Supernumerary Robotic Limbs for Human Body Support

被引：89

作者：

Parietti, Federico ^{[1
]}

Asada, Harry ^{[1
]}

机构：

[1] MIT, Dept Mech Engn, Cambridge, MA 02139 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2016年 / 32卷 / 02期

关键词：

Human support; stiffness control; wearable extra limbs; EXOSKELETON;

D O I：

10.1109/TRO.2016.2520486

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

A robot attached to a human body can support the humanwhen performing tasks in dangerous environments orwhen taking postures that are fatiguing and uncomfortable. This paper presents a new type of supernumerary robotic limbs (SRL) that supports the human body against floors, walls, and surrounding structures so that the human can perform a task safely, comfortably, and stably. First, the use of wearable robots for securing and supporting a human body is discussed, followed by an SRL design concept. The SRL is worn around the waist and can brace the human body by making contact with a wall, grasping a rail, or being anchored to the floor. Quasi-static stability and compliance with which the body is supported are analyzed. Two control methods for stabilizing the body support system are considered: one is null-space stabilization using Hessian matrices, and the other is joint servo stiffness, based on the Jacobian. A prototype robot is designed and tested. Potential applications of the SRL in diverse fields are discussed.

引用

页码：301 / 311

页数：11

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