楕円体作業空間最適化による多機能追加ロボット肢の革新的設計
Innovative Design of Multi-functional Supernumerary Robotic Limbs with Ellipsoid Workspace Optimization
把持・歩行・立ち上がり支援・質量慣性の4目的を統合した多目的最適化理論を提案し、楕円体で作業空間を表現する幾何ベクトル定量化法と改良ホタルアルゴリズムで追加ロボット肢を設計した論文。
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著者: Jun Huo, Jian Huang, Jie Zuo, Bo Yang, Zhongzheng Fu, Xi Li, Samer Mohammed
分類: cs.RO
原文アブストラクト
Supernumerary robotic limbs (SRLs) offer substantial potential in both the rehabilitation of hemiplegic patients and the enhancement of functional capabilities for healthy individuals. Designing a general-purpose SRL device is inherently challenging, particularly when developing a unified theoretical framework that meets the diverse functional requirements of both upper and lower limbs. In this paper, we propose a multi-objective optimization (MOO) design theory that integrates grasping workspace similarity, walking workspace similarity, braced force for sit-to-stand (STS) movements, and overall mass and inertia. A geometric vector quantification method is developed using an ellipsoid to represent the workspace, aiming to reduce computational complexity and address quantification challenges. The ellipsoid envelope transforms workspace points into ellipsoid attributes, providing a parametric description of the workspace. Furthermore, the STS static braced force assesses the effectiveness of force transmission. The overall mass and inertia restricts excessive link length. To facilitate rapid and stable convergence of the model to high-dimensional irregular Pareto fronts, we introduce a multi-subpopulation correction firefly algorithm. This algorithm incorporates a strategy involving attractive and repulsive domains to effectively handle the MOO task. The optimized solution is utilized to redesign the prototype for experimentation to meet specified requirements. Six healthy participants and two hemiplegia patients participated in real experiments. Compared to the pre-optimization results, the average grasp success rate improved by 7.2%, while the muscle activity during walking and STS tasks decreased by an average of 12.7% and 25.1%, respectively. The proposed design theory offers an efficient option for the design of multi-functional SRL mechanisms.
