带气动执行器的人力放大外骨骼

IF 2.2 3区 工程技术 Q2 ENGINEERING, MECHANICAL
Actuators Pub Date : 2023-12-28 DOI:10.3390/act13010012
F. Durante, T. Raparelli, P. Beomonte Zobel
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引用次数: 0

摘要

本研究描述了开发单自由度力放大器外骨骼的活动。该系统是作为研究原型开发的,用于进行控制系统研究。该装置由一个手臂和一个由压力调节器控制的气缸致动器组成。至于人机界面,该系统有一个力传感器。我们的想法是从传感器系统和控制系统结构的角度来验证开发一个简单系统的可能性,同时获得一个有效、经济和可靠的设备。本项目开发的理念是利用用户的现有能力来控制未知环境中的运动。用户是整个控制系统的核心部分:他为施加到环境中的速度和力量定义基准,并通过自己的视觉和本体感觉系统观察受控机器人系统的速率。另一方面,机器通过执行器产生并控制施加到环境中的力。通过这种方式,该设备显示出更高的接受能力。为了验证这一想法的可行性,我们创建了一个数学系统模型。根据模拟结果,制作了一个原型,并在此基础上进行了实验测试。如上所述,通过在机器和用户之间安装一个单轴类型的力传感器来构成人机界面,可以获得所述的行为;通过使用压力调节器,可以避免使用传感器来获得环境的力反馈。因此,传感器和控制算法的结构非常简单。为测试人机 "系统 "的性能,提出了具体的测试协议,并开发了一个测试台,可以跟踪显示器上的可变信号,用户必须跟踪这些信号。该系统使用直观,学习曲线快,用户可以根据需要跟踪的不同信号,精确地处理高负荷,即使在高速运转时也是如此。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Man-Power-Amplifying Exoskeleton with Pneumatic Actuator
This study describes the activity of developing a force amplifier exoskeleton with one degree of freedom. The system was developed as a research prototype to conduct control system studies. The device consists of an arm with a pneumatic cylinder actuator controlled by a pressure regulator. As for the human–machine interface, the system has a force sensor. The idea is to verify the possibility of developing a simple system from the sensor system’s point of view and the control system’s architecture while simultaneously obtaining an effective, economical, and reliable device. The idea developed in this project is to use the user’s available ability to control movements in unknown environments. The user constitutes the central part of the entire control system: he defines the references for the speeds and forces to be applied to the environment and observes the rates of the controlled robotic system through his own sight and proprioceptive system. On the other hand, the machine produces and controls the forces applied to the environment by the actuator. In this way, the device shows an increased admittance. A mathematical system model was created to verify the idea’s feasibility. Following the results of the simulations, a prototype was built on which experimental tests were carried out. As stated above, it was possible to obtain the described behavior with the use of a force sensor, one-axis type, interposed between the machine and the user, to constitute the human–machine interface; using a pressure regulator, it was possible to avoid the sensors for the force feedback by the environment. The result is a simple architecture for the sensors and the control algorithm. Specific test protocols were proposed to test the performance of the human–machine “system”, and a test bench was developed that allows the tracking of variable signals represented on a monitor, which the user must follow. The system is intuitive to use, with a rapid learning curve, and the user can handle high loads according to the different signals to be followed with good precision, even at high speeds.
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来源期刊
Actuators
Actuators Mathematics-Control and Optimization
CiteScore
3.90
自引率
15.40%
发文量
315
审稿时长
11 weeks
期刊介绍: Actuators (ISSN 2076-0825; CODEN: ACTUC3) is an international open access journal on the science and technology of actuators and control systems published quarterly online by MDPI.
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