机器人:设计优化的人类机器人动力模型 (RoboWalk: Explicit Augmented Human-Robot Dynamics Modeling for Design Optimization)

Utilizing orthoses and exoskeleton technology in various applications and medical industries, particularly to help elderly and ordinary people in their daily activities is a new growing field for research institutes. In this paper, after introducing an assistive lower limb exoskeleton (RoboWalk), the dynamics models of both multi-body kinematic tree structure human and robot is derived separately, using Newton's method. The obtained models are then verified by comparing the results with those of the Recursive Newton-Euler Algorithms (RNEA). These models are then augmented to investigate the RoboWalk joint torques, and those of the human body, and also the floor reaction force of the complete system. Since RoboWalk is an under-actuated robot, despite the assistive force, an undesirable disturbing force exerts to the human. So, optimization strategies are proposed to find an optimal design to maximize the assistive behavior of RoboWalk and reduce joint torques of the human body as a result. To this end, a human-in-the-loop optimization algorithm will be used. The solution of this optimization problem is carried out by Particle Swarm Optimization (PSO) method. The designed analysis and the optimization results demonstrate the effectiveness of the proposed approaches, leading to the elimination of disturbing forces, lower torque demand for RoboWalk motors and lower weights.

翻译：在各种应用和医疗行业中,特别是为了帮助老年人和普通人开展日常活动而使用或利用这些技术和外骨骼技术,这是研究机构的一个新的领域,在本文件中,在采用辅助性低肢外骨骨骼(RoboWalk)后,人类和机器人的多体运动树结构的动态模型是分开的,使用牛顿的方法。然后,通过将获得的模型与Recursive Newton-Euler Algorithms(RNEA)的结果进行比较来核实。然后,这些模型得到扩充,以调查RoboWalk联合石器、人体的联结和整个系统的地面反应力。由于RoboWalk是作用不足的机器人,因此,人类和机器人的多体动动树结构结构结构的动态模型模型模型是分别的。因此,建议采用优化战略寻找最佳的设计,以最大限度地发挥RoboWalk-Eurk的辅助行为,并减少人体的联结重量。为此,将采用人-在人体体内的混合联合力组合联合石块联合体,同时调查人体的复合体,以及整个系统的地面反应反应反应力反应反应反应反应力反应分析方法。通过SWormodal 将采用这一方法,将采用最优化的方法,从而对冲分析。