with them in many ways. Consequently, it has become critically important to consider human factors in the design and development of mechatronic products, and the proposed research aims to provide a scientific foundation for these considerations. The technical objectives impact a wide range of applications, including wheel chairs, power assist steering systems and electric bicycles. Achievement of the objectives promises to enhance the quality of life of a large section of the population, including the physically impaired. An electric bicycle is adopted as the experimental testbed. Electric bicycles are an attractive means of transportation from the standpoints of energy, environmental impact and public health. Intelligent power assist devices hold the potential for making electric bicycles a more appealing means of transportation to a wider population. The broader impacts will be on education, outreach and international collaboration. The project team includes the Principal Investigator, a graduate student researcher and undergraduate researchers.