多关节动力矫形器的阻抗选择和输入设备问题
Issues in impedance selection and input devices for multijoint powered orthotics.
作者信息
Lemay M A, Hogan N, van Dorsten J W
机构信息
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge 02139, USA.
出版信息
IEEE Trans Rehabil Eng. 1998 Mar;6(1):102-5. doi: 10.1109/86.662626.
We investigated the applicability of impedance controllers to robotic orthoses for arm movements. We had tetraplegics turn a crank using their paralyzed arm propelled by a planar robot manipulandum. The robot was under impedance control, and chin motion served as command source. Stiffness varied between 50, 100, or 200 N/m and damping varied between 5 or 15 N/m/s. Results indicated that a low stiffness and high viscosity provided better directional control of the tangential force exerted on the crank.
我们研究了阻抗控制器在用于手臂运动的机器人矫形器中的适用性。我们让四肢瘫痪患者使用由平面机器人操作器推动的瘫痪手臂转动曲柄。机器人处于阻抗控制之下，下巴运动作为命令源。刚度在50、100或200 N/m之间变化，阻尼在5或15 N/m/s之间变化。结果表明，低刚度和高粘性能更好地控制施加在曲柄上的切向力的方向。
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