提出伪椭球方法，提升人体等系统操作能力评估的抗噪鲁棒性。
Enhancing Robustness in Manipulability Assessment: The Pseudo-Ellipsoid Approach
- 用伪椭球替代传统椭球，降低对精确参数的依赖
- 实验显示在传感器噪声下仍保持稳定评估性能
- 适合肢体运动分析、康复机器人等高噪声场景
操作能力分析用于评估机械系统在特定构型下产生运动或施加力的能力。传统方法通过系统构型和模型生成虚拟椭球，但在人体等难以获取精确信息的系统中，依赖估计值会导致椭球变形，影响评估准确性。本文提出操作能力伪椭球方法，通过理论分析、仿真与实验验证，证明该方法对传感信息噪声具有更低敏感性，显著提升了评估鲁棒性。
原文摘要 · Abstract (English)
Manipulability analysis is a methodology employed to assess the capacity of an articulated system, at a specific configuration, to produce motion or exert force in diverse directions. The conventional method entails generating a virtual ellipsoid using the system's configuration and model. Yet, this approach poses challenges when applied to systems such as the human body, where direct access to such information is limited, necessitating reliance on estimations. Any inaccuracies in these estimations can distort the ellipsoid's configuration, potentially compromising the accuracy of the manipulability assessment. To address this issue, this article extends the standard approach by introducing the concept of the manipulability pseudo-ellipsoid. Through a series of theoretical analyses, simulations, and experiments, the article demonstrates that the proposed method exhibits reduced sensitivity to noise in sensory information, consequently enhancing the robustness of the approach.
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