论文标题
改进的人类机器人相互作用的手腕运动学模型
An Improved Wrist Kinematic Model for Human-Robot Interaction
论文作者
论文摘要
人运动学对于康复和辅助机器人系统至关重要，并与人进行物理互动。腕部对于灵活的人类机器人相互作用起着至关重要的作用，但其常规的运动学模型对内在的不准确性过于简化，其生物力学模型对于机器人应用来说太复杂了。在这项工作中，我们建立了改进的手腕运动学模型。通过无侵入性标记的光学跟踪研究了手腕的体内运动学行为。数据分析表明，如果使用常规手腕模型，则腕部旋转中存在可测量的动态轴，证明了手腕和机器人表示之间的不可避免的错位。然后提出了一种新型的手腕运动学模型，并在融合中使用刚体转换，并用不同的棱镜术语表示动态轴位置。通过非线性回归的耦合腕角可以实现该术语的准确和实时估计。所提出的模型不仅是准确的，而且还方便地适用于将解剖行为转化为机器人实施和功能评估，以进行精确和灵活的人类机器人相互作用。
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic model is oversimplified with intrinsic inaccuracies and its biomechanical model is too complicated for robotic applications. In this work, we establish an improved kinematic model of the wrist. In vivo kinematic behavior of the wrist was investigated through noninvasive marker-less optical tracking. Data analysis demonstrated the existence of measurable dynamic axes in carpal rotation, justifying inevitable misalignment between the wrist and robotic representation if using the conventional wrist model. A novel wrist kinematic model was then proposed with rigid body transformation in fusion with a varying prismatic term indicating the dynamic axes location. Accurate and real-time estimation of this term has been achieved through coupled wrist angles with nonlinear regression. The proposed model is not only accurate but also conveniently applicable for translating anatomical behaviors into robotic implementation and functional assessment for precise and dexterous human-robot interaction.
