Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (5): 1612-1619.doi: 10.13229/j.cnki.jdxbgxb20200501

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Finite element based calculation method of human⁃robot interaction force

Xue-yong LI1,2,3(),Zhong-qiu ZHAO1,2,Chun-song ZHANG1,2,Chang-hou LU1,2,3   

  1. 1.School of Mechanical Engineering，Shandong University，Jinan 250061，China
    2.Key Laboratory of High Efficiency and Clean Mechanical Manufacture，Ministry of Education，Shandong University，Jinan 250061，China
    3.National Demonstration Center for Experimental Mechanical Engineering Education，Shandong University，Jinan 250061，China
  • Received:2020-07-04 Online:2021-09-01 Published:2021-09-16

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Abstract:

The proposed method builds surface equations of bones， muscle of human limb and robot fingers， divides finite elements of muscle tissue of human limbs， gradually obtains finger force of rehabilitation robot hand， and finally realizes the calculation and analysis of human-robot interaction force. In simulation verification of simplified model， the effects of displacement， position of interaction， elasticity modulus of human soft tissue and Poisson's ratio on human-robot interaction force are revealed， and the average relative error between theoretical calculation and simulation data varies from 10% to 15% when the displacement is 5 mm. The simulation outcomes indicate that the proposed theory is able to effectively calculate finger force of rehabilitation robot hand， calculate and evaluate human-robot interaction force.

Key words: mechatronic engineering, human-robot interaction force, humanoid rehabilitation robot, finite element, deformable object grasping

CLC Number: 

  • TP242.3

Fig.1

Establishment of equations of finger surface and divisions of finite elements"

Fig.2

Interaction of robot finger and human limb"

Fig.3

Model of robot hand and human limb"

Table 1

Parameters of calculation and simulation"

仿真组Rx?Ry?RzE/MPauθ2/(°)h1/mm
1（20 30 47）0.5×1060302， 3， 4， 5
2（20 95 44）0.5×1060302， 3， 4， 5
3（20 30 47）1.0×1060302， 3， 4， 5
4（20 30 47）0.5×1060.2302， 3， 4， 5

Fig.4

Simplified simulation model"

Fig.5

Simulation result comparisons of table 1"

Fig.6

Relative errors of simulation results in group 1"

Fig.7

Simplified simulation model"

Table 2

Parameters of calculation and simulation"

仿真组Rx?Ry?RzE/MPauθ1/(°)θ3/(°)h1/mm
1（20 30 41）0.5×1060.032304， 5
2（20 100 38）0.5×1060.032304， 5
3（20 30 41）1.0×1060.032304， 5
4（20 30 41）0.5×1060.232304， 5

Fig.8

Simulation result comparisons of group 1 in table 2"

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