Abstract：The uneven road or instantaneous impact is often encountered in the process of assisting elders to walk outdoors using the elderly-assistant robot, which not only gives the robot impact vibration, but also imparts segmental vibration on the elder’s hands.The vibration characteristics of the human-robot couple system was inspected in order to study the impact resistance of the system.The forced vibration of the front and rear wheels of the robot under different displacement input was analyzed and the vibration models of the human body and the robot were established respectively.Then, the vibration model of the human-robot couple system was synthesized.The Matlab/Simulink software was used to simulate the vibration of the human-robot, system in the condition of instantaneous impact and uneven road respectively.The results show that the vibration amplitude and maximum velocity on the elder’s, hands, the vibration amplitude and maximum acceleration of the handles of the robot and the coupling force are all small under the two conditions, which indicates the human-robot couple system has a good impact resistance.The study provides a theoretical basis for the analysis and suggestions on the control of preventing the elder’s throwing down and adjusting his hand comfort.
穆小奇1，张小栋1,2，王亚宾1， 韩焕杰1，袁亮3，彭蕴博3. 助老机器人伴行模态人机耦合系统的耐冲击振动特性分析[J]. 振动与冲击, 2020, 39(2): 22-31.
MU Xiaoqi1，ZHANG Xiaodong1,2，WANG Yabin1，HAN Huanjie1，YUAN Liang3，PENG Yunbo3. Impact vibration resistance characteristics of a human-robot couple system for-controlling the walking posture of an elderly-assistant robot. JOURNAL OF VIBRATION AND SHOCK, 2020, 39(2): 22-31.
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