人机共享控制机器人系统的应用与发展

康复机器人和辅助机器人可以提高患者生存质量,受到了科研和临床等领域的广泛重视。实现该类机器人的一个重要目的是帮助残疾患者完成日常生活中的活动。其中,人机共享控制机器人系统,充分结合了人类在上层规划和机器在精细控制上的优势,具有很好的控制效果。首先介绍了几种新型的人机交互方式,并对人机共享控制机器人系统的构成与优势进行简要分析;随后结合国内外研究现状,对不同类型的人机共享控制机器人系统进行详细介绍;最后着重从新型人机交互和共享控制两个方面,展望了未来技术的研发方向。

Application and development of human machine shared control robot system

Rehabilitation robot and assistive robot are expected to improve the life quality of patients, which has received extensive attention in basic researches and clinical fields. One of the significant purposes is to help disabled patients perform their daily activities. The human machine shared control robot system fully takes the advantage of human in upper level plan and machine in the fine control, which has achieved excellent control ability. First, this study briefly presents the composition and analyzes the advantage of human machine shared control robot system. Then, based on the review of the domain and abroad works, different types of human machine shared control robot systems are introduced in detail. Finally, this study looks forward to the future development direction of this technology through two aspects of new human machine interaction and shared control.