Kinematic dexterity analysis of human-robot interaction of an upper limb rehabilitation robot

被引:10
作者
Sun, Qing [1 ]
Guo, Shuai [1 ]
Zhang, Leigang [1 ]
机构
[1] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200444, Peoples R China
基金
中国国家自然科学基金;
关键词
Rehabilitation robot; cooperation space; human-robot interaction; dexterity; velocity manipulability ellipsoid intersection volume; ARM CONFIGURATION;
D O I
10.3233/THC-202633
中图分类号
R19 [保健组织与事业(卫生事业管理)];
学科分类号
摘要
BACKGROUND: The definition of rehabilitation training trajectory is of great significance during rehabilitation training, and the dexterity of human-robot interaction motion provides a basis for selecting the trajectory of interaction motion. OBJECTIVE: Aimed at the kinematic dexterity of human-robot interaction, a velocity manipulability ellipsoid intersection volume (VMEIV) index is proposed for analysis, and the dexterity distribution cloud map is obtained with the human-robot cooperation space. METHOD: Firstly, the motion constraint equation of human-robot interaction is established, and the Jacobian matrix is obtained based on the speed of connecting rod. Then, the Monte Carlo method and the cell body segmentation method are used to obtain the collaborative space of human-robot interaction, and the VMEIV of human-robot interaction is solved in the cooperation space. Finally, taking the upper limb rehabilitation robot as the research object, the dexterity analysis of human-robot interaction is carried out by using the index of the approximate volume of the VMEIV. RESULTS: The results of the simulation and experiment have a certain consistency, which indicates that the VMEIV index is effective as an index of human-robot interaction kinematic dexterity. CONCLUSIONS: The VMEIV index can measure the kinematic dexterity of human-robot interaction, and provide a reference for the training trajectory selection of rehabilitation robot.
引用
收藏
页码:1029 / 1045
页数:17
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