用仿生肩部装置模拟人体运动，提升人机物理交互安全性和可重复性。
Haptic Shoulder for Rendering Biomechanically Accurate Joint Limits for Human-Robot Physical Interactions
- 设计可实时部署的仿生肩部力反馈装置，模拟人体运动与约束。
- 实现无真人实验下的可重复测试，提供量化安全数据。
- 开源软硬件，适合人机交互、康复机器人等研究者使用。
人-机器人物理交互（pHRI）在物理治疗、搜救和远程医疗等领域具有重要意义，但缺乏对人类生理限制和安全性的准确理解，且依赖人体实验存在安全、可重复性及参与者多样性不足等问题。本文提出一种经济、解剖结构相似的装置——SHULDRD（肩部触觉通用肢体动态重定位装置），用于在真实世界中实时测试与部署pHRI规划任务。该装置能复现人体肩关节运动，并提供关键力反馈与安全数据。其开源的CAD设计与软件支持快速搭建与使用，为研究人员提供灵活平台，可模拟无限数量的人体受试者，确保实验可重复性，并量化评估机器人干预效果，从而提升人机物理交互的安全性与有效性。
原文摘要 · Abstract (English)
Human-robot physical interaction (pHRI) is a rapidly evolving research field with significant implications for physical therapy, search and rescue, and telemedicine. However, a major challenge lies in accurately understanding human constraints and safety in human-robot physical experiments without an IRB and physical human experiments. Concerns regarding human studies include safety concerns, repeatability, and scalability of the number and diversity of participants. This paper examines whether a physical approximation can serve as a stand-in for human subjects to enhance robot autonomy for physical assistance. This paper introduces the SHULDRD (Shoulder Haptic Universal Limb Dynamic Repositioning Device), an economical and anatomically similar device designed for real-time testing and deployment of pHRI planning tasks onto robots in the real world. SHULDRD replicates human shoulder motion, providing crucial force feedback and safety data. The device's open-source CAD and software facilitate easy construction and use, ensuring broad accessibility for researchers. By providing a flexible platform able to emulate infinite human subjects, ensure repeatable trials, and provide quantitative metrics to assess the effectiveness of the robotic intervention, SHULDRD aims to improve the safety and efficacy of human-robot physical interactions.
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