An Integrated Framework for Design of Human Interactive Machines

人类交互机器设计的集成框架

• 批准号: 0825364
• 负责人: Kenneth Waldron
• 金额: $ 34万
• 依托单位: Stanford University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2008
• 资助国家: 美国
• 起止时间: 2008-10-01 至 2010-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0825364&HistoricalAwards=false
• 关键词: Integrated; Framework; Design; Human; Interactive

The research objective of this award is development of a comprehensive theory and a systematic methodology for design of robotic mechanisms with which human users interact physically. These mechanisms are often designed to aid people with disabilities to perform common everyday tasks such as reaching or moving from one chair to another. Humans in general, and people with disabilities in particular, possess enormous variability in their capabilities and preferences, requiring such mechanisms to be flexibly adapted to functional variations. Solution of such problems often leads to mechanism configurations that do not conform to either the serial chain or fully parallel architectures that have historically been the focus of most studies in robotics. The research will combine fundamentals of kinematic theory, control theory and sensor design to achieve a comprehensive design methodology. The theory will be developed and the methodology will be validated through the design of examples of mechanisms intended to assist disabled individuals. If successful, the results of this research will provide researchers with a design framework for mechanism design that incorporates human interaction as an integral part of the overall design objective. Because this research will accommodate alternate mechanism configurations, it has the potential to significantly improve our ability to design new human-assist devices. The systematic methodology will provide designers with the tools needed to incorporate the theory of mechanism design into the design process. A unique user interface for mechanism design, prototype design solutions, and documentation of the methodology will result from this research. The PI and research team will promote science and engineering education among grade school and high school students through presentations and demonstrations in his Stanford freshmen seminar course, the FIRST Robotics and FIRST Lego League programs. The project also includes international collaboration and exchange of personnel with a team at the Centre for Autonomous Systems at the University of Technology, Sydney, in Australia.

该奖项的研究目标是开发一种全面的理论和系统的方法来设计人类用户与之进行物理交互的机器人机构。这些机制的设计通常是为了帮助残疾人执行常见的日常任务，如从一把椅子伸手或从一把椅子移到另一把椅子。一般说来，人类，特别是残疾人，在能力和偏好方面具有巨大的变异性，需要这种机制灵活地适应功能变化。此类问题的解决往往导致机构配置不符合串行链或完全并行的结构，而这些结构在历史上一直是大多数机器人研究的重点。这项研究将结合运动学理论、控制理论和传感器设计的基本原理，实现全面的设计方法。将发展这一理论，并通过设计旨在帮助残疾人的机制实例来验证这一方法。如果成功，这项研究的结果将为研究人员提供一个机制设计的设计框架，将人类交互作为整体设计目标的一个组成部分。由于这项研究将适应其他机构配置，它有可能显著提高我们设计新的人类辅助设备的能力。系统方法论将为设计者提供将机械设计理论纳入设计过程所需的工具。这项研究将为机构设计、原型设计解决方案和方法文档提供独特的用户界面。PI和研究团队将通过在斯坦福大学新生研讨会课程、First Robotics和First Lego League项目中的演讲和演示，在小学生和高中生中推广科学和工程教育。该项目还包括与澳大利亚悉尼科技大学自主系统中心的一个小组进行国际合作和人员交流。