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More Detailed Disturbance Measurement and Active Disturbance Rejection Altitude Control for a Flapping Wing robot Under Internal and External Disturbances

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Journal of bionic Engineering 2022年第6期19卷 1722-1735页

作者： Jiawang Mou Weiping Zhang Kexin Zheng Yao Wang Chaofeng Wu National Key Laboratory of Science and Technology on Micro/Nano Fabrication Shanghai Jiao Tong University800 Dongchuan RoadShanghai200240China Department of Micro/Nano Electronics School of Electronic Information and Electrical EngineeringShanghai Jiao Tong University800 Dongchuan RoadShanghai200240China

With the goal of designing a biologically inspired robot that can hold a stable hover under internal and external *** designed a tailless Flapping-wing Micro Aerial Vehicle(FMAV)with onboard 3D velocity *** this way,the wind disturbance caused by the relative motion of the FMAV can be quantified in real time based on the established altitudinal dynamics *** the rest of the total disturbance,an active disturbance rejection controller is proposed to estimate and suppress those *** comparison with the traditional PID controller,this proposed approach has been *** results show that,in the hovering flight with the internal unmodeled dynamics,the root-mean-square of height controlled is only 2.53 *** with the different weights of loads mounting on the FMAV,the ascending trajectory of flights remains impressively *** the forward flight with the external disturbance,the root-mean-square error of height controlled is 2.78 *** the FMAV flies over a ladder introducing an abrupt external disturbance,the maximum overshoot is only half of that controlled by the PID *** our best knowledge,this is the first demonstration of FMAVs with the capability of sensing motion-generated wind disturbance onboard and handling the internal and external disturbances in hover flight.

关键词： bionic robot Flapping wing 3D velocity measurement Disturbance estimation and rejection Altitude control

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Stratum Griseum Periventriculare-mediated Fear Emotion Regulates Motor Behavior in Pigeons

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Journal of bionic Engineering 2023年第5期20卷 2228-2239页

作者： Wenbo Xu Long Yang Zishi Wang Lifang Yang Han Cheng Shixin Zhu Zhigang Shang Zhenlong Wang School of Life Sciences Zhengzhou UniversityZhengzhou450001China School of Electrical and Information Engineering Zhengzhou UniversityZhengzhou450001China

A pigeon robot is an ideal experimental animal for research in flying animal *** majority of current research publications have entailed electrical stimulation of the motor nuclei to regulate movement forcibly,and although a“virtual fear”behavior model has been proposed,the structure,location,and function of the nuclei that generate fear emotions remain *** studies have shown that the Stratum Griseum Periventriculare(SGP)of pigeons is homologous to the mammalian periaqueductal gray(PAG),which plays an essential role in mammalian *** reveal the role of fear mediated by the SGP in behavioral regulation,we evaluated the structure and location of the SGP by histologic identification combined with magnetic resonance imaging,and analyzed the behavior of the SGP by electrical ***,the function of the SGP was verified with escape testing and homing experiments in an open *** results showed that the SGP is located in the pigeon midbrain and divided into two subregions,the dorsal part of the stratum griseum periventriculare(SGPd)and the ventral part of the stratum griseum periventriculare(SGPv)(the ranges were AP1.5–4.75 mm,ML1.75–6.75 mm,and DV2.2–7.1 mm),and that wired and wireless electrical stimulation freezing was the dominant *** the escape test,SGP electrical stimulation caused the pigeons to flee to a safe place,while in the open-field homing test,electrical stimulation of the SGP induced evasive behavior in pigeons away from their original homing *** results confirm that the SGP plays a crucial role in fear,and that electrical stimulation of this nucleus induces corresponding fear behaviors.

关键词： Pigeon cyborg bionic robot Fear Freezing Electrical stimulation

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Research on Gait Trajectory Planning of Wall-Climbing robot Based on Improved PSO Algorithm

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Journal of bionic Engineering 2024年第4期21卷 1747-1760页

作者： Jian Li Xianlin Shi Peng Liang Yanjun Li Yilin Lv Mingyue Zhong Zezhong Han School of Mechanical and Automotive Engineering Guangxi University of Science and TechnologyLiuzhou545006China

In order to reduce the labor intensity of high-altitude workers and realize the cleaning and maintenance of high-rise building exteriors,this paper proposes a design for a 4-DOF bipedal wall-climbing bionic robot inspired by the inchworm’s *** robot utilizes vacuum adsorption for vertical wall attachment and legged movement for *** enhance the robot’s movement efficiency and reduce wear on the adsorption device,a gait mimicking an inchworm’s movement is planned,and foot trajectory planning is performed using a quintic polynomial *** velocity constraints,foot trajectory optimization is achieved using an improved Particle Swarm Optimization(PSO)algorithm,determining the quintic polynomial function with the best fitness through ***,through comparative experiments,the climbing time of the robot closely matches the simulation results,validating the trajectory planning method’s accuracy.

关键词： bionic robot Wall-climbing robot PSO Gait planning Trajectory planning

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High precision intelligent flexible grasping front-end with CMOS interface for robots application

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Science China(Information Sciences) 2016年第3期59卷 176-186页

作者： Xiaohui HU Xu ZHANG Ming LIU Yuanfang CHEN Peng LI Jialin LIU Zhaolin YAO Weihua PEI Chun ZHANG Hongda CHEN Institute of Semiconductors Academy of Sciences Institute of Microelectronics Tsinghua University

This paper presents a high-precision intelligent flexible robot grasping front-end with an integrated capacitive tactile sensor array and a conditioning chip. The capacitive tactile sensor is the primary part of the front-end, it determines the overall performance. The micro-needle array sandwich structure in the tactile sensor increases the repeatability and stability, and ensures the sensitivity. The assembled sensor exhibits a saturation at 10.53 N(421 k Pa) with a sensitivity of 1.9%/k Pa. Furthermore, a conditioning chip is utilized in a custom readout interface to achieve better performance by reducing signal attenuation, and to increase the compatibility of the front-end. The chip is optimized for the parasitic shunt capacitance in the capacitor array. A dual bidirectional charge-discharge conversion method and a two-port detection method are matched to achieve the goal of reducing the shunting influence, and attenuating the offset voltage or the noise input effects. A prototype of the interface has been fabricated using 180-nm CMOS technology. Sensor with the value of 0.5 p F shunted by capacitors of 47 p F has been detected with an error of 1% within 100 μs.

关键词： Capacitive sensor array flexible sensor tactile sensor micro-needle array bionic robot

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Application of Forearm FMG signals in Closed Loop Modality-matched Sensory Feedback Stimulation

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Journal of bionic Engineering 2020年第5期17卷 899-908页

作者： Jing Wei Tan Yimesker Yihun Department of Mechanical Engineering Wichita State UniversityWichitaKansas 67260USA

This study is aimed at exploring a technology that can use the human physiological information,such as Force Myography(FMG)signals to provide sensory feedback to prosthetic hand *** is based on the principle that with the intent to move the prosthetic hand,the existing limbs in the arm recruit specific group of *** muscles react with a change in the cross-sectional area;piezoelectric sensors placed on these muscles will generate a voltage(FMG signals),in response to the change in muscle *** correlation between the amplitude of the FMG signals and intensity of pressure on fingertips during grasping is then computed and a dynamic relation(model)is established through system identification in *** estimated models generated a fitting accuracy of more than 80%.The model is then programmed into the Arduino microcontroller,so that a real-time and proportional force feedback is channeled to amputees through a micro *** such percentages of accuracy in sensory feedback without relying on touch sensors on the prosthetic hand that could be affected by mechanical wear and other interaction factors is *** advanced signal processing and classification techniques may also refine the findings to better capture and correlate the force variations with the sensory feedback.

关键词： FMG sensory feedback prosthetic hand bionic robot modality-matched sensory stimulation

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Reconfigurable Muscle Strength Training robot with Multi-mode Training for 17 Joint Movements

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Journal of bionic Engineering 2023年第1期20卷 212-224页

作者： Jianfeng Li Qiulin Fang Mingjie Dong Xi Rong Liwei Jiang Ran Jiao Beijing Key Laboratory of Advanced Manufacturing Technology Faculty of Materials and ManufacturingBeijing University of TechnologyBeijing100124People’s Republic of China The Affiliated Hospital of Qingdao University Qingdao266000People’s Republic of China The CSSC System Engineering Research Institute Beijing100094People’s Republic of China

Different from limb rehabilitation training,the purpose of muscle strength training is to reduce muscle atrophy and increase muscle strength and tolerance through strength training of limb muscles,and then improve the muscle strength level of muscles(groups),mainly for sports fitness and muscle strengthening groups and patients with muscle atrophy or muscle weakness caused by various *** this paper,we developed a new reconfigurable muscle strength training robot,a bionic robot by imitating physicians to conduct muscle strength training for patients,which was developed with six training modes for 17 joint movements,that is,the shoulder flexion/extension,the shoulder internal/external rotation,the shoulder adduction/abduction,the elbow flexion/extension,the wrist supination/pronation,the wrist flexion/extension,the wrist radial/ulnar deviation,the hip flexion/extension,the hip internal/external rotation,the hip adduction/abduction,the knee flexion/extension,the ankle dorsiflexion/plantarflexion,the ankle adduction/abduction,the ankle inversion/eversion,the waist flexion/extension,the waist left/right rotation,and the waist left/right *** reconfigurable mechanism was designed with fully electric adjuster and reconfigurable adaptors deployed on the driving unit,and six training modes were developed,namely,continuous passive motion,active exercise,passive–active exercise,isotonic exercise,isometric exercise and isokinetic *** with knee joint and elbow joint have shown that the developed reconfigurable muscle strength training robot can realize the multi-mode trainings for the 17 joint movements.

关键词： Reconfigurable mechanism bionic robot Muscle strength training 17 joint movements Multi-mode trainings

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Kinematics,Deformation,and Aerodynamics of a Flexible Flapping Rotary Wing in Hovering Flight

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Journal of bionic Engineering 2021年第1期18卷 197-209页

作者： Chao Zhou Jianghao Wu School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China School of Transportation Science and Engineering Beihang UniversityBeijing 100191China

The Flapping Rotary Wing(FRW)is a micro air vehicle wing layout coupling flapping,pitching,and rotating *** can gain bencfits in high lift from a fast passive rotating motion,which is tightly related to the passive pitching motion directly caused by wing flexible ***,flexible deformation is crucial for the wing kinematics and aerodynamic performance of an *** this paper,we explored the effct of flexibility on wing kinematics and acrodynamics on the basis of a mechanical FRW model.A photogrammetric method was adopted to capture motion images according to which wing orientations and deformations were *** acrodynamic force was computed using computational fluid dynamic method,and wing kinematics and deformations were used as simulation *** experimental measurements presented the real orientation and deformation pattem of a real *** wing passive deformation of a high-intensity FRW was found to be mainly caused by inertial force,and a linear positive spanwise twist was observed in the *** effects of wing deformation on aerodynamic force production and the underlying mechanism were *** showed that lift augment,rotating moment enhancement,and power efficiency improvement can be achieved when a wing becomes *** spanwise twist mainly accounts for these changes in aerodynamics,and increment in spanwise twist could further contributes to aerodynamic improvement.

关键词： bionic robot micro air vehicle flapping wing flexibility unsteady aerodynamic twist deformation

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A Unified Trajectory Optimization Approach for Long-Term and Reactive Motion Planning of Legged Locomotion

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Journal of bionic Engineering 2023年第5期20卷 2108-2122页

作者： Yapeng Shi Bin Yu Kaixian Ba Mantian Li School of Mechanical Engineering Yanshan UniversityNo.438 West Hebei AvenueQinhuangdao066004HebeiPeople’s Republic of China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001People’s Republic of China

This paper proposes a unified trajectory optimization approach that simultaneously optimizes the trajectory of the center of mass and footholds for legged *** on a generic point-mass model,the approach is formulated as a nonlinear optimization problem,incorporating constraints such as robot kinematics,dynamics,ground reaction forces,obstacles,and target *** unified optimization approach can be applied to both long-term motion planning and the reactive online planning through the use of model predictive control,and it incorporates vector field guidance to converge to the long-term planned *** effectiveness of the approach is demonstrated through simulations and physical experiments,showing its ability to generate a variety of walking and jumping gaits,as well as transitions between them,and to perform reactive walking in obstructed environments.

关键词： Legged locomotion Motion planning Trajectory optimization bionic robot

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A flexible capacitive tactile sensor array with micro structure for robotic application

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Science China(Information Sciences) 2014年第12期57卷 41-46页

作者： HU XiaoHui ZHANG Xu LIU Ming CHEN YuanFang LI Peng PEI WeiHua ZHANG Chun CHEN HongDa Institute of Semiconductors Academy of Sciences Institute of Microelectronics Tsinghua University

A flexible capacitive tactile sensor array with micro needle structure is proposed in this paper for robotic *** needle layer made of polydimethylsiloxane(PDMS)is sandwiched between the upper electrode layer made of PDMS and the bottom electrode layer fabricated on polyester(PET)*** PDMS material renders the device adequate flexibility as it can be rolled into a *** single cell size in the fabricated 4×4 sensors array is 0.7×0.5 cm2and the initial capacitance of each cell is 0.86 p *** fabricated cell shows a sensitivity of 3.26%/m N within the full scale range of 1 k *** micro needle structure gives better repeatability and *** maximum error during each measurement is about 3.2%,while the minimum error is about 1.2%.

关键词： capacitive sensor flexible tactile sensor micro needle bionic robot

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Wet-Driven bionic Actuators from Wool Artificial Yarn Muscles

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ACS APPLIED MATERIALS & INTERFACES 2023年第12期15卷 16232-16243页

作者： Li, Ke Shen, Hua Xue, Wenliang Donghua Univ Coll Text Key Lab Text Sci & Technol Minist Educ Shanghai 201620 Peoples R China

Nature-similar muscle is one of the ultimate goals of advanced artificial muscle materials. Currently, a variety of chemical and natural materials have been gradually developed for the preparation of artificial muscles. However, due to the scarcity, biological exclusion, and poor flexibility of the abovementioned materials, it is still a challenging process to maximize the imitation of behaviors shown by real muscles and commercial development. Here, this article presents multidimensional wool yarn artificial muscles, and the wet response behavior of fibers is induced in yarn muscles successfully by virtue of weakening the water-repellent effect of wool scales. Wool artificial muscles are cost-effective and widely available and have good biocompatibility. In addition, wool fiber assemblies are structurally stable, soft, and flexible to be processed into artificial muscles with torsional, contractile, and even multilayered structures, enabling various wet-driven behaviors. On the basis of the theoretical model and numerical simulation, we explained and verified the working mechanism employed in wool artificial yarn muscles. Finally, the yarn muscle was integrated into a wool muscle group through the textile technology, followed by the application to robot bionic arms, displaying the great potential of wool artificial yarn muscles in bionic drivers and the intelligent textile industry.

关键词： artificial muscle smart materials wool yarn moisture-driven actuators bionic robot

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