Power-assisted upper-limb exoskeletons are primarily used to improve the handling efficiency and load capacity.However,kinematic mismatch between the kinematics and biological joints is a major problem in most existin...Power-assisted upper-limb exoskeletons are primarily used to improve the handling efficiency and load capacity.However,kinematic mismatch between the kinematics and biological joints is a major problem in most existing exoskeletons,because it reduces the boosting effect and causes pain and long-term joint damage in humans.In this study,a shoulder augmentation exoskeleton was designed based on a parallel mechanism that solves the shoulder dislocation problem using the upper arm as a passive limb.Consequently,the human–machine synergy and wearability of the exoskeleton system were improved without increasing the volume and weight of the system.A parallel mechanism was used as the structural body of the shoulder joint exoskeleton,and its workspace,dexterity,and stiffness were analyzed.Additionally,an ergonomic model was developed using the principle of virtual work,and a case analysis was performed considering the lifting of heavy objects.The results show that the upper arm reduces the driving force requirement in coordinated motion,enhances the load capacity of the system,and achieves excellent assistance.展开更多
目的为消除舱外航天服关节阻尼力矩对航天员舱外作业的影响,设计一种舱外航天服主动助力上肢外骨骼方案。方法上肢外骨骼关节采用串联弹性体(rotary series elastic actuator,RSEA);分别建立人体和航天服间接触力、舱外航天服关节阻尼...目的为消除舱外航天服关节阻尼力矩对航天员舱外作业的影响,设计一种舱外航天服主动助力上肢外骨骼方案。方法上肢外骨骼关节采用串联弹性体(rotary series elastic actuator,RSEA);分别建立人体和航天服间接触力、舱外航天服关节阻尼、上肢外骨骼动力学模型;按照人在回路控制系统原理,提出关节力控制策略和外骨骼力控方法,并进行仿真实验。结果仿真表明:助力外骨骼可将航天服肩关节阻尼力矩从39.5Nm减小到0.45Nm,可将肘关节阻尼力矩从9.8Nm减小到0.1Nm。结论该舱外航天服上肢主动助力外骨骼能够显著减少人体受到的阻尼力矩,有利于降低航天员体力消耗,延长舱外作业时间。展开更多
基金Supported by National Natural Science Foundation of China (Grant No.52275004)。
文摘Power-assisted upper-limb exoskeletons are primarily used to improve the handling efficiency and load capacity.However,kinematic mismatch between the kinematics and biological joints is a major problem in most existing exoskeletons,because it reduces the boosting effect and causes pain and long-term joint damage in humans.In this study,a shoulder augmentation exoskeleton was designed based on a parallel mechanism that solves the shoulder dislocation problem using the upper arm as a passive limb.Consequently,the human–machine synergy and wearability of the exoskeleton system were improved without increasing the volume and weight of the system.A parallel mechanism was used as the structural body of the shoulder joint exoskeleton,and its workspace,dexterity,and stiffness were analyzed.Additionally,an ergonomic model was developed using the principle of virtual work,and a case analysis was performed considering the lifting of heavy objects.The results show that the upper arm reduces the driving force requirement in coordinated motion,enhances the load capacity of the system,and achieves excellent assistance.
文摘目的为消除舱外航天服关节阻尼力矩对航天员舱外作业的影响,设计一种舱外航天服主动助力上肢外骨骼方案。方法上肢外骨骼关节采用串联弹性体(rotary series elastic actuator,RSEA);分别建立人体和航天服间接触力、舱外航天服关节阻尼、上肢外骨骼动力学模型;按照人在回路控制系统原理,提出关节力控制策略和外骨骼力控方法,并进行仿真实验。结果仿真表明:助力外骨骼可将航天服肩关节阻尼力矩从39.5Nm减小到0.45Nm,可将肘关节阻尼力矩从9.8Nm减小到0.1Nm。结论该舱外航天服上肢主动助力外骨骼能够显著减少人体受到的阻尼力矩,有利于降低航天员体力消耗,延长舱外作业时间。
