一种用于人体上肢爆发力测试的机器人研究

爆发力是速度力量的一种主要表现形式,是速度与力量的乘积.在大多数动力性体育项目中,爆发力比绝对力量有着更加重要的意义.因此,对爆发力的定量测试及对其机制的研究成为运动生物力学和人机接触交互研究中备受关注的课题.在分析机体爆发力生理学机制的基础上,根据人体上肢的运动特点,确定了可用于测试人体手臂运动爆发力的两关节测力机器人设计方案,分析了该机器人的测力原理,研究了机械手相应的力控制算法,并对人体爆发力的计算方法与评价标准进行了初步探讨.该测力机器人为人体上肢肌肉运动感觉和人机接触交互研究提供了一个系统的实验平台.

Robot Research on Explosive Force Test of Human Upper Limbs

Explosive force is one of the main expressions of speed and force and the arithmetic product of speed and force.The capability of explosive force plays a more important role in the performances of almost every sport than absolute force.Therefore,the quantitative testing of explosive force and the study of its mechanism become the hot subjects in the study of sports biomechanics and human-machine interaction.Based on the analysis on the principle of biomechanics and physiology of explosive force,this paper develops a 2 DOF robot system of arm wrestling robot for the measurement of the explosive force of human arm,analyzes the robot's force-measuring principles,studies the corresponding control algorithm of robot arms,and carries out preliminary discussion on the calculating methods and evaluating criteria for human explosive force.This arm wrestling robot provides a system experiment platform for the study of moving feelings of human upper limbs and human-robot interaction.