【摘要】 人机安全是穿戴式机器人领域的热点问题，在外肢体机器人（Supernumerary robotic limbs, SRLs）的研究中尤为突出。柔性关节的提出使得人和机器人可以柔顺接触，而非严格约束彼此的运动，这一技术显著优化了人机安全策略。然而，现有研究主要集中于柔性关节的变刚度特性分析，而对其在人机碰撞场景下的动态性能评估则相对匮乏。因此，本文通过动态碰撞实验，对串联弹性关节（Series elastic joint,SEJ）和被动变刚度关节（Passive variable stiffness joint,PVSJ）的缓冲人机碰撞性能进行了比较分析。结果表明，相较于刚性关节，SEJ在特定条件下（驱动力矩不大于4 N·m或驱动速度3～7 （°）/s）可缓冲40.7%～58.7%的碰撞力和34.2%～45.2%的碰撞力矩，并且其性能稳定性显著优于PVSJ。同时，SEJ的刚度误差为5.1%，显著低于PVSJ的23.04%,PVSJ较大的刚度误差直接导致其在碰撞缓冲过程中不稳定。基于上述分析证实，SEJ在动态碰撞缓冲中具有更稳定的人机安全性能，更适合应用于外肢体机器人的人机安全防护场景。更多还原

【Abstract】 Human-robot safety is an important topic in wearable robotics, especially in supernumerary robotic limbs(SRLs). The proposal of flexible joint improves human-robot safety strategy, which allows physical contact between human and robots, rather than strictly limiting the human-robot motion. However, most researchers focus on the variable stiffness features of flexible joints, but few evaluate the performance of the flexible joint in the human-robot collision. Therefore, the performance of two typical flexible joints, including the series elastic joint(SEJ) and the passive variable stiffness joint(PVSJ), are compared through dynamic collision experiments. The results demonstrate that the SEJ absorbs 40.7%—58.7% of the collision force and 34.2%—45.2% of the collision torque in the driven-torque below 4 N·m and driven-speed of 3—7 （°）/s, which is more stable than PVSJ. In addition, the stiffness error of SEJ is measured at 5.1%, significantly lower than the 23.04% measured in the PVSJ. The huge stiffness error of PVSJ leads to its unreliability in buffering collision. Furthermore, we analyze results and confirm that SEJ has a more stable human-robot safety performance in buffering dynamic collision. Consequently, the SEJ is suitable in SRLs for human-robot safety in our scenario.更多还原