Claros M, Soto R, Rodríguez J J, Cantú C, Contreras-Vidal José L
Annu Int Conf IEEE Eng Med Biol Soc. 2013;2013:2854-7. doi: 10.1109/EMBC.2013.6610135.
In the growing fields of wearable robotics, rehabilitation robotics, prosthetics, and walking robots, variable impedance and force actuators are being designed and implemented because of their ability to dynamically modulate the intrinsic viscoelastic properties such as stiffness and damping. This modulation is crucial to achieve an efficient and safe human-robot interaction that could lead to electronically generate useful emergent dynamical behaviors. In this work we propose a novel actuation system in which is implemented a control scheme based on equilibrium forces for an active joint capable to provide assistance/resistance as needed and also achieve minimal mechanical impedance when tracking the movement of the user limbs. The actuation system comprises a DC motor with a built in speed reducer, two force-sensing resistors (FSR), a mechanism which transmits to the FSRs the torque developed in the joint and a controller which regulate the amount of energy that is delivered to the DC motor. The proposed system showed more impedance reduction, by the effect of the controlled contact forces, compared with the ones in the reviewed literature.
在可穿戴机器人技术、康复机器人技术、假肢和步行机器人等不断发展的领域中，可变阻抗和力驱动器因其能够动态调节诸如刚度和阻尼等固有粘弹性特性而被设计和应用。这种调节对于实现高效且安全的人机交互至关重要，而这种交互能够导致电子方式产生有用的涌现动力学行为。在这项工作中，我们提出了一种新颖的驱动系统，其中针对一个主动关节实施了基于平衡力的控制方案，该关节能够根据需要提供助力/阻力，并且在跟踪用户肢体运动时还能实现最小机械阻抗。该驱动系统包括一个内置减速器的直流电动机、两个力敏电阻（FSR）、一个将关节中产生的扭矩传递给FSR的机构以及一个调节输送到直流电动机能量量的控制器。与已审查文献中的系统相比，所提出的系统通过受控接触力的作用显示出更大的阻抗降低效果。
