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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Fu, Yili Yu, Ying Wang, Shuguo State Key Laboratory of Robotics and System Science Park Harbin Institute of Technology Harbin 150001 China Jiamusi University Jiamusi 154007 China

ISBN: (纸本)9781457721373

According to characteristics of abdominal minimally invasive robotic surgical tasks, based on performant industrial computer platform, an extended multifunctional hardware communicates with PCI-bus is designed, a master-slave control system is studied. In order to solve the problem of low responsivity caused by traditional inverse kinematics transformation method, a algorithm based on equivalent differential transformation suitable for real-time master-slave surgical robot control is put forward, and the accumulated error of the algorithm is eliminated by feedback mechanism. A fast trajectory planning method efficient in real-time master-slave surgical robot control is put forward to replace traditional trajectory prediction and off-line calculation. Finally, in order to avoid the impact on the accuracy of the system coursed by hand-trembling of operators, a digital filter is designed to help filtering the master manipulator signal. © 2011 IEEE.

关键词： Inverse kinematics

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Analysis and experiment of stick-slip motion principle in a legged microrobot

Analysis and experiment of stick-slip motion principle in a ...

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6th International Forum on Strategic technology, IFOST 2011

作者： Li, Weida Li, Juan Hu, Haiyan Li, Mantian Sun, Lining School of Mechanical and Electric Engineering Soochow University Suzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457703966

To solve the contradiction between high speed with high resolution for micro robot, a legged micro robot based on dual locomotion principles is presented. The dual locomotion principles include stick-slip principle in non-resonant condition and impact principle in resonant condition, which are respectively for high resolution and high velocity. Stick-slip principle is discussed mainly in this paper. Firstly, its driving process is divided into sticky phase and slip phase, in which static analysis and transient dynamic analysis is preceded respectively. Secondly, the relation between mechanism's vibration with friction force is analyzed by using numerical simulation method. And then the stick-slip principle is revealed based by micro robot. A legged micro robot prototype is developed, whose dimension is 70mm×35mm× 15mm and weight is about 3g. Experimental results show that the locomotion resolution of the prototype reaches 0.896 mm in forward direction when driving voltage is 10V. And the changing trend of resolution with voltage is consistent with theoretic analysis, which approves the validity of the analysis. © 2011 IEEE.

关键词： Stick-slip

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Two-dimension guidance control and simulation of a colonoscopic robot

Two-dimension guidance control and simulation of a colonosco...

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6th International Forum on Strategic technology, IFOST 2011

作者： Hu, Haiyan Li, Weida Li, Juan Li, Mantian Sun, Lining School of Mechanical and Electric Engineering Soochow University Suzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457703966

Continuum robots feature continuously deformable backbone as opposed to traditional robots featuring rigid links and identifiable rotational joints. Due to their compliance and high dexterity, continuum robots have good potential application in minimally invasive surgery(MIS). In order to develop a colonoscopic robot which can perform inspection of human colon and do MIS but much less discomfort for the patient, a novel continuum robot for colonoscopy is designed. The robot consists of 5 sections, and each section has 2 degrees of freedom(DOF) and is 12mm in diameter and 120mm in length. This paper briefly introduces the mechanical structure and kinematics of colonoscopic robot first. For simplicity but without loss of generality, a 2-D model of human colon is built according to the anatomy of human colon. In order to achieve a semiautomatic guidance, the guidance control algorithm and implemention method for single section and multiple section colonoscopic robot is developed based on the 2-D colon model. Finally, the simulation is carried out to verify the kinematics and guidance control algorithm. This study lays a foundation for the clinic application of robotic colonoscopy. © 2011 IEEE.

关键词： Degrees of freedom (mechanics)

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Research on state-guided teleoperation assistance method

Research on state-guided teleoperation assistance method

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International Conference on Computer Science and Service system

作者： Zang, Xizhe Zhao, Jie Meng, Qingxin State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang 150080 China School of Mechanical and Electrical Engineering Harbin Engineering University Harbin 150001 China

ISBN: (纸本)9781424497638

Toward the Internet-based robotic tasks, a state-guided teleoperation assistance method is presented. According to this method, the whole task can be identified into several states to direct the execution of teleoperation, through state definition, state recognition and state display. After building up an Internet-based teleoperation system centered on data fusion, the remote manipulations of medical treatment are accomplished finally. The experiment demonstrates that introduction of the assistance method alleviates the difficulties such as network time-delay effectively and operation efficiency, improving the global capacity of system. © 2011 IEEE.

关键词： Remote control

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Sliding mode control based hybrid closed-loop design for stable walking of biped robot with heterogeneous legs

Sliding mode control based hybrid closed-loop design for sta...

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Wang, Fei Wen, Shiguang Wu, Chengdong Cheng, Zhiyong State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 158100 China

ISBN: (纸本)9781424481149

Biped robot with heterogeneous legs (BRHL) is a new kind of robotic mode consist of artificial leg (AL) used to simulate healthy lower limb and bionic leg corresponding to lower limb prosthesis worn by amputee. The bionic leg recognizes and tracks the gait of AL in real-time to realize stable walking of the whole robotic system. To achieve smooth, effective and human-like gait for AL, s-curve interpolation was employed to fit the discrete data points generated by linear inverted pendulum model. A hybrid closed-loop system was constructed to improve the gait tracking accuracy and sliding mode control was designed for outer loop of the joints' servo system. Simulations and experiments were conducted under level walking condition. The results indicate the correctness and effectiveness of the proposed scheme. © 2011 IEEE.

关键词： Sliding mode control

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Robot-assisted needle insertion strategies based on liver force model

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Jiqiren/Robot 2011年第1期33卷 66-70页

作者： Sun, Yinshan Wu, Dongmei Du, Zhijiang Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Considering the safety and accuracy issues caused by soft tissue deformation in robot-assisted percutaneous surgery, this paper presents two strategies for robot-assisted needle insertion into porcine liver based on needle insertion force model, structure and force characteristics of porcine liver. The first strategy requires the robot to automatically stop propelling the needle in the moment that the needle enters into the liver, and then continue to propel the needle with the half speed after the liver returns to relaxed state, aiming to minimize the inaccuracy caused by soft tissue deformation and improve surgical accuracy. The second strategy requires the robot to automatically stop propelling the needle if the needle insertion force exceeds ″critical line″ of the liver force model after the needle enters into the liver, and then continue to propel the needle after troubleshooting, aiming to avoid accidents during the needle insertion into the liver and improve surgical safety. The experimental results verify the effectiveness of our strategies for robot-assisted needle insertion.

关键词： Needles

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Turning in place motion control of two pendulums driven spherical robot

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harbin Gongye Daxue Xuebao/Journal of harbin institute of technology 2011年第11期43卷 49-53页

作者： Zhao, Bo Li, Man-Tian Sun, Li-Ning State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Harbin China

Considering the turning in place motion as an independent motion which can enhance the mobility of spherical robot, a turning in place motion control method of two pendulums driven spherical robot is studied. First, the mechanism characteristics of two pendulums driven spherical robot are introduced, and then the force condition of turning in place motion is analyzed based on D'alembert's principle and the motion principle of turning in place motion of two pendulums driven spherical robot is discussed, finally, the dynamic model of turning in place motion is constructed. The whole process of turning in place motion is divided into three stages which are startup stage, stick stage and slip stage respectively, and a stick-slip principle for turning in place motion control is proposed. The effectiveness of the control method is validated by both simulation and prototype experiment.

关键词： Stick-slip

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Piezo-powered Micro-dissection system with ultrasonic vibration

Piezo-powered Micro-dissection system with ultrasonic vibrat...

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作者： Chen, Liguo Liu, Yaxin Sun, Lining Robotics and Microsystems Center Soochow University Suzhou 215021 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9789881725592

In biomedical areas, Micro-dissection technology plays an important role for Cancer Genomics, through which pure population of targeted cells can be procured from tissue sections for subsequent analysis. In this paper, a novel Piezo-powered Micro-dissection system using ultrasonic vibration was developed. First, the Piezo-powered Micro-dissection principle and system construction will be introduced briefly. Then the key component of the system, piezo-powered micro-dissection tool, is proposed in detail. The micro-dissection tool could vibrate with the frequency scope from 0.5k to40K and the amplitude scope from 0 to 2m. Finally, a variety of experiments about bio-micro-dissection on liver tissue slice were carried out, and the experiments show the feasibility of the micro-dissection method with ultrasonic vibration. The new micro-dissection method can be adopted in the bio-micro-manipulation field and it can also significantly promote the development of Biomedical Engineering. © 2011 Chinese Assoc of Automati.

关键词： Microdissection

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Study of gait symmetry quantification and its application to intelligent prosthetic leg development

Study of gait symmetry quantification and its application to...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Wang, Fei Kim, Kijun Wen, Shiguang Wang, Yaning Wu, Chengdong College of Information Science and Engineering Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781457721373

Human bipedal walking is symmetrical, stable and efficiency optimal. To clarify the essential relationship in human gait, accelerometers and rate gyroscopes are mounted on waist and lower extremities of subject to acquire kinematics information during walking. By employing Principal Component Analysis (PCA), kinematics signals of one side are reconstructed using that of opposite side. The reconstructed signals match the acquired ones very well, which verifies the existence of strong linear correlations in healthy human gait. To evaluate the symmetry of gait quantitatively, several classical temporal-spatial features for gait calculated by algorithms involving autocorrelation function are selected for construction of quantitative criterions by combining with symmetry indices. For the validation of gait symmetry quantification scheme, level walking experiments including healthy human subjects and human-intelligent prosthetic leg coupling system are conducted. Results indicate the correctness and effectiveness of the proposed scheme and gait symmetry analysis shows great potential in the field of bio-medical rehabilitation. © 2011 IEEE.

关键词： Principal component analysis

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Dynamic simulation and gravity balancing optimization of spot welding robot based on RecurDyn

Dynamic simulation and gravity balancing optimization of spo...

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Wang, Yan-Shen Ge, Lian-Zheng Xie, Ping-Chun Gai, Yu-Xian Department of Mechanical Engineering Harbin Institute of Technology at Weihai Weihai Shandong Province 264209 China State Key Laboratory of Robotics and System School of Mechatronics Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781424481149

Driving torques of a specific type of spot welding robot was simulated in RecurDyn, which provided useful information for motor selecting and gravity balancing. According to D-H parameters of the robot parts of the robot were modeled separately and then assembled to form the robot, in Pro/Engineer. Imported into RecurDyn and adding necessary constraints, the virtual prototype of the robot was constructed in RcurDyn for dynamic simulation. Time dependent torque variations of every joint were got by simulation, which facilitated motor selection. The spring for sustaining the gravity of robots links was also optimized through the simulation analysis of torques in Joint 2. © 2011 IEEE.

关键词： Spot welding

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