[雙語(yǔ)翻譯]--外文翻譯--交互機(jī)器人裝備hal運(yùn)動(dòng)指令系統(tǒng)的發(fā)展（英文）

1、Development of Motion Instruction System with Interactive Robot Suit HALTakeru Sakurai and Yoshiyuki SankaiAbstract— This paper proposes motion instruction system with the interactive robot suit HAL (Hybrid Assistive Lim

2、b) for supporting physically challenged persons, enhancing and expanding the human ability. HAL consists of external frames, actuators, various sensors, and a control PC with ethernet device and has not only been develop

3、ed to assist the motion of wearer’s body, but also can be applied to motion instruc- tion between the doctor and the patient in rehabilitation by building the unilateral/bilateral master-slave system with two HALs. In or

4、der to realize the motion instruction system, it is required to transfer the information of motion to each other. We performed fundamental experiments for unilateral/bilateral motion instruction between HALs to verify wh

5、ether the system satisfies the required basic specification, and could confirm the effectiveness of the suggested system.I. INTRODUCTIONThe motion instruction system is a system that enables a person to make instructed m

6、otions when being taught by another person. When a human masters a physical motion, there are several ways to learn it. If a learner imitates a teacher or master as a model, the learner uses his/her own sense of sight. W

7、hen a teacher explains how to correctly move, the learner uses sense of hearing. In the case of tennis or golf et al., a coach holds the student’s hand to give a guidance of the explanation of target motion like ’swing’.

8、 The student uses somatic sensation like sense of touch. Sports movement guidance and rehabilitation for beginners are thought as the activities in which the motion instruction is required. In the actual activities of th

9、e motion instruction in the medical and welfare field, physical therapists instruct and explain patients on how to move their body, using gestures for rehabilitation. This instruction/explanation using gestures can suppo

10、rt only visual and aural information, and it doesn’t include the patients’ somatic sensation. But, using therapists’ own hands, they can directly move the patients’ hands and feet. Even so, the instruction of complex ope

11、rations that needs multijoint coordinated movement like walking is difficult because the therapist can hold only one place at the same time. For the purpose of the substitution of target motion by remote-controlled artif

12、act, research on master-slave systems has been performed in the field of robotics and virtual reality. A master-slave system consists of the master system on one side that teaches, and the slave system on the other side

13、to be taught. A typical example of application includes theT. Sakurai is with Graduate School of Systems and Information Engineer- ing, University of Tsukuba, and Y. Sankai is with Systems and Information Engineering, Un

14、iversity of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305- 8573, Japan cybernoid@golem.kz.tsukuba.ac.jpremote control of a robot hand with a master-slave system. The master-slave systems are also used in extremely diffic

15、ult environments such as in space, nuclear plants or water. These teleoperated control systems have a merit over local control. A skillful operation on the master side can be transmitted to the machine on the slave side.

16、 Moreover, the research on performance upgrade of a remote-operational feeling has also been performed. Its representative research on tele-existence is showed by Tachi [1]. It produces an advanced presence when the oper

17、ator is in a remote place, and operates the slave. As for these master-slave systems, the principal objective is put on the achievement of the slave side operation in the remote place. A man operates the master side and

18、the machine operates the slave side. However, the research on a system whose master sides and slave sides are humans has not been done so far. If the operators of the master- slave system are humans, we can expect that a

19、n interactive motion instruction would be achived. For instance, a physical therapist guides the ambulation activity of the patient or the sports player teaches the beginner the skill of efficient operation. Moreover, no

20、t only the instruction of operation but also perception of the maneuvering feeling on the other side and motion assist of a worker in a remote place are thought of as application examples. Human support technologies for

21、measuring a variety of biological information that takes part in a human’s motion such as angle, angular velocity and torque of the joints have been developed in our laboratory by the use of Cybernics technology that can

22、 support, enhance, and expand a wearer’s bodily functions [2]. A movement diagnostic system based on objective data is desired, and support with such a system is expected by acquiring and using biological information for

23、 rehabilitation. The proposal of an effective rehabilitation training method also becomes possible by the motor function that the robot suit has. Physical therapy continues for a long term com- paratively, and monotonous

24、 work of walking training with physical assistance of therapist is done as a routine. It seems that it is suitable for this reasons to train in such a field with a device by a technological engineered approach. It is an

25、important development field of Cybernics. We installed the master-slave system to the HAL in order to accomplish the motion instruction system developed in the present study. The robot suit HAL is a wearable exoskeletal

26、power assist robot aimed at supporting, enhancing, and expanding the wearer’s body function. Even if medical staff focusses on the guidance of the motion by hand and teaching978-1-4244-4775-6/09/$25.00 © 2009 IEEE.

27、1141Proceedings of the 2009 IEEEInternational Conference on Robotics and BiomimeticsDecember 19 -23, 2009, Guilin, ChinaFig. 1. Basic concept of this research.Fig. 2. System configurations.D. Data communication for inter

28、active robot suit HALBecause HAL has a telecommunication facility using ethernet device, an interactive rehabilitation system can be constructed using two or more HALs. The slave-HAL wearer gets instructed about the angl

29、e displacement of the master-HAL wearer. Moreover, the master-HAL wearer gets instructed about the angle displacement of the slave-HAL wearer so as to construct an interactive (bidirectional) motion instruction system wi

30、th each other. 1)First of all, kinematic information measured with the HAL (HAL-A) is sent to another HAL (HAL-B). 2) In HAL-B, the power units are driven by the output torque that is decided based on the deviation betwe

31、en the signal that has been sent from HAL-A and the measured signal in HAL-B. 3) Kinematic information of HAL-B is sent to HAL-A, and is used to control HAL-A. The control program uses multithreading so that each control

32、 computer can do the control of the hardware and the communication at the same time when a bidirectional interactive system is constructed. The protocol used to make the interactive communication network was TCP/IP. Ther

33、e are two kinds of transport protocols in TCP/IP 1) TCP(Transmission Control Protocol) and 2) UDP(User datagram Protocol). UDP was adopted instead of TCP because UDP has short transfer stop timeFig. 3. Synchronized algor

34、ithm.and also shorter data reception compared to communication by TCP. UDP is connectionless and doesn’t confirm whether the data has reached the other side or not. The transmitting side just transmits the data and the r

35、eceiving side picks up the data. It makes no amends for the loss of packets and the order of data, and does not confirm reception, thus allowing no limit in transfer time on the network.When communicating with two or mor

36、e HALs, one has to synchronize a counter in the control program between the HALs when evaluating various measurement data at the same time to verify the performance. The outline of an algorithm that uses synchronization

37、is shown in Fig. 3. The slave has four parameters: T1 and T3 are transmission times, and T2 and T4 are reception times. Using this information, the one way communication time to carry a packet is defined as Thal f and th