发表机构
University of California, San Diego; Columbia University Irving Medical Center; National Outdoor Leadership School Wilderness Medicine Institute（加州大学圣迭戈分校; 哥伦比亚大学欧文医学中心; 国家户外领导力学校荒野医学研究所）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究提出一种双手机器人稳定颈椎的算法与控制方法，在安全界限内最大化抓握力并实现正确颈部旋转，使机器人在维持目标旋转对齐上达到人类水平，轴向对齐误差与新手相差0.21度。
AI 中文摘要
颈部，特别是颈椎，是身体中高度脆弱且活动性强的部位，具有灾难性损伤的高风险。无论某人是在战场上、自然灾害中还是体育赛事中受伤，在运送、滚动或移动患者时，始终对颈椎给予极大的关注。在这项工作中，我们提出了一种算法和适应性调整，用于双手机器人在滚动操作中稳定颈椎。我们研究了在安全界限内最大化抓握力的技术，并提出了一种用于正确颈部旋转的控制方法。我们发现，通过我们的方法，双手机器人能够在维持目标旋转对齐方面达到人类水平的表现。带有预测的机器人的轴向对齐与人类新手相差在0.21度以内。
英文摘要
The neck, specifically the cervical spine, is a highly fragile and mobile part of the body with a high risk of catastrophic injury. Whether someone is injured on a battlefield, in a natural disaster, or in an athletic event, great care is always taken with the cervical spine when transporting, rolling, or moving the patient. In this work, we present an algorithm and adaptations for bi-manual robots to stabilize the cervical spine during rolling maneuvers. We investigate techniques to maximize grip strength within safety bounds and present a control approach for proper neck rotation. We found that with our approach, a bi-manual robot is capable of achieving human-level performance in maintaining target rotational alignments. The axial alignment for the robot with prediction was within .21 degrees of human novices.
Comments8 pages, 8 figures
