CAJ | 학술논문

为使辅助站立过程符合人体的生理结构和心理需求，针对辅助站立机器人的运动控制进行了研究。对照正常人体站立过程，规划了后向辅助站立的人体重心轨迹，构建了可调座椅式机械结构和站立减重系统。采用逐点比较插补技术，设计了机器人的插补运动控制器。试验中样机可辅助不同身高和体重的人体站立，辅助过程符合人性化要求。试验结果验证了设计方法的可行性。
위사보조참립과정부합인체적생리결구화심리수구，침대보조참립궤기인적운동공제진행료연구。대조정상인체참립과정，규화료후향보조참립적인체중심궤적，구건료가조좌의식궤계결구화참립감중계통。채용축점비교삽보기술，설계료궤기인적삽보운동공제기。시험중양궤가보조불동신고화체중적인체참립，보조과정부합인성화요구。시험결과험증료설계방법적가행성。
In order to make the auxiliary standing process conform physiological structure and psychological needs of human body, the motion control of auxiliary standing robot has been studied. In accordance with normal human standing process, the trajectory of the center of gravity for backward auxiliary standing is planned, and the adjustable seat style mechanical structure and standing weight reduction system is constructed. By adopting point?to?point comparison interpolation technology, the interpolation motion controller for robot is designed. The prototype in test can assist human body in different weight and height to stand, the auxiliary process meets the humanization requirements. The result of experiments verifies the feasibility of the design.