التفاصيل البيبلوغرافية
| العنوان: |
Multi-connection load compensation and load information calculation for an upper-limb exoskeleton based on a six-axis force/torque sensor |
| المؤلفون: |
Wang, Xin, Song, Qiuzhi, Zhou, Shitong, Tang, Jing, Chen, Kezhong, Cao, Heng |
| المساهمون: |
The National key R&D Program of China“The study on Load-bearing and Moving Support Exoskeleton Robot Key Technology and Typical Application |
| المصدر: |
International Journal of Advanced Robotic Systems ; volume 16, issue 4, page 172988141986318 ; ISSN 1729-8814 1729-8814 |
| بيانات النشر: |
SAGE Publications |
| سنة النشر: |
2019 |
| مصطلحات موضوعية: |
Artificial Intelligence, Computer Science Applications, Software |
| الوصف: |
In this article, a method of multi-connection load compensation and load information calculation for an upper-limb exoskeleton is proposed based on a six-axis force/torque sensor installed between the exoskeleton and the end effector. The proposed load compensation method uses a mounted sensor to measure the force and torque between the exoskeleton and load of different connections and adds a compensator to the controller to compensate the component caused by the load in the human–robot interaction force, so that the human–robot interaction force is only used to operate the exoskeleton. Therefore, the operator can manipulate the exoskeleton with the same interaction force to lift loads of different weights with a passive or fixed connection, and the human–robot interaction force is minimized. Moreover, the proposed load information calculation method can calculate the weight of the load and the position of its center of gravity relative to the exoskeleton and end effector accurately, which is necessary for acquiring the upper-limb exoskeleton center of gravity and stability control of whole-body exoskeleton. In order to verify the effectiveness of the proposed method, we performed load handling and operational stability experiments. The experimental results showed that the proposed method realized the expected function. |
| نوع الوثيقة: |
article in journal/newspaper |
| اللغة: |
English |
| DOI: |
10.1177/1729881419863186 |
| الإتاحة: |
https://doi.org/10.1177/1729881419863186Test |
| حقوق: |
http://journals.sagepub.com/page/policies/text-and-data-mining-licenseTest |
| رقم الانضمام: |
edsbas.990FA571 |
| قاعدة البيانات: |
BASE |
