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首页> 外文会议>Canadian Congress of Applied Mechanics(CANCAM 2005); 20050530-0602; Montreal(CA) >Powered Evoskeleton for the Human Arm
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Powered Evoskeleton for the Human Arm

机译：动力人体外骨骼

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In comparison with humans, robots have superior strength and vastly inferior intelligence. A powered exoskeleton (PEX) is a robotic device that is attached to a person's body and is controlled by them. PEX have been developed as user interfaces for virtual reality and tele-robotic applications, and as devices that amplify the user's force output. Our work belongs to the second category. In industry, force amplifying PEX would be more adaptable that existing robots, and would reduce worker fatigue and injuries. Other PEX designs could be used in service applications, such as assisting the elderly at home. The "force amplification ratio" is a performance metric for a PEX, is equal to the ratio of the force supplied by the PEX to the force supplied by the user. The first known attempt at a force amplifying PEX was the "Hardiman" made by General Electric the 1960s. It featured hydraulic actuators and had a mass of 3,300 kg. Unfortunately it never operated properly and was abandoned. A hydraulic six degrees-of-freedom (DOF) PEX for the human arm was presented in. Their experimental results demonstrated a force amplification ratio of 7:1. A five DOF pneumatic PEX was described in. Rotary actuators assisted the user's knee, elbow and waist joints with a force amplication ratio of about 3:1. A one DOF DC motor-driven PEX for the elbow was developed in. Two force sensors and electromyogram (EMG) electrodes taped to the user's skin were used in their control system. A maximum force amplication ratio of 15:1 was achieved. In a three DOF DC motor-driven PEX for the arm was described. Unfortunately, a force amplication ratio cannot be determined from their results. In this document the design of a novel PEX for industrial applications is briefly described. A concept for the complete PEX is presented first, followed by an overview of the design and initial testing of a three DOF PEX arm.
机译：与人类相比，机器人具有超强的力量和低劣的智能。动力外骨骼（PEX）是一种机器人设备，它附着在人体上并由其控制。 PEX已开发为虚拟现实和远程机器人应用程序的用户界面，以及可放大用户力量输出的设备。我们的工作属于第二类。在工业中，力放大PEX会比现有机器人更具适应性，并减少工人的疲劳和伤害。其他PEX设计可用于服务应用程序，例如在家里协助老年人。 “力放大率”是PEX的性能指标，等于PEX提供的力与用户提供的力之比。扩大PEX力的第一个已知尝试是通用电气1960年代制造的“ Hardiman”。它具有液压执行器，重量为3,300公斤。不幸的是，它从未正常运行，因此被废弃了。提出了用于人体手臂的液压六自由度（DOF）PEX。他们的实验结果表明力放大比为7：1。其中描述了一种五自由度气动PEX。旋转执行器以大约3：1的力放大比辅助使用者的膝盖，肘部和腰部关节。开发了一种由DOF直流电动机驱动的肘部PEX。在其控制系统中使用了两个力传感器和粘贴在用户皮肤上的肌电图（EMG）电极。最大力放大比达到15：1。在三自由度DC中，描述了用于手臂的直流电动机驱动的PEX。不幸的是，不能从其结果确定力放大率。在本文档中，简要描述了用于工业应用的新型PEX的设计。首先介绍完整PEX的概念，然后概述三个DOF PEX臂的设计和初始测试。

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