仿人手臂机器人利用人体多关节手臂的粘弹性控制

5th International Conference on Computer Sciences and Convergence Information Technology Pub Date : 2010-11-01 DOI:10.1109/ICCIT.2010.5711151

Aihui Wang, M. Deng

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引用次数: 6

摘要

人的手臂通过调节肌肉骨骼系统的动态特性来完成各种熟练的动作。肌肉骨骼系统的这种特性主要可以描述为人体多关节臂的粘弹性。机器人的许多生物医学应用都需要了解人体多关节臂的粘弹性，以使运动显得更加自然和准确。到目前为止，人体多关节臂的实时粘弹性还没有完全应用于机器人控制。本文综述了一种人体多关节臂在自然运动过程中粘弹性的鲁棒估计方法。提出了一种实时测量人体多关节臂粘弹性的仿人手臂机器人控制方案。为了研究中枢神经系统如何根据外界环境调节人体多关节臂的粘弹性，提出了一种改进的前视模型。仿真和实验结果验证了该方法的有效性。

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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Human arm-like robot control using the viscoelasticity of human multi-joint arm

The human arm performs a variety of skillful movements by adjusting dynamic characteristics of musculoskeletal system. Such characteristics of musculoskeletal system can be mainly described as viscoelasticity of human multi-joint arm. Many biomedical applications of robotics require knowledge of the viscoelasticity of human multi-joint arm in order to make motion appear more natural and accurately. Till now, the real time viscoelasticity of human multi-joint arm has not finally been used absolutely in robot control. This paper reviews a robust estimation method of the human multi-joint arm viscoelasticity during natural movement. A human arm-like robot control scheme using the real time measuring viscoelasticity of human multi-joint arm is proposed. An improved forward gaze model is used in order to study how to adjust the human multi-joint arm viscoelasticity by central nervous system according to external environment. The effectiveness of the proposed method is confirmed by the simulation and experimental results.

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5th International Conference on Computer Sciences and Convergence Information Technology

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