外骨骼臂自重构智能网格

Cagri Altintasi, A. Erkmen
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引用次数: 1

摘要

摘要:本文提出了一种可重构外骨骼的新技术,该外骨骼由一个连接网络的小型全息机器人包裹在人体四肢上,更具体地说,包裹在人的手臂上。可重构外骨骼的连接控制决定了所选孔的“断开”或“重新连接”的必要性,以平衡人体关节上的任何新负载。智能控制器对先前配置的孔之间的连接处的应力进行评估,并将其与新的实际需求进行比较,从而执行其决策。这个决定是基于图论方法,其中应力计算是使用有限元方法进行的。本文通过对一个包裹人体手臂的超冗余粒子网络的仿真,验证了该方法的性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Intelligent Mesh for Self Reconfigurability of an Exoskeleton Arm
Abstract This paper presents a new technique for a reconfigurable exoskeleton which consists of a connected network of small sized holonic robots enwrapping the human body limbs and more specifically, in this paper, the human arm. The connection control of the reconfigurable exoskeleton decides upon the necessity of a “disconnect”,” reconnect” for chosen holons so as to balance any new load at the human joints. The intelligent controller carries out its decisions on the evaluation of stress at connections between holons of a previous configuration comparing them for a new actual need. This decision is based on a graph theoretic method, where stress calculations are carried out using finite element method. The paper demonstrates the performance of our approach on a simulation of hyper redundant network of holons wrapping a human arm.
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