| 摘要 |
A robot displacement device for use with a robotic frame 100 shaped to approximate and be coupleable to at least a portion of the human body 52 and configured to mimic movement of the human body 52. The device employs a plurality of force sensors 110, 120, 130, 140 which are attached to the robotic frame 100 which detect a baseline controlling interface force status relationship between the sensors and the extremities of the human operator 52. Based on the output force signal from the sensors 100, 120, 130, 140 and the force and direction of gravity relative to the robotic frame 100, a computation system 160 calculates at least a rotational force 240 required to maintain the controlling force status relationship. The computation system 160 then generates and transmits an actuation signal to a drive system 150 attached to the robotic frame 100 which displaces a portion of the robotic frame 100 in order to maintain the controlling force status relationship. |
