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A Triboelectric Multifunctional Sensor Based on the Controlled Buckling Structure for Motion Monitoring and Bionic Tactile of Soft Robots

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SSRN 2022年

作者： Xu, Jinsui Xie, Zhijie Yue, Honghao Lu, Yifan Yang, Fei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China College of mechanical and electrical engineering Northeast Forestry University Harbin150042 China

Soft robots have unlimited degrees of freedom, which limits the application of traditional sensors in the field of soft robots. Therefore, continuous motion monitoring and tactile feedback for soft robots have been challenging. To address this challenge, this paper proposes a multifunctional sensor by combining controlled buckling structure with triboelectric nanogenerator for the first time to detect and control grasping, realize two-dimensional (2D) planar motion, and achieve adaptive obstacle avoidance in soft robots. A 2D kirigami electrode is compressed and buckled into a stretchable three-dimensional (3D) structure by pre-stretching the substrate. The proposed soft grasping system sensor can detect the bending angle of a soft gripper to identify the size of a grasped object, achieving a detection accuracy of 91.67%. By alternately arranging the buckling electrodes to form a 2D spatial decoupling structure, the 2D motion sensor (2DMS) can detect the movement direction and real-time position of a robot with an accuracy rate of 83.33%. Using the compressible properties of the buckling 3D structure, the inchworm-like soft robot (I-LSR) tactile sensor can sense the surrounding environment, thereby realizing dynamic obstacle avoidance. The proposed novel multifunctional triboelectric sensor by combining the properties of controlled buckling structure provides a theoretical and experimental basis for high-precision motion detection and intelligent obstacle avoidance for soft robots. © 2022, The Authors. All rights reserved.

关键词： Buckling

A simulation framework for ultrasound-guided minimally invasive robotic breast surgery

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A simulation framework for ultrasound-guided minimally invas...

IEEE International Conference on robotics and Biomimetics

作者： Le Zhang Yanchen Ye Baoshan Niu Genliang Xiong Dapeng Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin HeilongJiang China School of Mechanical and Automotive Engineering Shanghai University of Engineering Science Shanghai China

ISBN: (纸本)9781665481106

Surgical simulation plays an essential role for surgeons to familiarize themselves with surgical procedures and improve the success rate of surgery. In this paper, a flexible and easy-extendable intervention surgery simulation framework was presented, which can perform virtual simulation training and realize synchronous interaction between the real and virtual environment. In particular for breast surgery, the simulation framework was exemplified for an ultrasound-guided minimally invasive robotic breast surgery. The framework used Visual Studio ® (Microsoft, USA) and Chai3D open graphics library to realize the virtual surgery environment, and integrated the anti-collision warning of the robotic arms and teleoperation communication support. A layered deformation model of breast was established based on the Mass-Spring Model to simulate the real-time deformation of breast during puncture surgery. In addition, due to the hyperelasticity and great deformation characteristics of breast soft tissue, we further used an improved meshless Radial Point Interpolation Method to improve the simulation accuracy of breast soft tissue deformation model. Finally, experiments on robot pressing a rectangular parallelepiped breast phantom were carried out to verify the simulation accuracy of the deformation model.

关键词： Deformable models Training Visualization Ultrasonic imaging Minimally invasive surgery Biological system modeling Biological tissues

Design and Analysis of a Drive and Perception Integration Manipulator for Spinal Surgery

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Design and Analysis of a Drive and Perception Integration Ma...

Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Lunan Wu Zhijiang Du Hongjian Yu Jiancheng Wang State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

ISBN: (数字)9781665414890

ISBN: (纸本)9781665430531

This paper presents the design of a hybrid manipulator for spinal surgery which has a feature of drive and perception integration. The parallel part of the robot which controls position and posture of the terminal is based on a two-level cross slide structure with an additional serial end effector for the axial feed. The series part which controls the feed of surgical tool is driven by a brushless motor through a leadscrew nut. The dexterity of robot is evaluated through calculating the position and posture condition number. The cross slide is driven by a synchronous belt and the corresponding driving force is measured by sensitive elements attached on the fixed structure of idler wheels. Meanwhile, driving force of the feeding structure is obtained with an improved micro force sensor. Finally, linearity of these sensors is measured to test the reliability of design.

关键词： Medical robotics Force Surgery Robot sensing systems Belts Sensors Robots

Research on Medical Image Encryption Method Based on Chaotic Scrambling and Compressed Sensing 1st

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Research on Medical Image Encryption Method Based on Chaotic...

1st International Conference on Big Data and Security, ICBDS 2019

作者： Liu, Yubin Pang, Ming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China College of Automation Harbin Engineering University Harbin China

ISBN: (纸本)9789811575297

In order to improve the security of medical images, a new image encryption method is proposed in this paper. In this method, the chaos theory is used to set the initial state and key, and then the measurement equation constructed by compressed sensing is used to complete the fusion encryption. The fusion of the two theories achieves the effect of chaotic uniform scrambling on the one hand, and on the other hand, the encrypted image can still accurately recover the real image when it is compressed to a fairly small size. Experiments are carried out on three groups of medical images. The experimental results show that the proposed encryption method achieves an ideal encryption effect for medical images. Under the condition that the encrypted image is compressed to 1/4 of the original image, the decryption can still be completed effectively. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Compressed sensing

Corrigendum to “Development of a 3-DOF rotary piezoelectric actuator with compact structure” [International Journal of Mechanical Sciences, 2024, 262: 108749]

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International Journal of Mechanical Sciences 2024年 271卷

作者： Jie Deng Chenglin Yang Qingbing Chang Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology

A Novel Variable Stiffness Actuator Based on a Rocker-Linked Epicyclic Gear Train

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SSRN 2022年

作者： Li, Zhisen Xu, Peng Huang, Hailin Ning, Yinghao Li, Bing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Zhengzhou Electromechanical Engineering Research Institute Zhengzhou450015 China

This paper presents a novel variable stiffness actuator based on a rocker-linked epicyclic gear train (REGT-VSA). The stiffness adjustment principle of the actuator is to change the lever ratio of force by converting the differential motion of the planetary gear train into the linear motion of the elastic element. The unique design of the rocker-linked epicyclic gear train ensures the compactness of structure and the accuracy of transmission. The simultaneous relocations of the pivot and torsion spring permit a wide-range stiffness adjustment. By introducing a linear guide and a cam follower, the internal friction is reduced, and the energy efficiency is improved. A prototype and its trajectory tracking controller are developed to evaluate the performance of REGT-VSA. An exponential function is used to train the neuron proportion coefficient of the conventional single-neuron adaptive PID (proportional-integral-derivative) controller to compensate for the hysteresis of elastic elements, thus creating the dynamic single-neuron adaptive PID controller. The stiffness identification and trajectory tracking experiments under different conditions prove the feasibility of the actuator and the proposed algorithm. © 2022, The Authors. All rights reserved.

关键词： Proportional control systems

Constant Direct Current Triboelectric Nanogenerator Based on Soft-Contact Mode for Self-Powered Cathodic Protection

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SSRN 2022年

作者： Li, Ming Jiang, Tianyi Ren, Yukun Jiang, Hongyuan School of Mechatronics Engineering Harbin Institute of Technology West Da-zhi Street 92 Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology West Da-zhi Street 92 Heilongjiang Harbin150001 China

Triboelectric nanogenerator (TENG) has been proved to be a promising technology for harvesting decentralized energy. However, the application fields of the traditional TENGs are limited by the high crest factor. Here a constant direct current TENG (CDC-TENG) with low crest factor is proposed by connecting three rotating TENGs with specific phase difference (Δ θ ) in parallel. Excellent wear resistance and humidity resistance are demonstrated owing to the soft-contact mode and 3D encapsulated design. For the CDC-TENG (3P6E), the crest factor surprisingly decreases to 1.05 while that of the TENGs without Δ θ is up to 1.31. Meanwhile, the current density up to 3021 μA·m -2 is achieved at the rotation speed of 500 r·min -1 . Then, owing to the excellent output of constant direct current (DC), a commercial timer is directly driven by the CDC-TENG without using capacitor. Finally, the CDC-TENG is used as the power source of cathodic protection (CP) system, which exhibits an excellent corrosion protection effect. In general, this work provides a meaningful template for TENGs to broaden the marine industrial applications of constant DC demand. © 2022, The Authors. All rights reserved.

关键词： Nanogenerators

A Soft Robotic system Imitating the Multimodal Sensory Mechanism of Human Fingers for Intelligent Grasping and Recognition

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SSRN 2024年

作者： Xu, Jinsui Xu, Boyi Zhan, Hao Xie, Zhijie Tian, Zhen Lu, Yifan Wang, Zheping Yue, Honghao Yang, Fei South China University of Technology China State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Wu Xianming School of Intelligent Engineering South China University of Technology Guangzhou510641 China College of Mechanical and Electrical Engineering Northeast Forestry University Harbin150042 China Science and Technology on Space Physics Laboratory China Academy of Launch Vehicle Technology Beijing100000 China

The sensory function is crucial for achieving precise feedback control and environmental interaction in soft robots. Therefore, the multimodal sensory capabilities that mimic human fingers have always been a research hotspot. This study proposes a design method for a soft robotic gripper that can emulate the multimodal perception mechanism of human fingers and achieve high-precision recognition of grasped objects using machine learning algorithms. In addition, a finger texture structure inspired by human fingerprints is designed using a negative pressure-induced buckling method to enhance the soft gripper's ability to perceive minute surface textures. Inspired by slow adapting (SA) receptors and fast adapting (FA) receptors of human fingers, this study designs a capacitive curvature sensor (CS) and a triboelectric texture sensor (TS) to detect the size, material, and texture of objects. Furthermore, a non-contact medium identification sensor (MIS), having a sensitivity of more than 1300 times higher compared to the traditional MISs, is fabricated using the principle of electromagnetic resonance. It is shown that by employing a deep learning-based multi-channel feature fusion network, the soft grasping system with multimodal sensing can achieve an object recognition accuracy of 98.43%. This work provides an innovative approach for the application of soft robots in various fields, such as logistics sorting and food safety. © 2024, The Authors. All rights reserved.

关键词： Textures

A Novel Seesaw-Like Piezoelectric Energy Harvester for Low Frequency Vibration

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SSRN 2022年

作者： Yu, Han Hou, Chengwei Shan, Xiaobiao Zhang, Xingxu Song, Henan Zhang, Xiaofan Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace Northwestern Polytechnical University Xi'An710072 China

This paper presents a novel seesaw-like piezoelectric energy harvester which has rotating motions to enhance the harvesting performance at low frequency vibrations. Firstly, the designing of the harvester with the specific structure was accomplished, and then the finite element analysis was conducted to simulate its dynamic characteristics. Finally, the prototype of the harvester was fabricated whose power generating behaviors were experimentally investigated. The influence of key structural parameters on the energy harvesting performance was evaluated by a combination of simulation and experiment. The results indicated that the energy harvester reached the second-order resonance at a low frequency due to the adoption of the rotating shaft. And the composite beam of the harvester was involved in a significant strain. The efficiency of the harvester is relevant to the system moment of inertia and the excitation acceleration. The second-order resonant frequency of the harvester is as low as 19.18 Hz. When the excitation acceleration is 2.94 m/s2, the maximum output voltage and power of the harvester are 49.15 V and 4.03 mW respectively, which demonstrate the superior harvesting performance of the structure. This work can provide a novel method for designing efficient ambient energy harvesters supplying for low-power electronic devices. © 2022, The Authors. All rights reserved.

关键词： Piezoelectricity