SUPER-MAN：用于HuMAN-Robot联合动作中物理辅助的多余机器人身体
SUPER-MAN: SUPERnumerary Robotic Bodies for Physical Assistance in HuMAN-Robot Conjoined Actions
摘要：
本文提出了一种移动多余机器人的方法，在人-机器人联合行动的物理援助。本研究首先描述了超人的概念。我们的想法是开发和利用移动协作系统，可以遵循人类的现场操作命令，通过三个主要组件执行工业任务：i）准入型接口，ii）人机交互控制器，iii）多余的机器人身体。接下来，我们从理论和硬件的角度提出了两种可能的实现框架内。第一个系统被称为MOCA-MAN，包括一个冗余的扭矩控制机械臂和一个全向移动平台。第二个被称为Kairos-MAN，由一个高有效载荷的6自由度速度控制机械臂和一个全向移动平台组成。这些系统共享相同的准入接口，通过该接口，用户扳手被转换为由每个系统的全身控制器生成的局部操纵命令。此外，一个全面的用户研究与多个和跨性别的主题，揭示了定量性能的两个系统在努力的要求和灵巧的任务。此外，我们提供了定性的结果，从NASA-TLX问卷，以证明超人的方法的潜力和可接受性，从用户的角度来看。
英文摘要：
This paper presents a mobile supernumerary robotic approach to physical assistance in human-robot conjoined actions. The study starts with a description of the SUPER-MAN concept. The idea is to develop and utilize mobile collaborative systems that can follow human loco-manipulation commands to perform industrial tasks through three main components: i) an admittance-type interface, ii) a human-robot interaction controller, and iii) a supernumerary robotic body. Next, we present two possible implementations within the framework from theoretical and hardware perspectives. The first system is called MOCA-MAN and comprises a redundant torque-controlled robotic arm and an omnidirectional mobile platform. The second one is called Kairos-MAN, formed by a high-payload 6-DoF velocity-controlled robotic arm and an omnidirectional mobile platform. The systems share the same admittance interface, through which user wrenches are translated to loco-manipulation commands generated by whole-body controllers of each system. Besides, a thorough user study with multiple and cross-gender subjects is presented to reveal the quantitative performance of the two systems in effort-demanding and dexterous tasks. Moreover, we provide qualitative results from the NASA-TLX questionnaire to demonstrate the SUPER-MAN approach's potential and its acceptability from the users' viewpoint.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
