标题： 开发一种能够再现自然站立动作的非穿戴式辅助机器人 显示英文标题

标题： Development of a non-wearable support robot capable of reproducing natural standing-up movements

摘要： 为了重现自然的站立动作，近期的研究强调了辅助机器人与人类之间协调的重要性。然而，许多非穿戴式辅助设备难以复制自然的动作轨迹。虽然可穿戴设备能够更好地与人体协调，但它们在完全隔离机械和电气危险方面面临挑战。为了解决这些问题，我们开发了一种新型的站立辅助机器人，它结合了可穿戴系统和非可穿戴系统的特性，旨在实现高协调性的同时保证安全性。 该装置采用了一种与人体关节结构对齐的四连杆机构，设计用于再现自然站立过程中髋部的S形轨迹和膝部的弧形轨迹。通过使用陀螺仪获取特定受试者的轨迹数据，并确定连杆长度以驱动座椅沿最佳路径移动。实施了基于步进电机的前馈速度控制，并根据机构的几何约束评估了轨迹的再现性。进行了座椅固定重量的承载实验，以评估不同条件下轨迹的准确性。结果显示，髋部和膝部轨迹的再现误差始终在座椅总位移的约4%以内，表现出对目标路径的高度保真度。此外，耐久性测试、热安全评估和风险评估确认了该系统在室内使用的可靠性和安全性。 这些研究结果表明，所提出的设计为开发适应个体身体特征的辅助技术提供了一个有前景的方法，具有在老年护理和康复领域应用的潜力。 显示英文摘要

摘要： To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion trajectories. While wearable devices offer better coordination with the human body, they present challenges in completely isolating mechanical and electrical hazards. To address this, we developed a novel standing-assist robot that integrates features of both wearable and non-wearable systems, aiming to achieve high coordination while maintaining safety. The device employs a four-link mechanism aligned with the human joint structure, designed to reproduce the S-shaped trajectory of the hip and the arc trajectory of the knee during natural standing-up motion. Subject-specific trajectory data were obtained using a gyroscope, and the link lengths were determined to drive the seat along the optimal path. A feedforward speed control using a stepping motor was implemented, and the reproducibility of the trajectory was evaluated based on the geometric constraints of the mechanism. A load-bearing experiment with weights fixed to the seat was conducted to assess the trajectory accuracy under different conditions. Results showed that the reproduction errors for the hip and knee trajectories remained within approximately 4 percent of the seat's total displacement, demonstrating high fidelity to the target paths. In addition, durability testing, thermal safety evaluation, and risk assessment confirmed the reliability and safety of the system for indoor use. These findings suggest that the proposed design offers a promising approach for developing assistive technologies that adapt to individual physical characteristics, with potential applications in elderly care and rehabilitation.