考虑人体辅助运动特性的机器人矫形器动力辅助控制

8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483) Pub Date : 1999-09-27 DOI:10.1109/ROMAN.1999.900301

K. Nagai, I. Nakanishi

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引用次数: 1

摘要

本文研究了一种考虑人的特性的动力辅助控制方案。阐述了所提控制方案的基本概念。它是基于阻抗控制设计的，并与运动传递函数一起工作，该函数利用用户的力来改变阻抗控制中使用的期望位置。然后描述了考虑人体特征的运动规划。通过仿真验证了所提出的运动规划控制方案的有效性。

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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Power assisting control of robotic orthoses considering human characteristics on assisted motions

This paper addresses a problem of power-assisted control scheme considering human characteristics. The basic concept of the proposed control scheme is explained. It is designed based on impedance control and works with the motion transfer function that utilizes user's forces to change the desired position used in impedance control. A motion planning considering human characteristics is then described. Effectiveness of the proposed control scheme with the motion planning is investigated using simulations.

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8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483)

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