Force Point Transfer Method to Solve the Structure of Soft Exoskeleton Robot Deformation due to the Driving Force

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Force Point Transfer Method to Solve the Structure of Soft Exoskeleton Robot Deformation due to the Driving Force
	Li N(李宁)3,4; Yang T(杨铁)4; Yu P(于鹏)4; Zhao L(赵亮)3,4; Chang, Junling 2; Liu LQ(刘连庆)4
	2018
会议日期	August 1-5, 2018
会议地点	Kandima, Maldives
关键词	soft material exoskeleton force point transfer structure deformation
页码	236-241
英文摘要	The structure of the human body is the result of biological evolution, which can support us to complete the action demand of daily life work well. But for high strength manual workers, soldiers and disabled patients with motor dysfunction, they need use external auxiliary devices to assist them in completing their actions. The exoskeleton robot is the product of man-machine fusion, which can provide wearer with an auxiliary power. The soft exoskeleton robot has the characteristics of adaptability and flexibility in movement, which is flourish. But the soft exoskeleton has the disadvantage of easy deformation of the soft material, which will affect the motion effect and the control precision. In this paper, the force position point transfer method is proposed to solve the easy deformation of the tensile force of the soft materials. The pulling force is transferred from the soft material to the hard backboard, which can solve the problem of the deformation of the soft materials. It is of great significance to improve the force effect and the precision of the robot position control.
源文献作者	IEEE ; IEEE Robot & Automat Soc
产权排序	1
会议录	Proceedings of the 2018 IEEE International Conference on Real-time Computing and Robotics
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-6869-6
WOS记录号	WOS:000459211400040
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/24242]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Li N(李宁); Yu P(于鹏)
作者单位	1.Emerging Technologies Institute, Department of Industrial & Manufacturing Systems Engineering, University of Hong Kong, Hong Kong 2.Rehabilitation Center for the Disabled, Shenyang, 110015, China 3.University of Chinese Academy of Sciences, Beijing, 100049, China 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
推荐引用方式 GB/T 7714	Li N,Yang T,Yu P,et al. Force Point Transfer Method to Solve the Structure of Soft Exoskeleton Robot Deformation due to the Driving Force[C]. 见:. Kandima, Maldives. August 1-5, 2018.