Study On Anticipatory Posture Adjustments Of Upper Limbs In Two-man Collaborative Task

The rapid development of Robotics accelerates a pattern which make human and robots work together.Because of the generalization of the robots,the pattern called the human-robot collaboration is also expanding to our society.Although this pattern improves many aspects,it faces many problems as well.One reason is that there is a potential and physical interaction in the process of collaboration.Another reason is that the environment usually exists with noise in collaboration.These reasons can be a huge challenge when human collaborate with robot.The traditional method can only apply to slow collaboration because this method misses a valid theory about how to deal with or realize fast and flexible collaboration.In this paper we will begin with the environment with human and robot.Then we design the experimental plant for collecting the features or signals from human body.Based on our design,we build a complete platform with hardware and software.After the completeness of the platform,for the collision problem we also design a scheme for the experiment.At first,we select 10 volunteers to take part in our experiments and they strictly observe our rules.Then we analyze the data collected from many kinds of sensors with different conditions in the experiments.After the analysis,we can draw a conclusion that APAs(Anticipatory Postural Adjustments)can make both sides to be more stable in collaboration when facing the shock.This conclusion also shows that APAs help both sides recover to original stable state more quickly.We consider this conclusion as the theory of double collaboration.Since we summarized the theory of double collaboration,we build a model of human-robot collaboration and analyze it in the simulations.In addition,we build a experimental platform to prove the validity of human-robot collaboration based on the modification of the platform we built before.After we confirmed the completeness of new platform,we also can draw a conclusion by analyzing the collected data based on different conditions in experiments like before.The conclusion is that APAs produce a positive influence in human-robot collaboration.That is APAs can make the collaboration be more stable or recover to initial state faster.This conclusion conforms to the target of our experiments and it give a valid method or theory for realizing fast and stable human-robot collaboration.