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舒适度对于人体工程学研究,尤其是在老年护理、康复装置研究中尤为重要,但是目前触觉体感舒适度的研究尚处于起步阶段,更没有可用于系统控制的舒适度模型。为了建立用于卫生护理机器人搓澡系统的触觉体感舒适度模型,首先通过韦伯-费希纳定律和能量函数,将物理刺激与心理反应相联系;然后通过实验及参数拟合,建立舒适度与心理反应量关系函数,从而构造人体触觉体感舒适度模型。可将该模型作为搓澡机器人优化控制系统的目标函数,采用遗传算法实现优化控制,在样机上的测试结果证明该模型效果良好,具有推广应用价值。
Comfort is particularly important in ergonomic research, especially in the study of geriatric nursing and rehabilitation devices. However, the current research on the sense of touch comfort is still in its infancy and no model of comfort is available for system control. In order to establish a tactile somatosensory comfort model for the health-care robotic bathing system, the physical stimulus and psychological response are first linked by Weber-Fischner’s law and energy function. Then, through experiments and parameter fitting, comfort and Psychological response to the relationship between the function, so as to construct a sense of comfort somatosensory model of the human body. The model can be used as the objective function of the optimal control system of the rubbing bath robot, and the genetic algorithm is used to optimize the control. The test results on the prototype prove that the model is effective and has the value of popularization and application.