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编号： 外文翻译（译文）学 院： 专 业： 学生姓名： 学 号： 指导教师单位： 姓 名： 职 称： 第 7 页 共 9 页骨骼机器人摘要：一个可穿戴式骨骼康复机器人，方便灵巧，他是一种可以协助技术工人新概念产品。斯基尔机器人是由伺服机制的触觉设备（触觉或滑动传感器/显示器）构成的，所以它可以按照人的行为运动。外骨骼机器人可以为在危险环境中工作的人提供合适空间或技术，在海上该项目建立了一个原型模型的可穿戴式机器人，其中包括一个上身组件，一对武器及手套。一 介绍一个舱外活动（伊娃）的机器人，航天飞机进行一些重要太空计划的任务时机器人对整个经过都是很有效的，对于那些正在开发或实验的伊娃机器人为今后的伊娃任务。而在未来一些伊娃机器人的任务将增加，有存在宇航员不可避免的任务的。宇航员在危险的环境中需要宇航服保护自己，如真空，超低温度，微流星等等，因为，空间诉讼是在1 /3的大气压力，西服面料通过空间的张力会变得僵硬。而且，厚织物抑制宇航员从遥感对象处理。主要的问题是所造成的太空服。（一）手和肩膀的疲劳。（二）缺失手指。（三）限制范围的定义。研究和发展的首要问题，特别是手指，手掌，指关节的疲劳（CP），已为助力手套。实验结果表明，这些发展助力手套可以减少指关节力矩，但这些发展并没有处理在指尖的力矩，这是必要的技术工作。为了解决这些问题，作者提出了一个新的概念，“社会伙伴”，熟练工人穿戴外骨骼机。斯基尔伴侣概念不仅是宇航员，然而在危险环境中的熟练工人也可以。在本文中，斯基尔队友的概念及其应用介绍，然后原型开发的太空服概述。二 功能伙伴技术伙伴是一个当人体穿着它可以移动的机器或设备总称。并且它是一个被动的器材，具有在人类知识的操作系统自动智能响应。技术伙伴的功能如下。（1）由佩戴外骨骼机器人如果他在危险的环境中要完成不可避免的工作专家。通常，工作的人在危险的环境需要保护的措施，例如，空间适合在轨道或干燥的衣服。而且，这些衣服限制人的运动和增加疲劳。斯基尔搭档使人减少肌肉拉伤而为他工作。（2）外骨骼结构包围的人的身体，人们可以没有任何限制的运动，或者是从事自己的工作。此外，触觉受体或传感器应安装在人机接口的位置上，主要目的是为提高工作效率。因此，当穿上它时看起来就像一个拟人机器人。（3）它是一种伴随响应的运动。它必须足够快的响应工人没有穿技巧伴侣或感觉附滋扰的行动，支持他的技能好像他是最理想的情况下为他工作。而且，作为一个可选的功能，它是一个外骨骼壳防止工人受到危险。工人在危险的环境将得到好处就像是队友的保护壳。斯基尔伴侣可能是的工人工作在在高水压条件环境下不可避免的工作服，暴露低温辐射。保护壳很厚会使人体运动缓慢，像一个很厚的套装，动力伴侣会弥补它的质量，惯性和刚度的伺服系统。穿着技巧伴侣是感觉没有穿衣服或没有工作适合所有。三 斯基尔搭档伊娃十一月1997，日本宇航员土井博士上了“哥伦比亚”航天飞机。戴太空服装出舱活动，他（伊娃）2倍。第一个活动是捕获的手柄斯巴达的卫星。二是摆放和康复机器人相机和伊娃总活动时间超过12小时。（图1）图 1 伊娃（日本宇航员土井博士）日本宇宙开发事业团的照片作者讨论了土井博士使用伊娃的经验。穿宇航服的问题如下： 11（1）手部疲劳：太空服手套因为加压变得僵硬，1 /3的气氛和宇航员需要更多的手指力量克服刚度。伊娃的任务包括更频繁把握运动，例如，抓扶手移动自己，把握手工具。他还提到主要拇指，食指及中手指被用来抓运动。（2）手指是一个困难、复杂和敏感的任务：太空服手套指尖部位覆盖有橡胶和这并没有界面滑移。他执行这类任务主要由他的视力不是他的意义上的手指。（3）限制的动作：空间有一个轴承套关节的肩膀和肩膀的运动是没有如果沿轴承关节，肩肌肉疲劳。如果有两只轴承关节在肩，这问题会得到改善。而且，他补充说，腰和髋关节弯曲是最困难的，这让他很难看到在他的胸部的开关。通过以上讨论，应用技巧搭档的太空服将有以下特点。（一）技术改善了由于加压而使得航天服关节僵硬。斯基尔搭档也检测到航天员的运动伺服系统机制。（二）技术检测/显示队友力，压力和支路意义在指尖，使宇航员完成的复杂和敏感的任务。四 原型模型开发的原型模式开始的时候是在1998的夏季。我们集中在硬件设计和组件上。本节显示我们的项目状态的原型开发。人的肌肉执行机构已被采用为一执行器的伴侣。致动器主要优势包括：（1）伺服电机比电磁电动机较大传动比。（2）主要特征是类似人类肌肉的致动器 。原型执行器的能力，如图2所示，8毫米（5/ 16英寸）直径150毫米（5.9英寸）长产生超过200n在400kpa（58磅）。力测量器，如图3所示。从测量。新型的驱动器，如下所示。图2 麦吉人工肌肉皮肤伴侣图3 执行器的输出图4 肘关节与人工肌肉肘关节原型肘关节由人工肌肉执行器和一个增量式编码器（图4）。执行器是放置在肌腱肘部关节和产生力矩的关节部位。气动调节器与微机控制致动器。重量是3768。这已模糊控制的基本数据采集。实验结果控制不负载显示图5。触觉传感器（压敏导电橡胶）是要连接到检测人体运动。图 5 肘关节位置控制的例子图 6 肘关节与气动缸腕关节也被设计以及建造。腕关节的自由度主要包括滚转和俯仰。组成部分的联合是几乎一样的弯头接头。腕关节已经组装的肘关节后关节进行测试和改进计划。 手指关节显示在图7和图8。本手指关节是由拇指，指向手指和中指。手指指向和中指有两自由度。拇指三是中央的部分（腕），微通道板和最低端部的（趾）关节。小型气动缸驱动各关节。气动缸产生弯曲力的手指延长部队所产生的被动的线圈弹簧。人工肌肉驱动器要连接到手套的扩展力如果弹簧的力量是不够的。压敏导电橡胶连接到指尖测力之间的手指和手套。感应位置传感器被连接到测量手指关节角。图7 原型手套 图8 手指关节没有手套未来的工作下一步的原型开发组装手指，手腕关节和肘关节而且。触觉设备计划把手指。项目目标的伴侣的项目是开发一个原型外骨骼机械宇航服。原型模型将包括一个上身组装，以及对武器手套。此原型模式将被放置在压力服装隔热层。武器的原型有肩关节，肘关节和腕关节。每个关节是由气动执行器构件，可以感受角度。触觉传感器附在人体运动检测，使机器可以按照宇航员的运动而运动。因为原型模型始终是连接到人类的身体上，阻抗控制将是适当的人机合作的。力扭矩传感器将需要之间手腕和手套实现阻抗控制。结构的手套本身之间的接口和宇航员的手和手套将研究和精心设计。如触觉或触觉装置滑动传感器和显示器将需要完成的任务。5 应用工程如今，“工业化”和“先进”的建设系统更受欢迎，在世界和在日本。这些系统短期实现有效的生产和较少的人力，为建筑行业引起了较好营业利润。主要工作是由机器监督建设由一个高性能的信息网络很多计算机。自动化系统和机器人参加在建筑工地。降低劳动成本的网站建设使更多的商业利润。在这样的建筑工地。工人将一个建筑系统部件如机经营者，或一个智能交通设备，或灵活的处理机器。现代先进建筑系统，如自动和机器人建筑系统，移植的高级技能从人类的工人。虽然许多自动化系统的开发和建设工作的实际使用，人参与建设工作是不可避免的。原因如下：（1）在一个工地有数以百计的任务运用自动化系统来完成每一个任务。这是不实现的， （2）各施工现场有不同的条件，其中从结构设计，环境的网站等等因素考虑；因此，一个特定的自动化系统并不一定适用于其他网站建设。（3）一些人的技术没有在自动化系统中实现。当然，有一些任务自动化系统不能做到。应用技巧队友的建设工作网站一种解决人机合作。技巧伴侣有能力让工人来完成各种任务的。这样的需求是必要的。六 结论介绍一个概念技能伴侣及伊娃外骨骼机器人的我应用。而且还介绍了原型模型太空服发展现状的的概述。原型开发组装的肩膀，肘，手腕，和手套的第一个目标。今后的工作包括触觉设备的发展和阻抗控制的接头Ski1 Mate, Wearable Exoskelton Robot Yoji Umetani, Yoji Yamada, Tetsuya Morizono* Tetsuji Yoshida*, Shigeru Aoki* *To yo ta Technological Ins ti tu te 2-12-1, Hisakata, Tempaku-ku, Nagoya, 468-8511 Japan E-mail: 1-2-3, Shibaura, Minato-Ku, Tokyo 105-8007 Japan E-mail: ty spo.shimz.co.b . . *Shimizu Corporation ABSTRACT A wearable exoskelton robot, Skil Mate, is a new concept that can assist skilled workers in power as well as in skill. Skil Mate is composed of servo mechanisms and haptic devices (tactile or slipping-off sensors/displays), so that it can follow the workers movement. Skil Mate is suitable for works under hazardous environment such as in space, under sea, etc. Goal of the project is to develop a prototype model of the wearable robot for a spacesuit, which consists of an upper torso assembly and a pair of arms with gloves. but these developments did not deal with the lack of sense at fingertips, which is necessary for skilled works. One of the solutions for these problems, the authors propose a new concept, Skil Mate, a wearable exoskelton machine for skilled workers. Skil Mate concept is not just for astronauts but for skilled workers under hazardous environments. In this paper, Skil Mate concept and its application are introduced, and then prototype development for space suit is outlined. 2. FEATURES OF SKIL MATE 1. INTRODUCTION An Extra-vehicular activity (EVA) robot, Shuttle RMS, has carried out important tasks in space programs, and other EVA robots are under development or under experiment for future EVA tasks. While the number of tasks for EVA robots will increase in the future, there exist inevitable tasks for astronauts. The astronauts need spacesuit to protect themselves from hazardous environment, such as vacuum, higldlow temperature, micro-meteoroids, etc, Because, the space suit is pressurized in 1/3 of atmosphere, it becomes stiff by the tension of space suit fabrics. And, thick fabrics inhibit an astronaut from sensing objects to be handled. The major problems caused by the space suit are I: (i) Hand and shoulder fatigue. (ii) Lack of sense at fingertips. (iii) Restriction on range of motion. Research and developments for the first problem, especially finger metacarpophalangeal (MCP) joint fatigue, have been done as power assisted gloves 2134. Experimental results of these developments showed that the power assisted gloves could reduce MCP joint torque, The Skil Mate is a generic name of a machine or a device that moves when the human wears it. And, it is a passive machine having non-autonomous intelligent response incorporated in the human intellectual operation system. Features of Skil Mate are as below. (1) It is to be worn by a man of skill in case that he should unavoidably work to accomplish tasks as an expert under hazardous environments such as in space. Usually, the man who works under hazardous environment needs protection suit, for example, space suit on orbit or dry suit under the sea. And, these suits restrict the mans movement and increase his fatigue. Skil Mate allows the man to decrease muscle strain while he works. (2)It is exoskeletal structure to envelop the mans body and it does not restrict the mans movement on joint arrangement and on joint range of motion. Moreover, haptic receptors or sensors should be mounted as interfaces between the human body and the object to be handled in order to enhance task efficiency. Consequently, it looks like an anthropomorphic robot when it is worn. (3)It is controlled to follow in response to the mans 0-7803-5731-0/99/%10.00 01999 IEEE IV - 984 movement. Its response must be quick enough as the worker has senses without wearing Skil Mate or attached nuisance for their action, supporting his skill as if he is in the most desirable circumstance for his work. And, as an optional function, it is an exoskeletal shell that allows the worker to protect from hazards. The worker under hazardous environment will get benefits from Skil Mate with the protection shell. Skil Mate may be the inevitable work suit for the works in the environment such as under high water pressure, low temperature and radiation exposure. Even if the protection shell is so thick making human movement slow like a tire-fighting suit, powered Ski1 Mate will compensate its mass, inertia and stiffness by its servo system. Wearing Skil Mate is to feel wearing no clothes or no working suit at all. 3. SKIL MATE FOR EVA In November 1997, Dr. Doi, Japanese astronaut, got on board in space shuttle “Columbia”. By wearing a spacesuit, he made extravehicular activity (EVA) to two times. The first activity was the capture by handgrip of the Spartan satellite. The second were emission and recovery of the robot camera and the sum total activity hour of EVA exceeded 12 hours. (Figure 1) Figure 1. EVA (Japanese Astronaut Dr. Doi) NASDA Photo NO: DOI-141CD0494-053 6 The authors discussed EVA experience with Dr. Doi. And he pointed out the space suit problems as below : 11 (1) Hand fatigue: The space suit glove was stiff because of pressurization with 1/3 of atmosphere and the astronaut need more finger force to overcome the stiffness. Still more EVA tasks included frequent grasping motion, for instance, grasping the handrails for moving himself, grasping hand tools. He also mentioned that mainly thumbs, forefingers and middle fingers were used for grasping motion. (2) Difficulty in complex and sensitive tasks with fingertips: Fingertips of the space suit glove were covered with rubber and this did not interface slipping nor holding sense. He carried out this kind of tasks mostly by using his vision not by his sense of the fingers. (3) Restriction of motion: The space suit had one bearing joint at the shoulder and if shoulder movement was not along the bearing joint, shoulder muscles may fatigue. If there were two bearing joints at the shoulder, this problem will be improved. And, he added that waist and hip flex was poor and this made him difficult to see switches at his chest. From above discussion, application of Skil Mate to the space suit will have following features. (a) Skil Mate provides forcehorque to the space suit joints to cancel the stiffness caused by the pressurization. Skil Mate also detects astronauts movement for servo mechanism. (b) Skil Mate detects/displays force, pressure and slip sense at the fingertips, which allow the astronauts to accomplish complex and sensitive tasks. 4. PROTOTYPE MODEL Development of the prototype model started in the summer 1998. In the FY, we focused on hardware design and assembly. This section shows our project status of the prototype model development. Actuator McKibben artificial muscles have been adopted as one of actuators for Ski1 Mate. Major advantage of the actuator include: (1) larger powedweight ratio than electro-magnetic motors; (2) major charactoristics of the actuator is similar to human muscles 67. The prototype actuators for Skil Mate, shown in Figure 2, is 8mm (5/16 inch) diameter and 150mm (5.9 inch) long which generate more than 200N at 400kPa (58 psi). Force measurement of the actuator is shown in Figure 3. From the measurement. model of the actuator is shown as IV - 985 below. Here F P : Pressure in (kPa) E : Strain a : Constant (1.568 NkPa) b : Constant (0.7696 NkPa) C : Constant (86.0 N) : Output Force in (N) Figure 2. McKibben Artificial Muscle for Ski1 Mate 250 I I 200 4 150 v 0 e 9 100 50 0 50 150 250 350 450 Pressure (kPa) This joint has been PID controlled for basic data acquisition. Experimental result of PID control without load is shown in Figure 5. (1) Figure 3. Actuator Output Elbow Joint Prototype elbow joint is composed of two artificial muscle actuators and an incremental encoder (shown in Figure 4). The actuators are placed as tendons for the elbow joint and generate joint torque. Electro-pneumatic regulators and a PC computer control the actuators. The weight of this joint is 3768. Tactile sensors (pressure sensitive conducting rubber) are going to be attached to detect human movement. Figure 4. Elbow Joint with artificial muscles _ Elbow Joint Contml 100 00 1 3 f 40 20 0 0 5 10 15 20 25 30 35 Tima (sec) Figure 5. Elbow position control example The elbow joint with pneumatic cylinders (shown in Figure 6) has been also built for comparison with the artificial muscle actuators. I V - 986 Figure 6. Elbow joint with pneumatic cylinders Wrist Joints The wrist joints have also been designed and built. The wrist joints have 2-DOF that are the roll and the pitch. Components of the joint are almost same as the elbow joint. The wrist joints have already assembled with the elbow joint then the joints plan to be tested and improved. The assembled joints are shown in Figure 7. Figure 7. Assembled joints Fingers The finger joints are shown in Figure 8 and Figure 9. The finger joints are composed of the thumb, the pointing finger, and the middle finger. The pointing finger and the middle finger has 2-DOF each, that are the MCP and PIP (proximal interphalangeal) joints. The thumb has 3-DOF, which are the CMC (carpometacarpal), the MCP, and the IP (interphalangeal) joints. The small pneumatic cylinders drive each joint. The pneumatic cylinders generate the flexion forces of the fingers and the extension forces are generated by the IV-987 passive coil springs. The artificial muscle actuators are going to be attached to the glove for extension force if the spring forces are not sufficient. Pressure sensitive conductive rubbers are attached to the fingertips to measure the force between the fingers and the gloves. Induction position sensors are to be attached to measure the finger joint angles. Figure 8. Prototype glove Figure 9. Finger joints without glove Future Works Next step of the prototype development is to assemble the fingers, the wrist joints, and the elbow joint. And, haptic devices are planned to attach the fingers. Goal of the project Goal of the Ski1 Mate project is to develop a prototype exoskeletal machine for a spacesuit. The prototype model will consist of an upper torso assembly, and a pair of arms with gloves. This prototype model will be placed between pressure garment and insulation layer. The arms of the prototype have shoulder joints, an elbow joint, and wrist joints. Each joint is driven by pneumatic actuators and can sense joint angles. Tactile sensors are to be attached to detect human motion, so that the machine can follow the astronauts movement. Because the prototype model is always interfaced to human, impedance control will be appropriate for man-machine cooperation. A Force-Torque sensor will be need between the wrist and the glove to accomplish the impedance control. The structure of the glove itself and the interface between astronauts hand and the glove will be studied and carefully designed. Haptic devices such as tactile or slipping-off sensors and displays will be need to accomplish skilful tasks. 5. APPLICATION FOR CONSTRUCTION WORK Nowadays, “industrialized” andlor “advanced” construction systems are more popular in Japan and in the world. These systems realized effective production in shorter term and less labor power that caused better business profit to construction industries. On the systems, major work is done by construction machines supervised by a high performance information networks with a lot of computers. Automatic systems and robots are participating to the construction sites. Reducing the labor cost on the construction sites make more business profit. On such construction sites, human workers are going to be one of the construction system components as a machine operator, or an intelligent transportation device, or a flexible handling machine. Modern and advanced construction systems, such as automated and robotic construction systems, are transplanted high-level skill from human workers. While a lot of automated systems have been developed and practically used for construction work, human participation to the construction work is inevitable. The reasons are as below: (1) There are hundreds of tasks in one construction site so that it is not realistic to apply automated systems to every task. (2) Each construction site has different condition, which comes from design of the structure, environment of the site, etc.; as a result, one particular automated system is not always applicable to the other construction sites. (3)Some of the humans skill has not been realized by automated sy