设计具有两用重力补偿和顺应性错位补偿机制的可穿戴肩部外骨骼机器人。

IF 3.4 Q2 ENGINEERING, BIOMEDICAL Wearable technologies Pub Date : 2024-02-12 eCollection Date: 2024-01-01 DOI:10.1017/wtc.2024.1
John Atkins, Dongjune Chang, Hyunglae Lee
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引用次数: 0

摘要

本文介绍了一种可穿戴肩部外骨骼机器人的设计和验证,该机器人旨在作为辅助控制器的平台,以降低工人患肌肉骨骼疾病的风险。该设计采用了四杆机制,将外骨骼的质心从肩部上部移至用户的躯干;位于四杆连杆内部的两用重力补偿机制可支持外骨骼的全部重力负荷,并对用户手臂的部分重量进行补偿;以及位于末端效应器和用户手臂之间的新型 6 自由度(DoF)顺应性错位补偿机制,允许肩部平移,同时保持对手臂方向的控制。模拟结果表明,四杆设计将质心降低了厘米,运动链可以跟随常见的上臂轨迹运动。实验测试表明,重力补偿机制可在肩部运动范围内补偿牛顿米以内的重力负荷,错位补偿机制具有所需的 6 DoF 刚度特性和运动范围,可调整肩部中心的平移。最后,对工作空间导纳控制器进行了实施和评估,结果表明该系统能够以透明的低阻抗人体操作准确再现模拟阻抗行为。
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Design of a wearable shoulder exoskeleton robot with dual-purpose gravity compensation and a compliant misalignment compensation mechanism.

This paper presents the design and validation of a wearable shoulder exoskeleton robot intended to serve as a platform for assistive controllers that can mitigate the risk of musculoskeletal disorders seen in workers. The design features a four-bar mechanism that moves the exoskeleton's center of mass from the upper shoulders to the user's torso, dual-purpose gravity compensation mechanism located inside the four-bar's linkages that supports the full gravitational loading from the exoskeleton with partial user's arm weight compensation, and a novel 6 degree-of-freedom (DoF) compliant misalignment compensation mechanism located between the end effector and the user's arm to allow shoulder translation while maintaining control of the arm's direction. Simulations show the four-bar design lowers the center of mass by  cm and the kinematic chain can follow the motion of common upper arm trajectories. Experimental tests show the gravity compensation mechanism compensates gravitational loading within  Nm over the range of shoulder motion and the misalignment compensation mechanism has the desired 6 DoF stiffness characteristics and range of motion to adjust for shoulder center translation. Finally, a workspace admittance controller was implemented and evaluated showing the system is capable of accurately reproducing simulated impedance behavior with transparent low-impedance human operation.

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来源期刊
CiteScore
5.80
自引率
0.00%
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0
审稿时长
11 weeks
期刊最新文献
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