NRI: FND: Hybrid Active-Passive Actuation for Safety and Performance in Physical Human-Robot Collaboration and Rehabilitation

NRI：FND：混合主动-被动驱动，确保人机协作和康复中的安全性和性能

• 批准号: 1830516
• 负责人: Peter Adamczyk
• 金额: $ 74.97万
• 依托单位: University of Wisconsin-Madison
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2018
• 资助国家: 美国
• 起止时间: 2018-09-15 至 2023-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1830516&HistoricalAwards=false
• 关键词: NRI; FND; Hybrid; Active; Passive

Physical cooperation between a person and a robot requires a range of performance characteristics that is difficult for traditional robots to meet. Sometimes a robot must have high stiffness to support an object for a person to work with or to perform a precise task of its own, but at other times it must have low stiffness to ensure the safety of a person who makes contact with it. Sometimes a robot must control the interaction force between itself and a person, but at other times it must move along a precise path regardless of the force applied to it. Existing actuators such as electric, pneumatic or hydraulic motors cannot achieve this performance combination, so a new approach to robotic actuators is required. This National Robotics Initiative (NRI) research project will study the design and control of robots that use a combination of active components (motors) and passive components (brakes) to meet these opposing demands. This actuation approach, referred to as Balanced Active-Passive Hybrid Actuation, will provide high power capabilities while possessing the unique characteristics required for human-robot physical collaboration. This research will enable new capabilities for cooperation between people and robots and will open unserved application areas such as cooperative high-power manufacturing robots, high-power rehabilitation robots, and high-performance exoskeletons. One important application is rehabilitation robotics for retraining intentional movement after neural injury such as stroke. The hybrid active-passive actuators developed in this research will be applied to create a strong and accurate, yet also safe, rehabilitation robot for the legs, which will be used to test leg force and movement control and develop rehabilitation methods for stroke survivors. The goal of this project is to develop design principles and control approaches for hybrid active-passive actuators capable of providing high power and high force-control bandwidth. The research will combine a series-elastic electric motor for low-bandwidth force control, a parallel direct-drive electric motor for high-bandwidth force control, and a parallel brake for efficient very high-bandwidth support against applied external forces. A physical test actuator will be built according to these design principles and used to develop and test a bandwidth-partitioning controller for coordinating the multiple actuators. The resulting design and control techniques will be used to build a two-axis parallel linkage manipulator for applying arbitrary planar force fields to the foot of a human user. The system will be tested for its ability to haptically render virtual mechanical environments such as viscous curl fields. These curl fields will be used to study motor control of the leg, with the goal of developing rehabilitative tasks for stroke survivors to promote the recovery of coordinated movement and postural control.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

人与机器人之间的物理协作需要一系列传统机器人难以满足的性能特征。有时，机器人必须具有高刚度才能支撑物体，以便人与其合作或执行其自己的精确任务，但在其他时候，它必须具有低刚度，以确保与其接触的人的安全。有时机器人必须控制自己和人之间的相互作用力，但在其他时候，无论施加在它身上的力是什么，它都必须沿着一条精确的路径移动。现有的执行器，如电动、气动或液压马达无法实现这种性能组合，因此需要一种新的方法来实现机器人执行器。这个国家机器人倡议(NRI)研究项目将研究使用主动部件(马达)和被动部件(刹车)的组合来满足这些相反需求的机器人的设计和控制。这种被称为平衡式主动-被动混合驱动的驱动方法，将提供高功率能力，同时具有人-机器人物理协作所需的独特特性。这项研究将为人与机器人之间的合作带来新的能力，并将打开协作大功率制造机器人、大功率康复机器人、高性能外骨骼等尚未服务的应用领域。康复机器人的一个重要应用是对中风等神经损伤后的有意运动进行再训练。本研究开发的主动-被动混合式执行器将被应用于创建一种强大、准确且安全的腿部康复机器人，该机器人将用于测试腿力和运动控制，并为中风幸存者开发康复方法。本项目的目标是开发能够提供高功率和高力控制带宽的主被动混合执行器的设计原理和控制方法。这项研究将结合用于低带宽力控制的串联弹性电机，用于高带宽力控制的并行直接驱动电机，以及用于针对施加的外力提供高效的超高带宽支持的并行制动器。将根据这些设计原则构建物理测试执行器，并用于开发和测试用于协调多个执行器的带宽划分控制器。由此产生的设计和控制技术将被用于建立一个两轴并联机械手，将任意平面力场施加到人类用户的脚上。该系统将接受测试，以测试其对虚拟机械环境(如粘性卷曲场)的触觉渲染能力。这些卷曲领域将用于研究腿部的运动控制，目标是为中风幸存者开发康复任务，以促进协调运动和姿势控制的恢复。该奖项反映了NSF的法定使命，并通过使用基金会的智力优势和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

A Hybrid Active-Passive Actuation and Control Approach for Kinesthetic Handheld Haptics

用于动觉手持式触觉的混合主动-被动驱动和控制方法

• DOI: 10.1109/haptics45997.2020.ras.hap20.12.af578b0a
• 发表时间: 2020
• 期刊: 2020 IEEE Haptics Symposium (HAPTICS
• 作者: Dills, Patrick;Colonnese, Nick;Agarwal, Priyanshu;Zinn, Michael
• 通讯作者: Zinn, Michael

An Investigation of a Balanced Hybrid Active-Passive Actuator for Physical Human-Robot Interaction

用于物理人机交互的平衡混合主被动执行器的研究

• DOI: 10.1109/lra.2021.3064497
• 发表时间: 2021
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Dills, Patrick;Dawson-Elli, Alexander;Gruben, Kreg;Adamczyk, Peter G.;Zinn, Michael
• 通讯作者: Zinn, Michael

Factors Affecting the Stable Range of Damping and Mass in Admittance Type Haptic Devices

影响导纳型触觉装置阻尼和质量稳定范围的因素

• DOI: 10.1109/whc49131.2021.9517150
• 发表时间: 2021
• 期刊: 2021 IEEE World Haptics Conference (WHC
• 作者: Gabardi, Kaitlyn;Dills, Patrick;Zhang, Bolun;Zinn, Michael
• 通讯作者: Zinn, Michael

Stability and Rendering Limitations of a Parallel Hybrid Active-Passive Haptic Interface

并行混合主动-被动触觉界面的稳定性和渲染限制

• DOI: 10.1109/haptics52432.2022.9765621
• 发表时间: 2022
• 期刊: IEEE Haptics Symposium 2022 (HAPTICS
• 作者: Dills, Patrick;Dawson-Elli, Alexander;Gruben, Kreg;Adamczyk, Peter;Zinn, Michael
• 通讯作者: Zinn, Michael

A Balanced Hybrid Active-Passive Actuation Approach for High-Performance Haptics

• DOI: 10.1109/whc.2019.8816146
• 发表时间: 2019-07
• 期刊: 2019 IEEE World Haptics Conference (WHC)
• 作者: C. Parthiban;P. Dills;It Fufuengsin;Nick Colonnese;Priyanshu Agarwal;M. Zinn