公开(公告)号：US20240033899A1

公开(公告)日：2024-02-01

申请号：US18022748

申请日：2022-07-25

Applicant: SOUTHEAST UNIVERSITY

Inventor： Hong ZENG ,  Huayu ZHANG ,  Jianxi ZHANG ,  Aiguo SONG

IPC: B25J9/00 ,  A61F2/54 ,  A61F2/72 ,  G16H40/63

CPC classification number: B25J9/0006 ,  A61F2/54 ,  A61F2/72 ,  G16H40/63 ,  A61F2002/704

Abstract: An auxiliary support method based on variable stiffness supernumerary robotic limbs includes: obtaining data from a surface electromyography sensor and an inertial sensor; processing the data from the inertial sensor to determine whether a wearer has an operation intention; preprocessing the data from the surface electromyography sensor through full-wave rectification, low-pass filtering and normalization; using preprocessed surface electromyography to estimate a reference stiffness of an arm of the wearer; and mapping the reference stiffness of the arm to an impedance control model of the supernumerary robotic limbs. In the method, man-machine cooperation between human and the supernumerary robotic limbs in a task of overhead support is achieved by coordinating a stiffness of the human arm and a stiffness of the supernumerary robotic limbs, thereby reducing input of personnel in the task; and when the stiffness of the arm of the wearer decreases, the stiffness of the supernumerary robotic limbs increases.