机器人轴承增强外骨骼的比例力控制

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2021-07-03 DOI:10.1109/ICARM52023.2021.9536125

Lin Lang, Hui Peng, Junhao Xiao, Huimin Lu, Zongtan Zhou

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引用次数: 0

摘要

人体性能增强外骨骼在军事、工业、建筑等环境中有着广泛的应用。增强外骨骼的控制方法是保证系统有效辅助和安全的关键。提出了一种同时考虑认知人机交互和物理人机交互的尺度力控制方法。在肘关节外骨骼上的实验验证了该方法的可行性。

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Scale Force Control of a Robot Bearing Augmentation Exoskeleton

Human performance augmentation exoskeletons have a wide range of applications in the military, industry, construction and other environments. The control methods of augmentation exoskeletons are crucial to ensure effective assistance and the safety of the systems. We proposed a scale force control method that considers both cognitive human-robot interaction and physical human-robot interaction. Experiments on an elbow joint exoskeleton verified the feasibility of the method.

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2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)

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