Robotics and Automation in Construction 2012 Part 12

Tham khảo tài liệu 'robotics and automation in construction 2012 part 12', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Design and Feasibility Verification of a Knee Assistive Exoskeleton System for Construction Workers 323 Time sec Fig. 16. Gathered EMG Signal without KAS Fig. 17. Gathered EMG Signal with KAS 324 Robotics and Automation in Construction 8. Further studies and future work We studied and developed a force augmentation system for upper extremities 21 22 . This prototype system is fixed to compensate for self-weight and has 20kg payload per arm. To integrate this system with the knee assistive system which we developed a weight compensation system through the spine hip joint knee and angle is obviously required. Most importantly the actuator capacity and control performance of KAS should be increased. As further work we are examining two aspects 1 improving the mechanical structure to minimize the system volume and weight and stabilizing the system operation by human intent sensing and 2 developing the total system which is an integrated lower limb exoskeleton with the upper one for whole body augmentation of industrial workers especially construction laborers. shows the system integration concept. To integrate the two exoskeleton systems the most important factors to be considered are weight compensation joint torque enlargement of lower limb exoskeleton and its operation algorithm. To address these requirements adequately many field tests are currently being performed. Fig. 18. System Integration Concept for Whole Body Support describes several tests for a specified task using an incomplete system to gather the dominant problems for operating the newly integrated system. Case 1 is the heavy material carrying task while stepping up the stairs and Case 2 is heavy material handling task while climbing up the slope. describes the current status of the newly studied system. As shown in the colored area of the load distribution of humans the mechanical load bearing structure has to be established before anything else. Design and Feasibility Verification

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