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Bracing the human body with supernumerary Robotic Limbs for physical assistance and load reduction

机译:用多余的机器人肢体支撑人体,以提供身体帮助和减轻负荷

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A new approach to physically assisting the human with a wearable robot is presented. Supernumerary Robotic Limbs (SRLs) attached to the human waist support the body efficiently when the human is taking fatiguing postures, e.g. hunching over, squatting, or reaching the ceiling. Unlike a leg exoskeleton, where powered joints are attached to the human joints and are constrained to move together with the human limb, the SRL can take an arbitrary posture to maximize the load bearing efficiency. Taking a near-singular configuration, the SRL can bear a large load with small power consumption. First, the “bracing” strategy for supporting the human body is described, followed by a mathematical analysis of the load bearing efficiency. The optimal SRL posture and joint torques are then obtained in order to minimize the human load. Numerical and experimental results using a prototype of the SRL demonstrate the effectiveness of the method.
机译:提出了一种可穿戴机器人在物理上帮助人类的新方法。当人采取令人疲劳的姿势时,例如附在人腰上的超级机器人肢体(SRL)可以有效地支撑身体。弯腰,蹲下或到达天花板。与腿外骨骼不同,在腿外骨骼中,动力关节固定在人体关节上,并且必须与人体肢体一起移动,因此SRL可以采取任意姿势,以最大程度地提高承重效率。采用接近奇异的配置,SRL可以承受较大的负载,而功耗却很小。首先,描述用于支撑人体的“支撑”策略,然后对承载效率进行数学分析。然后获得最佳的SRL姿势和关节扭矩,以最大程度地减少人力。使用SRL原型的数值和实验结果证明了该方法的有效性。

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