为可穿戴机械臂设计运动规划，减少对人体的力矩干扰。
Coordinated Motion Planning of a Wearable Multi-Limb System for Enhanced Human-Robot Interaction
- 通过优化轨迹加速度和位置偏差，降低机械臂运行时对人产生的力矩。
- 仿真显示该方法显著减少人体需补偿的外部扭矩。
- 适合希望提升人机协作舒适性的可穿戴机器人研究者。
额外机械臂（SRLs）可在近距离增强人类能力，但作为可穿戴设备，其运行产生的力矩会作用于人体，导致肌肉激活增加，进而压缩肌肉冗余空间。为此，本文提出一种运动规划层，通过调整给定轨迹的角加速度和位置偏差上限，以减小生成的力矩，从而改善人机交互体验。在简化的人体与机器人系统模型上进行的仿真验证了该方法的有效性。
原文摘要 · Abstract (English)
Supernumerary Robotic Limbs (SRLs) can enhance human capability within close proximity. However, as a wearable device, the generated moment from its operation acts on the human body as an external torque. When the moments increase, more muscle units are activated for balancing, and it can result in reduced muscular null space. Therefore, this paper suggests a concept of a motion planning layer that reduces the generated moment for enhanced Human-Robot Interaction. It modifies given trajectories with desirable angular acceleration and position deviation limits. Its performance to reduce the moment is demonstrated through the simulation, which uses simplified human and robotic system models.
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