各向同性的上肢外骨骼和人类手臂的运动学和动力学

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人类和机器人的整合成一个单一的系统提供了引人注目的新一代的辅助技术的机会。尽管最近的上肢外骨骼在辅助应用程序中,人类的手臂运动学和动力学描述的通常是单个或多个臂运动不与任何具体的日常生活活动(ADL)。此外,外骨骼的设计,这是身体与人类的身体,必须有一个工作空间相匹配尽可能与人体的工作空间,同时避免奇异人类工作区配置内的外骨骼。这个手稿的研究报告的目的是(1)研究人类手臂的运动学和动力学在日常活动在一个自由和不受约束的环境中,(2)研究可操纵性(各向同性)7-degree-of-freedom(景深)动力外骨骼手臂的运动学和动力学在ADLs人类手臂。上肢的运动数据获得动作捕捉系统在执行24日常活动从六个科目。利用人类手臂的7自由度模型,运动方程被用来计算关节力矩测量运动学。此外,外骨骼各向同性计算和绘制人类手臂的空间分布在24个日常活动配置。结果表明,运动联合分布代表所有24行为呈现正态分布,除了手肘弯曲伸缩与三个模态中心的出现。速度和加速度的关节转矩分布是正态分布约0海里,而重力组件分布随关节。此外,速度影响被发现只有穿越的总贡献关节力矩,而加速度组件总扭矩的贡献为肩部和肘部,和将近一半的总扭矩的手腕。 These results suggest that the majority of human arm joint torques are devoted to supporting the human arm position in space while compensating gravitational loads whereas a minor portion of the joint torques is dedicated to arm motion itself. A unique axial orientation at the base of the exoskeleton allowed the singular configuration of the shoulder joint to be moved towards the boundary of the human arm workspace while supporting 95% of the arm's workspace. At the same time, this orientation allowed the best exoskeleton manipulability at the most commonly used human arm configuration during ADLs. One of the potential implications of these results might be the need to compensate gravitational load during robotic-assistive rehabilitation treatment. Moreover, results of a manipulability analysis of the exoskeleton system indicate that the singular configuration of the exoskeleton system may be moved out of the human arm physiological workspace while maximising the overlap between the human arm and the exoskeleton workspaces. The collected database along with kinematic and dynamic analyses may provide a fundamental basis towards the development of assistive technologies for the human arm.

应用仿生学和生物力学

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