手动机械阻抗控制人类手臂而运输敞篷灌满水的菜

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本研究涉及手持菜装满液体的稳定方面稳步而走。这是一个试图破译神经肌肉的力学响应策略使用和人工物料搬运的手臂在某些任务。实验配置包括一个杯子和实验对象的手作为一个串行的末端执行器”系统代表了上肢。这些链接是连接在一起的手腕、手肘和肩膀关节。测试对象在跑步机上走在恒定速度虽然旨在减少液体溢出杯。肢体的运动和肩带作为输入到模型,揭示了阻抗在同步控制的把握和调整行走在普通情况下,当一个关节的影响。一个递减的函数用来表达刚度,包括一阶角和角速度的依赖。该函数用于阻尼包括一阶角速度的依赖。数值解的冗余消除使用多重共线性的诊断算法。结果显示,腕关节被发现没有恒定的刚度和阻尼和监管这些系数在步态是必要的。 Both in the elbow and shoulder joints stiffness included a constant coefficient as well as an angular velocity-dependent coefficient. Although all tested subjects demonstrated ability to prevent spillage of liquid, there was a considerable variability among the results obtained, indicating that the compensatory mechanisms employed by each subject to regulate the mechanical impedance were subjective. These results can help in the optimization of manual materials handeling tasks in industrial settings as well as future design of prosthetic arms, robotic appliances and man machine interfacing devices.

应用仿生学和生物力学

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