Autonomous Decision-making for Human-Robot Hybrid System Based on FRF

被引：0
|
作者：
Chen, Feng [1 ]
Tang, Min [2 ]
Ma, Cong [1 ]
机构：
[1] Nantong Univ, Sch Elect Engn, Nantong 226019, Peoples R China
[2] Nantong Univ, Sch Elect & Informat, Nantong 226019, Peoples R China
来源：
MATERIALS PROCESSING AND MANUFACTURING III, PTS 1-4 | 2013年 / 753-755卷
关键词：
WPAL; Interaction Force; FRF;
D O I：
10.4028/www.scientific.net/AMR.753-755.2042
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper demonstrates a concept of walking power assist leg (WPAL), which is designed for enhancing strength and endurance during walking. Using D-H method, the kinematics of WPAL is investigated theoretically. The reasonability of fundamental design is verified by the simulation results. To make the system work smoothly and provide power assist for operator, the robot must understand the operator's intention. In this paper, the floor reaction force (FRF) information has been used to complete the intention prejudgment of its operator's leg movement. The method of prejudgment and FRF information acquisition system are designed. The experimental results also indicate the feasibility of FRF system.
引用
收藏
页码：2042 / +
页数：2
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