Vlimb可伸展肢体，兼具人力级力量与灵活性。
Vlimb: A Wire-Driven Wearable Robot for Bodily Extension, Balancing Powerfulness and Reachability
- 用绳索传动+被动环结构解决伸展机器人力量与可达性难题
- 能举起人体重量并完成精细操作，性能接近人类肢体
- 适合需要强负载和灵活动作的辅助或娱乐场景
众多可穿戴机器人已用于物理辅助与娱乐需求，包括增强型（如助力四肢）和延伸型（如额外手臂）。本研究聚焦后者——身体延伸型可穿戴机器人。现有设计在力量与可达性上仍远不及人类肢体，限制其应用仅限于轻量物体操作和娱乐。为此，本文提出一种名为 Vlimb 的身体延伸可穿戴机器人，具备举起人体的能力，并可执行复杂操作。基于腱驱动机制的优势，Vlimb 配备可适应精细操作与强力提升的绳索走线结构；同时引入被动环结构，克服腱驱动固有的可达性局限，实现与人类肢体相当的力量与可达性。本文阐述了 Vlimb 的设计方法，开展初步操控与举重任务测试，验证其有效性。
原文摘要 · Abstract (English)
Numerous wearable robots have been developed to meet the demands of physical assistance and entertainment. These wearable robots range from body-enhancing types that assist human arms and legs to body-extending types that have extra arms. This study focuses specifically on wearable robots of the latter category, aimed at bodily extension. However, they have not yet achieved the level of powerfulness and reachability equivalent to that of human limbs, limiting their application to entertainment and manipulation tasks involving lightweight objects. Therefore, in this study, we develop an body-extending wearable robot, Vlimb, which has enough powerfulness to lift a human and can perform manipulation. Leveraging the advantages of tendon-driven mechanisms, Vlimb incorporates a wire routing mechanism capable of accommodating both delicate manipulations and robust lifting tasks. Moreover, by introducing a passive ring structure to overcome the limited reachability inherent in tendon-driven mechanisms, Vlimb achieves both the powerfulness and reachability comparable to that of humans. This paper outlines the design methodology of Vlimb, conducts preliminary manipulation and lifting tasks, and verifies its effectiveness.
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