Independent torque and stiffness adjustment of a pneumatic direct rotary soft-actuator for adaptable human-robot-interaction

D. Baiden, O. Ivlev
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引用次数: 6

Abstract

An important property of rehabilitation robots required for safe and human-like interaction is compliant actuation combined with light-weight design. This requirement can be fulfilled by fluidic soft-actuators like pneumatic muscles due to inherent passive compliancy and high power to weight ratio. However because of the nonlinear dependency on actuator chamber contraction and air pressure as well as friction effects control of such actuator type still remains challenging, even for common position or force control. For human-robot-interaction (HRI) it is necessary to adapt the actuator output characteristics appropriately depending on the manipulation task and/or the capabilities of the individual person. This paper presents an approach to independently adjust torque and compliance/stiffness of a soft-actuator with direct acting antagonistic rotary elastic chambers (REC) and illustrates a possible example of application with an exoskeleton robot for lower extremities training.
适用于人机交互的气动直接旋转软执行器的独立扭矩和刚度调节
康复机器人的一个重要特性是柔顺驱动和轻量化设计。由于固有的被动顺应性和高功率重量比,气动肌肉等流体软执行器可以满足这一要求。然而,由于非线性依赖于致动器腔室收缩和空气压力以及摩擦效应,这种致动器类型的控制仍然具有挑战性,即使是常见的位置或力控制。对于人机交互(HRI),有必要根据操作任务和/或个人的能力适当地调整执行器的输出特性。本文提出了一种具有直接作用对抗性旋转弹性腔(REC)的软执行器的扭矩和柔度/刚度独立调节方法,并举例说明了用于下肢训练的外骨骼机器人的可能应用实例。
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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