用于可穿戴机器人的旋转被动粘弹性关节设计。

Design of a rotary passive viscoelastic joint for wearable robots.

作者信息

Carpino Giorgio, Accoto Dino, Di Palo Michelangelo, Tagliamonte Nevio Luigi, Sergi Fabrizio, Guglielmelli Eugenio

机构信息

Università Campus Bio-Medico di Roma, Laboratory of Biomedical Robotics and Biomicrosystems, Rome, Italy.

出版信息

IEEE Int Conf Rehabil Robot. 2011;2011:5975356. doi: 10.1109/ICORR.2011.5975356.

DOI:10.1109/ICORR.2011.5975356

PMID:22275560

Abstract

In the design of wearable robots that strictly interact with the human body and, in general, in any robotics application that involves the human component, the possibility of having modular joints able to produce a viscoelastic behaviour is very useful to achieve an efficient and safe human-robot interaction and to give rise to emergent dynamical behaviors. In this paper we propose the design of a compact, passive, rotary viscoelastic joint for assistive wearable robotics applications. The system integrates two functionally distinct sub-modules: one to render a desired torsional stiffness profile and the other to provide a desired torsional damping. Concepts and design choices regarding the overall architecture and the single components are presented and discussed. A viscoelastic model of the system has been developed and the design of the joint is presented.

摘要

在严格与人体交互的可穿戴机器人设计中，一般而言，在任何涉及人类因素的机器人应用中，拥有能够产生粘弹性行为的模块化关节对于实现高效且安全的人机交互以及引发涌现动力学行为非常有用。在本文中，我们提出了一种用于辅助可穿戴机器人应用的紧凑型、被动式旋转粘弹性关节的设计。该系统集成了两个功能不同的子模块：一个用于呈现所需的扭转刚度曲线，另一个用于提供所需的扭转阻尼。介绍并讨论了关于整体架构和单个组件的概念及设计选择。已开发出该系统的粘弹性模型并展示了关节的设计。