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4th International Conference on robotics and Automation Sciences, ICRAS 2020

作者： Xiao, Yongfei Ji, Xiangjing Wu, Hao Zhai, Xinpeng Fu, Xiaochun Zhao, Jie Institute of Automation Qilu University of Technology Shandong Academic of Science Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Jinan China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781728198576

In order to solve the problem of poor human-machine compliance of wearable lower extremity exoskeleton robots, a modified lower extremity exoskeleton with a four-bar mechanism in the knee joint is proposed and analyzed. The advantages of the four-bar mechanism relative to the traditional two-bar hinge structure are explained by analyzing the physiological characteristics of the human knee joint. In addition, the kinematics of traditional and modified lower extremity exoskeletons are compared. The constraint relationship and motion equations of instantaneous rotating center of the four-bar linkage knee joint are derived. Finally, gait simulations are performed on the two lower extremity exoskeleton models to obtain the position and angle information of the joints. The influence of the four-bar mechanism of bionic knee joint on the lower extremity exoskeleton is described. The simulation results show that the modified lower extremity exoskeleton not only improves the biomimetic performance of knee joint, but also conforms to the characteristics of human gait. © 2020 IEEE.

关键词： Kinematics

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Design and Development of a Rapidly Deployable Low-Cost Tensegrity In-Pipe Robot

Design and Development of a Rapidly Deployable Low-Cost Tens...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Yixiang Liu Xiaolin Dai Kai Guo Jiang Wu Rui Song Jie Zhao Yibin Li School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Mechanical Transmissions Chongqing University Chongqing China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Co. Ltd Hangzhou China Engineering Research Center of Intelligent Unmanned System of Ministry of Education School of Control Science and Engineering Shandong University Jinan China School of Mechanical Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Existing in-pipe robots have insufficient adaptability when dealing with accidents in unfamiliar pipe environments. Developing a pipe robot that can be designed and manufactured quickly is one solution. The tensegrity structure is a self-stressing spatial structure formed by the interaction of rigid members and flexible cables, which has the advantages of simple structure, good flexibility, deformability, and impact resistance. Inspired by this structure, we design a novel worm-like tensegrity robot for different pipe environments, which can be manufactured rapidly at low cost. Firstly, a robotic module based on the tensegrity structure is designed inspired by the motion patterns of worm-like organisms. Then, the design process of the module is presented based on the mathematical analysis of the deformation. Finally, a prototype of the tensegrity robot is developed using simple and low-cost parts in less than an hour. To test the motion performance, load performance, and inspection capability of the tensegrity robot, we designed a series of experiments on horizontal pipes, vertical pipes, elbows, and steel pipes. Experimental results show that the worm-like tensegrity robot is simple in structure, easy to manufacture, low in cost, and good in performance.

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Time-Optimal Trajectory Planning Based on Dynamics for Industrial Robot 5

Time-Optimal Trajectory Planning Based on Dynamics for Indus...

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5th International Conference on Automation, Control and robotics Engineering, CACRE 2020

作者： Wang, Rundong Kong, Minxiu Cheng, Yanchun Castellani, Marco Harbin Institute of Technology State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin China University of Birmingham Department of Mechanical Engineering Birmingham United Kingdom

ISBN: (纸本)9781728198880

Given the trajectory of the industrial robot in Cartesian space, the existing methods only consider the kinematic constraints when optimizing the time trajectory planning, and ignore the maximum driving ability of the motor, which is likely to cause an overrun alarm and greatly reduce the trajectory accuracy. Therefore, this paper studies the time-optimal trajectory planning algorithm based on dynamics. Firstly, the algorithm discretizes the path, calculates the Cartesian coordinates of each discrete point and the differential about the path length. Then, this algorithm considers the constraints of dynamics and kinematics, uses the principle of linear programming, recursively calculates the upper limit value of speed and the maximum acceleration value at each discrete point, and calculates the speed value at each discrete point and keeps it within its allowable ranges. Finally, this algorithm uses the speed to calculate the corresponding time of each discrete point, and according to the interpolation period, outputs the path position of each period, the position and orientation in the Cartesian space and joint parameters. The MATLAB program is written to verify the feasibility and efficiency of the algorithm. © 2020 IEEE.

关键词： Industrial robots

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Structural Design and Analysis of Low-Disturbance Performance for a Deployable Ribbed Mechanism in Missle-Borne Antenna

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Aerospace Science and technology 2025年

作者： Dongtian Wu Hui Yang Yan Wang Jian Feng Yuantu Duan Rongqiang Liu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

For high-speed aircraft, the space deployment mechanism is evolving towards higher speed, greater precision, and reduced interference. This paper presents the design of a low-disturbance ribbed development mechanism by considering the inherent balance condition and extended configuration of the Fischer-mechanism, as well as the characteristics of the mechanism's development angle. The design is based on evaluation indexes comprising weight, fundamental frequency, and reflector area. Furthermore, an analysis of vibration force and moment for the low-disturbance ribbed developing mechanism is conducted using the mass-radius product and momentum formula. A balanced performance model is established to achieve equilibrium from the initial stages of design. The performance evaluation of this low-disturbance ribbed deployable mechanism combines static stiffness and dynamic stiffness performance indexes along with a mathematical model for static stiffness and finite element fundamental frequency simulation. Finally, an example simulation verifies the reliability of the theoretical analysis. The feasibility of the developable ribbed mechanism in confined spaces under conditions of high speed and low-disturbance has been validated.

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Surface accuracy analysis for hexagonal prism modular deployable antenna

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Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2021年第12期29卷 2855-2867页

作者： Tian, Da-Ke Fan, Xiao-Dong Jin, Lu Liu, Rong-Qiang Zhang, Ke School of Mechanical Engineering Shenyang Jianzhu University Shenyang110168 China School of Civil Engineering Shenyang Jianzhu University Shenyang110168 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

A surface accuracy analysis model for the support structure of a hexagonal prism modular deployable antenna is proposed because of the large-scale, modular, and high-precision development trend of deployable antennas. The structural composition of the hexagonal modular deployable antenna is elaborated, and the topological rules of the hexagonal modular structure are analyzed. Based on the idea of equal envelope circles and the basic theory of robotics, two mathematical modeling methods of envelope circle, point-surface method and two-point method, are proposed, from which the mathematical model of the intersection point of the equal envelope circle and the mathematical model of the included angle of rib unit are established;the mathematical model for accuracy analysis of the shape surface of the support structure of a modular deployable antenna with a hexagonal prism is built. Finally, the model is verified using a combination of numerical simulations and experimental verifications. The simulation and experimental results show that the enveloping circle can closely fit on the spherical surface, and it is in good agreement with the spherical surface. In the numerical simulation model, the modules of the hexagonal prism are connected accurately. In the experiment, the absolute error of feature points is mainly distributed in 5 to 10 mm, the relative error is mainly concentrated in the range of 0.05% to 0.1%, and the absolute error of the rib unit angle is mostly distributed in the range of 0.05°to 0.1°. The deviation between the measured and the theoretical values is small, and the values are in good agreement. The proposed model can solve the spatial coordinates of all module connection points, which provides a theoretical basis for the analysis and research of the shape accuracy of multi-module deployable antennas. © 2021, Science Press. All right reserved.

关键词： Antennas

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Image segmentation network for laparoscopic surgery

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Biomimetic Intelligence and robotics 2025年

作者： Kang Peng Yaoyuan Chang Guodong Lang Jian Xu Yongsheng Gao Jiajun Yin Jie Zhao The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150000 China Zhongshan Hospital Affiliated to Dalian University Dalian 116000 China

Surgical image segmentation serves as the foundation for laparoscopic surgical navigation technology. The indistinct local features of biological tissues in laparoscopic image pose challenges for image segmentation. To address this issue, we develop an image segmentation network tailored for laparoscopic surgery. Firstly, we introduce the Mixed Attention Enhancement (MAE) module that sequentially conducts the Channel Attention Enhancement (CAE) module and the Global Feature Enhancement (GFE) module linked in series. The CAE module enhances the network’s perception of prominent channels, allowing feature maps to exhibit clear local features. The GFE module is capable of extracting global features from both the height and width dimensions of images and integrating them into three-dimensional features. This enhancement improves the network’s ability to capture global features, thereby facilitating the inference of regions with indistinct local features. Secondly, we propose the Multi-scale Feature Fusion (MFF) module. This module expands the feature map into various scales, further enlarging the network’s receptive field and enhancing perception of features at multiple scales. In addition, we tested the proposed network on the EndoVis 2018 and a human minimally invasive liver resection image segmentation dataset, comparing it against six other advanced image segmentation networks. The comparative test results demonstrate that the proposed network achieves the most advanced performance on both datasets, proving its potential in improving surgical image segmentation outcome. The codes of MAMNet are available at: https://***/Pang1234567/MAMNet .

关键词： Laparoscopic surgery image Medical image segmentation Convolutional neural networks Attention mechanism Feature fusion

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Improving Kinematic Flexibility and Walking Performance of a Six-legged Robot by Rationally Designing Leg Morphology

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Journal of Bionic Engineering 2019年第4期16卷 608-620页

作者： Jie Chen Zhongchao Liang Yanhe Zhu Jie Zhao School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper explores the design of leg morphology in a six-legged *** by nature,where animals have different leg morphology,we examined how the difference in leg morphology influences behaviors of the *** this end,a systematic search was conducted by scanning over the parameter space consisting of default angles of leg joints of the six-legged robot,with two main objectives:to maximize the kinematic flexibility and walking performance of the *** show that(1)to have a high kinematic flexibility with both the torso and swing legs,the femur segment should tilt downwards by 5°-10°and the tibia segment should be vertically downwards or with a slight inward tilt;(2)to achieve relatively energy-efficient and steady walking,the tibia segment should be approximately vertically downwards,with the femur segment tilting upwards to lower the torso *** results of this study suggest that behaviors of legged robots can be passively enhanced by careful mechanical design choices,thereby leading to more competent legged machines.

关键词： six-legged robot leg morphology kinematic flexibility walking performance

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Locomotion Stability Analysis of Lower Extremity Augmentation Device

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Journal of Bionic Engineering 2019年第1期16卷 99-114页

作者： Likun Wang Chaofeng Chen Wei Dong Zhijiang Du Yi Shen Guangyu Zhao State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Astronautics Harbin Institute of TechnologyHarbin 150001China Weapon Equipment Research Institute China Ordnance Industries GroupBeijing 102202China

Stability is of great significance in the theoretical framework of biped ***-time control and walking patterns planning are on the premise that the robot works in the stable *** this paper,we address the crucial issue of the locomotion stability based on the modified Poincare return map and the hybrid *** akin to the traditional stability criteria,i.e.,the Zero Moment Point(ZMP)and the Center of Mass(CoM),the modified Poincare return map is more appropriate for both dynamic walking arid non-periodic ***,a novel high-level reinforcement learning methodology,so-called active PI2 CMA-ES,is proposed in this paper to plan the exoskeleton *** proposed learning methodology demonstrates that the locomotion of the exoskeleton is asymptotically stable according to the modified Poincare return map ***,the proposed learning methodology is tested by the Lower Extremity Augmentation Device(LEAD)and its effectiveness is verified by the experiments.

关键词： biped locomotion dynamic walking Dynamic Movement Primitives (DMP),stability exoskeleton bioinspiration

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Privileged Anatomical and Protocol Discrimination in Trackerless 3D Ultrasound Reconstruction

arXiv

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arXiv 2023年

作者： Li, Qi Shen, Ziyi Li, Qian Barratt, Dean C. Dowrick, Thomas Clarkson, Matthew J. Vercauteren, Tom Hu, Yipeng Centre for Medical Image Computing Wellcome/EPSRC Centre for Interventional and Surgical Sciences Department of Medical Physics and Biomedical Engineering University College London London United Kingdom State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Biomedical Engineering & Imaging Sciences King’s College London London United Kingdom

Three-dimensional (3D) freehand ultrasound (US) reconstruction without using any additional external tracking device has seen recent advances with deep neural networks (DNNs). In this paper, we first investigated two identified contributing factors of the learned inter-frame correlation that enable the DNN-based reconstruction: anatomy and protocol. We propose to incorporate the ability to represent these two factors - readily available during training - as the privileged information to improve existing DNN-based methods. This is implemented in a new multitask method, where the anatomical and protocol discrimination are used as auxiliary tasks. We further develop a differentiable network architecture to optimise the branching location of these auxiliary tasks, which controls the ratio between shared and task-specific network parameters, for maximising the benefits from the two auxiliary tasks. Experimental results, on a dataset with 38 forearms of 19 volunteers acquired with 6 different scanning protocols, show that 1) both anatomical and protocol variances are enabling factors for DNN-based US reconstruction;2) learning how to discriminate different subjects (anatomical variance) and predefined types of scanning paths (protocol variance) both significantly improve frame prediction accuracy, volume reconstruction overlap, accumulated tracking error and final drift, using the proposed algorithm. © 2023, CC BY.

关键词： Deep neural networks

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Design, Analysis, and Experiment of a Coupled-Adaptive Underactuated Prosthetic Handbased on Linkage Mechanisms

SSRN

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SSRN 2022年

作者： Fan, Shaowei Dai, Jinghui Zhang, Ning Zhang, Ting Cheng, Ming Liu, Bingchen Jiang, Li State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150080 China National Research Center for Rehabilitation Technical Aids Beijing100176 China College of Mechanical and Electrical Engineering Soochow University Jiangsu Suzhou215021 China

To reproduce the characteristics of human hand motion, this paper proposes a novel four-degree-of-freedom prosthetic hand that combines the advantages of coupled motion and self-adaptive motion. A coupled-adaptive underactuated finger was developed using a cross-coupled four-link mechanism and an adaptive five-link mechanism. The finger can perform both power and precision grasping excellently. Based on the seesaw mechanism, a differential mechanism among the middle finger, ring finger, and little finger was developed to further reduce the size and weight of the prosthetic hand. To avoid the ejection phenomenon, the stability of the finger is systematically analyzed in this paper using the grasp-state space analysis technique. The stability analysis results indicate that ejection does not occur in the entire workspace of the proposed finger. The grasping experiments indicate that the proposed prosthetic hand possesses excellent stability and adaptability. © 2022, The Authors. All rights reserved.

关键词： Prosthetics

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