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    HUMAN MUSCULAR STRENGTH AMPLIFICATION ROBOT DRIVEN BY INTENTION OF USER AND DRIVING METHOD THEREOF
    1.
    发明申请
    HUMAN MUSCULAR STRENGTH AMPLIFICATION ROBOT DRIVEN BY INTENTION OF USER AND DRIVING METHOD THEREOF 有权
    通过用户及其驱动方法的驾驶驱动人体肌肉强度放大机器人

    公开(公告)号：US20160158601A1

    公开(公告)日：2016-06-09

    申请号：US14952101

    申请日：2015-11-25

    申请人： Korea Polytechnic University Industry Academic Cooperation Foundation

    发明人： Eung-Hyuk Lee ,  Jee-Hwan Ryu ,  Su-Hong Eom ,  Seoung-Jun Lee

    IPC分类号： A63B24/00 ,  B25J9/00

    CPC分类号： A63B24/0062 ,  B25J9/0006 ,  B25J13/085 ,  G06F19/00 ,  G16H20/30 ,  G16H40/63

    摘要： A muscular strength enhancing robot to be driven by an intention of a user and a method of driving the robot are disclosed. The robot includes an actuator attached to a portion of a body of the user and configured to be actuated by enhancing a muscular strength, an encoder connected to the actuator and configured to measure an actual velocity at which the actuator moves, a force or torque sensor configured to measure an intensity of a force to be applied, an admittance modeling module configured to calculate a target velocity using the intensity of the force, and a proportional integral derivative (PID) control module configured to control actuation of the actuator in proportion to a velocity difference between the target velocity and the actual velocity, control the actuation by a cumulative value of the velocity difference, and control the actuation by a difference between a previous and a current velocity difference.

    摘要翻译： 公开了一种由使用者的意图驱动的肌肉力量增强型机器人和驾驶该机器人的方法。 所述机器人包括致动器，所述致动器附接到所述使用者的身体的一部分并且被配置为通过增强肌肉强度来致动，所述致动器连接到所述致动器并被配置为测量所述致动器移动的实际速度，力或转矩传感器 被配置为测量要施加的力的强度;导纳建模模块，被配置为使用所述力的强度来计算目标速度;以及比例积分微分（PID）控制模块，所述比例积分微分（PID）控制模块被配置为控制所述致动器的致动， 目标速度与实际速度之间的速度差，通过速度差的累积值控制动作，并通过前一个和当前速度差之间的差来控制动作。