康复机器人FRIEND II -一般概念和目前的实现

I. Volosyak, O. Ivlev, A. Graser
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引用次数: 71

摘要

FRIEND II是由德国不来梅大学自动化研究所开发的康复机器人FRIEND I的继承者,属于“智能”轮椅式机械手。这两个系统都被用作个人助理,在日常生活和工作环境中为上肢残疾的残疾人提供支持。通过使用智能设备,新的摄像系统,具有7关节运动学的类人机械臂,新的控制概念-运动学配置控制,力扭矩传感器和两个可互换的夹具,获得了显着的改进。本文介绍了目前正在开发的FRIEND II系统的硬件选型和硬件创新。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Rehabilitation robot FRIEND II - the general concept and current implementation
FRIEND II which is the successor of the rehabilitation robot FRIEND I is being developed at the Institute of Automation, University of Bremen, and belongs to the category 'intelligent' wheelchair mounted manipulators. Both systems are used as a personal assistant to support disabled persons with upper-limb impairments in daily life situations as well as in the working environment. Significant improvements are obtained with the use of smart devices, new camera systems, a humanlike robot arm with 7-joint kinematics, a new control concept - kinematic configuration control, force torque sensor and two interchangeable grippers. This paper describes the hardware selection and the innovations in the hardware of the system FRIEND II currently under development.
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