1. 河北工业大学机械工程学院
2. 日照职业技术学院机电工程系
3. 复旦大学工程与应用技术研究院
纸质出版:2024
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陈梦倩, 李顺达, 杨志强, 等. 双臂移乘护理机器人起抱位置与移乘姿态规划[J]. 传感器与微系统, 2024,(2):148-152.
陈梦倩, 李顺达, 杨志强, 等. 双臂移乘护理机器人起抱位置与移乘姿态规划[J]. 传感器与微系统, 2024,(2):148-152. DOI: 10.13873/J.1000-9787(2024)02-0148-05.
首先,建立被护理人的4连杆模型,并结合机器人姿态信息建立人机系统力学模型,分析移乘中被护理人的受力(内力、外力);其次,通过问卷调查,确定各内力、外力对人体舒适性影响的权重,建立舒适性评价函数,并运用所建立的舒适性评价函数以优化被护理人移乘舒适性为目的规划起抱位置与姿态。本文进行了接触力和表面肌电(sEMG)测试实验。结果显示:本文方法规划的起抱位置与姿态,能够有效降低被护理人与机器人之间的接触压力,并把移乘中的腰部内力负担减轻44.2%
提高了移乘的舒适性。
刘玉鑫,郭士杰,陈贵亮,刘今越,甘中学.仿人背抱式移乘护理机器人背负运动轨迹规划与舒适性分析[J].机械工程学报,2020(15).
刘今越,李顺达,陈梦倩,郭士杰.面向移乘搬运护理机器人的人体姿态视觉识别[J].机器人,2019(05).
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陈力.双臂移乘护理机器人机构设计与运动规划[D].河北工业大学,2021(02).
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