可穿戴式柔性外骨骼人机智能系统安全性设计评价

作者：张蕊1,张佳帆2,张文蔚1 日期：2008-12-26/span> 浏览：4821 查看PDF文档

可穿戴式柔性外骨骼人机智能系统安全性设计评价

张蕊1,张佳帆2,张文蔚1
（1.上海工程技术大学 高职学院,上海 200437;2.浙江大学 流体传动与控制国家重点实验室，浙江 杭州 310027）

摘要：可穿戴式柔性外骨骼人机智能系统的安全性主要取决于系统的机械结构设计、驱动器的选择和布置、保护措施和安全控制策略的设计。为了提高系统的安全性及保护操作者与周围人群的安全，通过对可穿戴式柔性外骨骼人机智能系统设计、使用、维护过程中的要点进行分析，提出了系统安全性评价方法，为今后柔性外骨骼人机智能系统的发展提供了参考。
关键词：可穿戴式柔性外骨骼人机智能系统；人机耦合；安全性评价方案
中图分类号：TP242.6文献标识码：A文章编号：1001-4551(2008)12-0085-04

Research on safety evaluation of wearable exoskeleton man-machine system
ZHANG Rui1, ZHANG Jia-fan2, ZHANG Wen-wei1
(1.Vocational Technical College, Shanghai University of Engineering Science, Shanghai 200437, China;
2.The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China)
Abstract: The safety and reliability of the wearable exoskeleton man-machine system mainly depended on its mechanical design, actuation, control strategy and so on. In order to improve the system safety and reliability, the system safety evaluation criteria was proposed by researching on the system design, operation and maintenance. Attention was also devoted to the system reliability, mainly related to sensors data fusion, control architecture and fault handling. Suggestion was provided to draft rules for its safety and reliability evaluation, which can make reference for developing the exoskeleton man-machine system.
Key words: wearable exoskeleton man-machine system; human-machine doubling; safety evaluation
参考文献(References):
［1］ROSEN J, BRAND M, FUCHS M B, et al. A myosignal-based powered exoskeleton system[J]. IEEE Transactions on System, Man and Cyber netics： Part A,2001,31(3):210-222.
［2］路甬祥,陈鹰.人机一体化系统与技术立论[J].机械工程学报,1994,30(6):1-9.
［3］[作者不详]. The Cognitive Robot Compunion[EB/OL].[2008-04-29].http://www.cogniron.org.
［4］HUETTENRAUCH H, EKLUNDH K S. Fetch-and-carry with CERO: Observations from a Long-term User Study with a Service Robot[C]//11th IEEE Inter-national Workshop on Robot and Human Interactive Communication. Bertin:[s.n.],2002:25-27.
［5］SANTIS A D, SICILIANO B, LUCA A D, et al. An atlas of physical human-robot interaction[J]. Mechanism and Machine Theory,2008,4(3):253-270.
［6］TORTORA G J, GRABOWSKI S R. Principles of Anatomy and Physiology[M]. 9th ed New York: John Wiley,2000.
［7］VENEMAN J F, EKKELENKAMP R, KRUIDHOF R, et al. A series elastic and bowden cable based actuation system for use as torque actuator in exoskeleton-type robots[J]. The International Journal of Robotics Research,2006,25(5),261-281.
［8］EPHANOV A, STOIANOVICI D. Effect of a pneumatically driven haptic interface on the perceptional capabilities of human operators[J]. Presence,1998,7(3):290-307.
［9］KIM Y S. A force reflected exoskeleton-type masterarm for human-robot interaction[J]. IEEE Transactions on System, Man and Cybernetics: Part A,2005,35(2):198-212.
［10］CHEN Y, ZHANG J F, YANG C J, et al. Design and hybrid control of the pneumatic force-feedback systems for arm-exoskeleton by using on/off valve[J]. Mechantronics,2007,17(7):325-335.
［11］IKUTA K, ISHII H, NAKATA M. Safety evaluation method of design and control of human-care robots[J]. The International Journal of Robotics Research,2003,22(5):281-297.