Nursing robots can be a good substitute to do nursing works for severely disabled patients who have completely lost the ability of movement. In order to improve the safety and comfort of human-robot interaction, we propose a novel compliant manipulation method for a nursing robot based on physical structure of human limb, which is applicable to severely disabled patients and can reduce the high performance requirements of sensors in existing human-robot interaction systems. The method aims to obtain the optimal manipulative force in static and dynamic manipulations. In the aspect of static calculation, static equilibrium conditions are used to obtain optimal static manipulative force. And in the aspect of dynamic calculation, lagrangian method is used to obtain optimal dynamic manipulative force based on predefined movement trajectory. Adams simulations and experiments are executed by manipulating limb model to conduct rehabilitation movements. Experimental results show that the proposed method can provide compliant manipulation method for a nursing robot.

对于完全丧失了运动能力的严重残疾患者，护理机器人可以替代护理工作。为了提高人机交互的安全性和舒适性，我们提出了一种基于人肢物理结构的护理机器人的顺应性操纵方法，该方法适用于重度残疾患者，可以降低传感器对机器人的高性能要求。现有的人机交互系统。该方法旨在在静态和动态操纵中获得最佳操纵力。在静态计算方面，静态平衡条件用于获得最佳的静态操纵力。在动态计算方面，采用拉格朗日法基于预定的运动轨迹获得最优的动态操纵力。亚当斯的模拟和实验是通过操纵肢体模型来进行康复运动的。实验结果表明，该方法可以为护理机器人提供顺应性的操纵方法。