Vlimb：一种用于身体延伸的线驱动穿戴式机器人，兼顾力量与可达性
Vlimb: A Wire-Driven Wearable Robot for Bodily Extension, Balancing Powerfulness and Reachability
AI总结：
本研究开发了身体延伸型穿戴式机器人Vlimb，通过线驱动机制结合被动环结构，克服了传统线驱动机器人可达性受限的问题，实现了与人类肢体相当的力量与可达性，能够执行精细操作及举起重物。
摘要：
为满足物理辅助和娱乐的需求，人们开发了众多穿戴式机器人。这些机器人从辅助人类臂腿的身体增强型，延伸到带有额外手臂的身体扩展型。本研究专注于后者，即旨在实现身体延伸的穿戴式机器人。然而，它们尚未达到与人类肢体相当的力量和可达性水平，这将其应用局限于娱乐和涉及轻量级物体的操作任务。因此，在本研究中，我们开发了一款身体延伸型穿戴式机器人Vlimb，它具备举起人类的足够力量并能执行操作。利用线驱动机制的优势，Vlimb incorporates了一种能够同时适应精细操作和稳健举重任务的布线机制。此外，通过引入被动环结构来克服线驱动机制固有的有限可达性，Vlimb实现了与人类相当的力量和可达性。本文概述了Vlimb的设计方法，进行了初步的操作和举重任务，并验证了其有效性。
英文摘要：
Numerous wearable robots have been developed to meet the demands of physical assistance and entertainment. These wearable robots range from body-enhancing types that assist human arms and legs to body-extending types that have extra arms. This study focuses specifically on wearable robots of the latter category, aimed at bodily extension. However, they have not yet achieved the level of powerfulness and reachability equivalent to that of human limbs, limiting their application to entertainment and manipulation tasks involving lightweight objects. Therefore, in this study, we develop an body-extending wearable robot, Vlimb, which has enough powerfulness to lift a human and can perform manipulation. Leveraging the advantages of tendon-driven mechanisms, Vlimb incorporates a wire routing mechanism capable of accommodating both delicate manipulations and robust lifting tasks. Moreover, by introducing a passive ring structure to overcome the limited reachability inherent in tendon-driven mechanisms, Vlimb achieves both the powerfulness and reachability comparable to that of humans. This paper outlines the design methodology of Vlimb, conducts preliminary manipulation and lifting tasks, and verifies its effectiveness.
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。
