A Human-assistive Robotic Platform with Quadrupedal Locomotion*

Tao Shen, M. Afsar, Md Rejwanul Haque, Eric W. McClain, S. Meek, Xiangrong Shen
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引用次数: 5

Abstract

Mobility impairment is becoming a challenging issue around the world with a rapid increase on aging population. Existing tools of walking assistance for mobility-impaired people include passive canes or wheeled rollators which increase energy consumption on the users and disturb the users’ walking rhythm, and powered wheeled chairs which could preclude the muscle activities and accelerate the degeneration of the lower limbs. The research in this paper aiming at helping mobility-impaired people proposes a novel robotic platform with quadrupedal locomotion. With motorized actuation, the quadruped robotic platform could accompany the user at the center and provide protection and possible walking assistance if needed. As the robotic platform is equipped with a leg locomotion, it can enlarge the user’s activity environments, such as both indoor flat floor and outdoor uneven terrain. It can even assist the user to involve in some mobility challenging activities, such as climbing stairs. In this paper, we illustrate the mechanical design of the robotic platform. A continuous gait planning is proposed to create a smooth locomotion for the robot. To quantify the performance, a system-level walking experimentation was conducted, and the results showed that quadruped robotic platform can maintain a statically stability which demonstrate the feasibility and capability of the robotic application for walking assistance.
四足运动的人类辅助机器人平台*
随着老龄化人口的迅速增加,行动障碍正在成为一个具有挑战性的问题。现有的行动障碍者辅助行走工具包括被动手杖或轮式滚轮,增加了使用者的能量消耗,干扰了使用者的行走节奏;动力轮椅妨碍了肌肉活动,加速了下肢的退化。本文以帮助行动障碍者为研究对象,提出了一种新型的四足运动机器人平台。通过电动驱动,四足机器人平台可以陪伴用户在中心,并提供保护和可能的行走辅助,如果需要的话。由于机器人平台配备了腿部运动,可以扩大用户的活动环境,例如室内平坦的地面和室外不平坦的地形。它甚至可以帮助用户参与一些具有移动性的活动,比如爬楼梯。在本文中,我们说明了机器人平台的机械设计。为了使机器人运动平稳,提出了一种连续步态规划方法。为了量化其性能,进行了系统级的行走实验,结果表明四足机器人平台能够保持静稳定性,证明了机器人应用于行走辅助的可行性和能力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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