Finite element based calculation method of human⁃robot interaction force

被引：0
作者：
Li X.-Y. [1 ,2 ,3 ]
Zhao Z.-Q. [1 ,2 ]
Zhang C.-S. [1 ,2 ]
Lu C.-H. [1 ,2 ,3 ]
机构：
[1] School of Mechanical Engineering, Shandong University, Jinan
[2] Key Laboratory of High Efficiency and Clean Mechanical Manufacture, Ministry of Education, Shandong University, Jinan
[3] National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan
来源：
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2021年 / 51卷 / 05期
关键词：
Deformable object grasping; Finite element; Human-robot interaction force; Humanoid rehabilitation robot; Mechatronic engineering;
D O I：
10.13229/j.cnki.jdxbgxb20200501
中图分类号：
学科分类号：
摘要：
The proposed method builds surface equations of bones, muscle of human limb and robot fingers, divides finite elements of muscle tissue of human limbs, gradually obtains finger force of rehabilitation robot hand, and finally realizes the calculation and analysis of human-robot interaction force. In simulation verification of simplified model, the effects of displacement, position of interaction, elasticity modulus of human soft tissue and Poisson's ratio on human-robot interaction force are revealed, and the average relative error between theoretical calculation and simulation data varies from 10% to 15% when the displacement is 5 mm. The simulation outcomes indicate that the proposed theory is able to effectively calculate finger force of rehabilitation robot hand, calculate and evaluate human-robot interaction force. © 2021, Jilin University Press. All right reserved.
引用
收藏
页码：1612 / 1619
页数：7
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