背部支撑外骨骼 3D 打印摆线致动器的动态特性分析与控制

IF 3.2 3区工程技术 Q2 ENGINEERING, INDUSTRIAL Cirp Annals-Manufacturing Technology Pub Date : 2024-01-01 DOI:10.1016/j.cirp.2024.03.002

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引用次数: 0

摘要

工人的安全、健康和福祉对于社会可持续生产系统至关重要，尤其是在工业 5.0 领域。职业外骨骼，尤其是背部支撑装置，正被越来越多地用于减少肌肉骨骼疾病和人体疲劳。为了降低成本和减轻重量，人们正在探索优化外骨骼的设计。我们提出了一种用于执行单元的三维打印摆线减速级，重点是用于人机交互的交互扭矩观测器和基于阻抗的控制器。对该装置的动态特性和控制进行了分析，以评估其对无传感器背部支撑职业外骨骼的适用性。

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Dynamic characterization and control of a back-support exoskeleton 3D-printed cycloidal actuator

The safety, health, and well-being of human workers are crucial for socially sustainable production systems, especially in Industry 5.0. Occupational exoskeletons, particularly back-support devices, are increasingly being adopted to reduce musculoskeletal disorders and human fatigue. To reduce costs and weight, optimized exoskeleton design is being explored. A 3D-printed cycloidal reduction stage for the actuation unit is proposed, focusing on an interaction torque observer and an impedance-based controller for human-robot interaction. The device's dynamic characterization and control are analyzed to evaluate its applicability to a sensorless back-support occupational exoskeleton.

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来源期刊

Cirp Annals-Manufacturing Technology 工程技术-工程：工业

CiteScore

7.50

自引率

9.80%

发文量

137

审稿时长

13.5 months

期刊介绍： CIRP, The International Academy for Production Engineering, was founded in 1951 to promote, by scientific research, the development of all aspects of manufacturing technology covering the optimization, control and management of processes, machines and systems. This biannual ISI cited journal contains approximately 140 refereed technical and keynote papers. Subject areas covered include: Assembly, Cutting, Design, Electro-Physical and Chemical Processes, Forming, Abrasive processes, Surfaces, Machines, Production Systems and Organizations, Precision Engineering and Metrology, Life-Cycle Engineering, Microsystems Technology (MST), Nanotechnology.