Extender: a case study for human-robot interaction via transfer ofpower and information signals

摘要

A human's ability to perform physical tasks is limited by physicalstrength, not by intelligence. The author defines“extenders” as a class of robot manipulators worn by humansto augment human mechanical strength, while the wearer's intellectremains the central control system for manipulating the extender. Theauthor's research objective is to determine the ground rules for thecontrol of robotic systems worn by humans through the design,construction, and control of several prototype experimentaldirect-driveon-direct-drive multi-degree-of-freedom hydraulic/electricextenders. The design of extenders is different from the design ofconventional robots because the extender interfaces with the human on aphysical level. Two sets of force sensors measure the forces imposed onthe extender by the human and by the environment (i.e., the load). Theextender's compliances in response to such contact forces were designedby selecting appropriate force compensators. The stability of the systemof human, extender, and object being manipulated was analyzed. Amathematical expression for the extender performance was determined toquantify the force augmentation. Experimental studies on the control andperformance of the experimental extender were conducted to verify thetheoretical predictions