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Systematic Review on Wearable Lower Extremity robotic Exoskeletons for Assisted Locomotion

Journal of bionic Engineering 2023年第2期20卷 436-469页

作者： Shuang Qiu Zhongcai Pei Chen Wang Zhiyong Tang School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

Lower extremity robotic exoskeletons(LEEX)can not only improve the ability of the human body but also provide healing treatment for people with lower extremity *** are a wide range of application needs and development prospects in the military,industry,medical treatment,consumption and other felds,which has aroused widespread concern in *** paper attempts to review LEEX technical ***,the history of LEEX is briefy ***,based on existing research,LEEX is classifed according to auxiliary body parts,structural forms,functions and felds,and typical LEEX prototypes and products are ***,the latest key technologies are analyzed and summarized,and the research contents,such as bionic structure and driving characteristics,human–robot interaction(HRI)and intentawareness,intelligent control strategy,and evaluation method of power-assisted walking efciency,are described in ***,existing LEEX problems and challenges are analyzed,a future development trend is proposed,and a multidisciplinary development direction of the key technology is provided.

关键词： Lower extremity robotic exoskeletons bionic robot Classifcation method Human-robot interaction Biomechatronic

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Design of a Novel Exoskeleton with Passive Magnetic Spring Self-locking and Spine Lateral Balancing

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Journal of bionic Engineering 2024年第1期21卷 236-255页

作者： Jhon F.Rodríguez-León Betsy D.M.Chaparro-Rico Daniele Cafolla Francesco Lago Eduardo Castillo-Castañeda Giuseppe Carbone Centro de Investigacion en Ciencia Aplicada y Tecnologia Avanzada Unidad Querétaro MecatronicaInstituto Politécnico NacionalCerro Blanco 14176090 Colinas del CimatarioQuerétaroMexico Department of Mechanical Energy and Management EngineeringUniversity of CalabriaVia P.Bucci Cubo 46 C87036 RendeItaly Faculty of Science and Engineering Department of Computer ScienceSwansea UniversitySwanseaUK CESTER University of Cluj-NapocaCluj-NapocaRomania

This paper proposes a new upper-limb exoskeleton to reduce worker physical *** proposed design is based on a novel PRRRP(P-Prismatic;R-Revolute)kinematic chain with 5 passive Degrees of Freedom(DoF).Utilizing a magnetic spring,the proposed mechanism includes a specially designed locking mechanism that maintains any desired task *** proposed exoskeleton incorporates a balancing mechanism to alleviate discomfort and spinal torsional effects also helping in limb weight *** paper reports specific models and simulations to demonstrate the feasibility and effectiveness of the proposed *** experimental characterization is performed to validate the performance of the mechanism in terms of forces and physical strain during a specific application consisting of ceiling-surface drilling *** obtained results preliminarily validate the engineering feasibility and effectiveness of the proposed exoskeleton in the intended operation task thereby requiring the user to exert significantly less force than when not wearing it.

关键词： Assistive mechanism Exoskeleton Locking mechanism bionic robot

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The Impulse Excitation Joint Servo Drive Design and Adaptive Backstepping Control of Humanoid robots

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Journal of bionic Engineering 2018年第1期15卷 114-125页

作者： Kcqiang Bai Minzhou Luo Tao Li Jue Wu Southwest University of Science and Technology Mianyang 621010 China Department of Automation School of Information Science of Technology University of Science and Technology of China Hefei 230026 China Institute of Advanced Manufacturing and Technology Hefei Institute of Physical Science Chinese Academy of Sciences Changzhou 213164 China

This study aims to explore the humanoid robot joint servo drive integration design and adaptive backstepping control. To make the humanoid robot have explosive power as the human does, simply increasing the power output of the motor of a lightweight design cannot meet the demand of moving heavy objects and so on. Moreover, the backstepping control algorithm is designed to implement the dual-arm cooperative control. The joint servo drive is redesigned in the present study, which can drive the motor at a limitation state when needed output high-voltage pulse can stimulate the motor so that the motor can produce an instantaneous large torque. A miniature design scheme is presented in this study for the servo drive, explaining the design method of each part module. The ex- perimental data illustrate that the servo drive can produce an output torque greater than the rate of the high-voltage pulse that stimulates the motor. Knowledge of the control of humanoid robot moving a heavy object has important practical significance. The present study provides a complete actual problem and exhibits a real practical use case which can be used to speed up the explosive humanoid robot arms.

关键词： adaptive backstepping control bionic robot drive integration design impulse excitation servo drive

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Performance Analysis and Flexible Control of a Novel Ball Double-screw Hydraulic robot Knee Joint

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Journal of bionic Engineering 2023年第5期20卷 2147-2163页

作者： Jie Shao Yongming Bian Meng Yang Guangjun Liu School of Mechanical Engineering Tongji UniversityShanghai201804China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou310027China Department of Control Science and Engineering Tongji UniversityShanghai201804China National Engineering Technology Research Center for Prefabrication Construction in Civil Engineering Tongji UniversityShanghai200092China

Focusing on the ball double-screw hydraulic knee joint as the research object,this paper analyzes the load driving performance of the hydraulic knee *** the posture data of the human body such as walking,squatting and landing buffer as initial learning objects,motion features are *** simplifying the trajectories of different motion actions into key feature control points and flexible trajectory fitting,the trajectory of joint actions is *** method can realize the adaptability of the hydraulic robot knee joint in different movements,and take the flexible action as the optimization goal under the condition of ensuring the movement performance,so as to reduce the damage to the knee joint caused by the foot impact in *** simulation model was built by Adams and Matlab to complete the performance analysis and motion optimization experiment of the knee *** simulation results show that the foot impact force of the experimental model decreases gradually through ***,the method is applied to the hydraulic joint experimental prototype to prove its load capacity and flexible motion control performance.

关键词： bionic robot Ball double-screw hydraulic joint robot knee joint Performance analysis Humanoid motion control Flexible control

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Research on Gliding Aerodynamic Effect of Deformable Membrane Wing for a robotic Flying Squirrel

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Journal of bionic Engineering 2018年第2期15卷 379-396页

作者： Xuepeng Li Wei Wang Yifan Tang Linqing Wang Tao Bai Fei Zhao Yushen Bai Robotics Institute Beihang University Beijing 100191 China School of Energy and Power Engineering Beihang University Beijing 100191 China Ministry-of-Education Key Laboratory of Fluid Mechanics Beihang University Beijing 100191 China Department of Mechanical and Aerospace Engineering University of California San Diego CA 92093 USA

Inspired by creatures with membrane to obtain ultra-high gliding ability, this paper presents a robotic flying squirrel （a novel gliding robot） characterized as membrane wing and active membrane deformation. For deep understanding of membrane wing and gliding mechanism from a robotic system perspective, a simplified blocking aerodynamic model of the deformable membrane wing and CFD simulation are finished. In addition, a physical prototype is developed and wind tunnel experiments are carried out. The results show that the proposed membrane wing is able to support the gliding action of the robot. Meanwhile, factors including geometry characteristics, material property and wind speed are considered in the experiments to investigate the aerodynamic effects of the deformable membrane wing deeply. As a typical characteristic of robotic flying squirrel, deformation modes of the membrane wing not only affect the gliding ability, but also directly determine the effects of the posture adjustment. Moreover, different deformation modes of membrane wing are illustrated to explore the possible effects of active membrane deformation on the gliding performance. The results indicate that the deformation modes have a significant impact on posture adjustment, which reinforces the rationality of flying squirrel＇s gliding strategy and provides valuable information on prototype optimal design and control strategy in the actual gliding process.

关键词： robotic flying squirrel deformable membrane wing active membrane deformation gliding mechanism bionic robot

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sEMG-Based Lower Limb Motion Prediction Using CNN-LSTM with Improved PCA Optimization Algorithm

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Journal of bionic Engineering 2023年第2期20卷 612-627页

作者： Meng Zhu Xiaorong Guan Zhong Li Long He Zheng Wang Keshu Cai School of Mechanical Engineering Nanjing University of Science and TechnologyNo.200XiaolingweiNanjing CityJiangsu ProvinceChina Department of Rehabilitation Medicine The First Affiliated Hospital of Nanjing Medical University300 Guangzhou RoadNanjing CityJiangsu ProvinceChina

In recent years,sEMG(surface electromyography)signals have been increasingly used to operate wearable *** development of mechanical lower limbs or exoskeletons controlled by the nervous system requires greater accuracy in recognizing lower limb *** is less research on devices to assist the human body in uphill ***,developing controllers that can accurately predict and control human upward movements in real-time requires the employment of appropriate signal pre-processing methods and prediction *** this purpose,this paper investigates the effects of various sEMG pre-processing methods and algorithms on the prediction *** investigation involved ten subjects(five males and five females)with normal knee *** relevant data of the subjects were collected on a constructed *** obtain feature values that reflect the gait characteristics,an improved PCA algorithm based on the kernel method is proposed for dimensionality reduction to remove redundant ***,a new model(CNN+LSTM)was proposed to predict the knee joint *** approaches were utilized to validate the superiority of the improved PCA method and CNN-LSTM *** feasibility of the method was verified by analyzing the gait prediction results of different ***,the prediction time of the method was 25 ms,and the prediction error was 1.34±0.25 *** comparing with traditional machine learning methods such as BP(backpropagation)neural network,RF(random forest),and SVR(support vector machine),the improved PCA algorithm processed data performed the best in terms of convergence time and prediction accuracy in CNN-LSTM *** experimental results demonstrate that the proposed method(improved PCA+CNN-LSTM)effectively recognizes lower limb activity from sEMG *** the same data input,the EMG signal processed using the improved PCA method performed better in terms of prediction *** is the first step toward myoelectri

关键词： CNN LSTM Exoskeleton sEMG Knee trajectory PCA bionic robot

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Limb Stiffness Improvement of the robot WAREC-1R for a Faster and Stable New Ladder Climbing Gait

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Journal of bionic Engineering 2023年第1期20卷 57-68页

作者： Xiao Sun Akira Ito Takashi Matsuzawa Atsuo Takanishi Department of Mechatronics University of YamanashiYamanashi400-8511Japan Faculty of Science and Engineering Waseda UniversityTokyo162-8480Japan

Ladder climbing is a relatively new but practical locomotion style for robots. Unfortunately, due to their size and weight, ladder climbing by human-sized robots developed so far is struggling with the speedup of ladder climbing motion itself. Therefore, in this paper, a new ladder climbing gait for the robot WAREC-1R is proposed by the authors, which is both faster than the former ones and stable. However, to realize such a gait, a point that has to be taken into consideration is the deformation caused by the self-weight of the robot. To deal with this issue, extra hardware (sensor) and software (position and force control) systems and extra time for sensing and calculation were required. For a complete solution without any complicated systems and time only for deformation compensation, limb stiffness improvement plan by the minimal design change of mechanical parts of the robot is also proposed by the authors, with a thorough study about deformation distribution in the robot. With redesigned parts, ladder climbing experiments by WAREC-1R proved that both the new ladder climbing gait and the limb stiffness improvement are successful, and the reduced deformation is very close to the estimated value as well.

关键词： Ladder climbing Legged robot bionic robot Gait.Stiffness improvement Finite element analysis

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Wing Modulation and Aerodynamics of Hoverflies in Gust Perturbations

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Journal of bionic Engineering 2023年第2期20卷 711-721页

作者： Yanlai Zhang Mancang Gu Jianghao Wu School of Transportation Science and Engineering Beihang UniversityBeijing100191China

Flapping-Wing Micro-Air Vehicles are likely to suffer from airflow *** can mimic the wing modulation of insects in airflow ***,our knowledge of wing modulation of insects to airflow perturbations remains ***,we subjected hoverflies to headwind and lateral gust perturbations and filmed their wing ***,computational fluid dynamics was employed to estimate the effects of hoverflies’wing kinematic *** also clipped off the antennae of hoverflies to test whether the wing kinematic modulations were *** show that hoverflies increase the mean positional angle and modulate the deviation angle to make the wing tip paths of upstroke and downstroke close to compensate for the pitch moment perturbations in the headwind *** employ asymmetric responses in positional angle in the lateral *** stroke amplitude of the left(right)wing increases(decreases)and the mean positional angle of the left(right)wing decreases(increases)during the right lateral *** have little effect on the wing kinematic modulations in the lateral *** asymmetric responses produce a roll moment,tilting the body to resist the side force generated by the *** is a typical helicopter model employed by hoverflies to alleviate the *** results provide insight into the remarkable capacity of hoverflies to contend with gusts and can also inspire the design of flapping-wing micro-air vehicles.

关键词： Insect flight Stabilization control Wing modulation Gust perturbations Flapping-wing micro-air vehicles bionic robot

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Mechatronic Design of a robot for Upper Limb Rehabilitation at Home

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Journal of bionic Engineering 2021年第4期18卷 857-871页

作者： Elio Matteo Curcio Giuseppe Carbone Department of Mechanical Energyand Management EngineeringUniversity of Calabria Via BucciCubo 46C87036 RendeItaly

This paper addresses the design of a novel bionic robotic device for upper limb rehabilitation tasks at *** main goal of the design process has been to obtain a rehabilitation device,which can be easily portable and can be managed remotely by a professional *** allows to treat people also in regions that are not easily reachable with a significant cost *** potential benefits can be envisaged,for instance,in the possibility to keep social distancing while allowing rehabilitation treatments even during a pandemic *** attention has been devoted to design the main mechatronic components by developing specific kinematics and dynamics *** design process includes the implementation of a specific control hardware and *** experimental tests are reported to show the effectiveness and feasibility of the proposed design solution.

关键词： bionic robot design simulations parallel robots upper limb rehabilitation

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A Simplified Model, Dynamic Analysis and Force Estimation for a Large-scale Orinthopter in Forward Flight Based on Flight Data

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Journal of bionic Engineering 2020年第5期17卷 989-1008页

作者： Mohammad Ali Amini Moosa Ayati Mohammad Mahjoob School of Mechanical Engineering College of EngineeringUniversity of TehranNorth Kargar StreetTehranIran

Similarities and differences of a large-scale flapping-wing robot with fixed-wing UAVs in equations of motion,trim curves,and aerodynamic forces in forward flight are discussed in this paper and a simplified model for flapping flight is *** to the high Wing to Total Weight(WTW)ratio of large-scale omithopters,simple rigid body dynamics is not accurate enough for flight dynamics *** the other hand,the multi-body dynamics associated with flapping gives little insight into the behavior of the resulting model due to complexity of *** is also difficult to design proper controllers for such complicated *** this paper,the effects of different terms of multi-body equations of ornithopter on the estimated aerodynamic forces are studied via experimental flight data.A simpler but yet accurate set of equations is obtained by removing less effective terms from original *** presented model is in the form of normal aircraft equations plus some additional terms which can be used in different control and estimation *** addition,trim conditions of forward flight are extracted using several flight tests,and corresponding periodic behavior of states and forces are *** studies are applicable for identifying time-periodic models.

关键词： flapping wing robot bionic robot ornithopter trim condition analysis low-order modeling aerodynamic force estimation

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