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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhang, Leifeng Li, Changle Zhang, Xuehe Liu, Gangfeng Liu, Yubin Zhao, Jie Ban, Guang Fan, Yilun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin 150080 NO. 2 YiKuang Street HeiLongJiang Province China

ISBN: (纸本)9781728163215

Accurate placement of the needle is critical in percutaneous surgery. Needle shape reconstruction technology based on fiber Bragg gratings (FBGs) sensor is considered to have the potential to achieve this goal. In this paper, we present a temperature-insensitive calibration model for calibrating needles with FBG sensors to accurately estimate its deformation. In addition, we have designed a device for simultaneously calibrating the loading direction and shape. Preliminary results indicate that the proposed model is theoretically insensitive to temperature, but in fact it can only be used within a certain temperature range. The resolution of the loading direction increases as the degree of bending increases, with a maximum error of 8.58°. Shape reconstruction error can be less than 1.5mm with small needle bending. This calibration method can meet clinical applications. © 2019 IEEE.

关键词： Fiber Bragg gratings

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Design of a close-range radiotherapy particle implantation device

Design of a close-range radiotherapy particle implantation d...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Ban, Guang Li, Changle Zhang, Xuehe Liu, Gangfeng Liu, Yubin Zhao, Jie Zhang, Leifeng Fan, Yilun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 NO. 2 YiKuang Street HeiLongJiang Province China

ISBN: (纸本)9781728163215

The validity of brachytherapy has been proved in clinical tumor treatment, and robotic surgery system has been used in recent years to ensure surgical consistency. In our work, a new automatic radioactive particle implantation device with two degrees of freedom was proposed to apply in the brachytherapy robotic surgery system as an end effector. Furthermore, physical assembling and simple function verifying experiments were accomplished. This device can help simplify the operating steps during surgery, and improve the stability of the surgical system, and enhances the surgical efficiency. © 2019 IEEE.

关键词： Robotic surgery

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Bionic Knee Joint Structure and Motion Analysis of a Lower Extremity Exoskeleton

Bionic Knee Joint Structure and Motion Analysis of a Lower E...

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International Conference on robotics and Automation Sciences (ICRAS)

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

ISBN: (数字)9781728198576

ISBN: (纸本)9781728198583

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.

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Design and Implementation of a Lightweight Lower Extremity Exoskeleton

Design and Implementation of a Lightweight Lower Extremity E...

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3rd International Conference on Mechanical, system and Control Engineering, ICMSC 2019

作者： Mu, Jiamin Jiang, Hongzhou Hua, Yuxiang Zhao, Jie Zhu, Yanhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Department of Fluid Control and Automation Harbin Institute of Technology Harbin150001 China

This paper summarizes the biomechanics simulation and design of a lightweight lower extremity exoskeleton. The biomechanics simulation was carried out using LifeMOD to obtain joint torques of human body in the condition of its applications including walking on flat ground, ascending stairs, sitting down and standing up which provided the design criteria of actuating torques. The anthropomorphically based exoskeleton has 7 degrees of freedom per leg, two of which are powered by brushless DC motors, and the total mass is less than 12 kg due to the use of carbon fiber material and the compact structural design and optimization. Controlling and sensing system based on CANopen communication protocol is proposed which can provide high communication efficiency and reliability for the control of the exoskeleton. © The Authors, published by EDP Sciences, 2019.

关键词： Biomechanics

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Research on impedance control of flexible joint space manipulator on-orbit servicing

Research on impedance control of flexible joint space manipu...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Liu, Dongyu Liu, Hong Liu, Yechao Li, Zhiqi China Academy of Space Technology Institute of Manned Spacecraft System Engineering Beijing China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province China

ISBN: (纸本)9781728163215

In this paper, the positional accuracy and contact force index requirements of the manipulator are analyzed according to the tolerance index of the space manipulator screwing. An position-based in Cartesian space impedance control strategy based on friction identification and compensation is proposed. By using joint friction torque compensation to improve the system control precision and setting the desired Cartesian position of the manipulator end point to control the contact force, this strategy solves the contradiction between the positional accuracy index and the contact force index requirement of manipulator during contact operating. The control algorithm is designed based on the system dynamics model, and the stability analysis of the control algorithm is given. The correctness of the control strategy is verified by simulation and on-orbit implementation. China's space manipulator has successfully completed the actual on-orbit servicing mission based on impedance control for the first time. © 2019 IEEE.

关键词： Friction

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Conditions for active assistance control of exoskeleton robot

Conditions for active assistance control of exoskeleton robo...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Shiyin Qiu Wei Guo Fusheng Zha Xin Wang Wentao Sheng Fei Chen Darwin Caldwell State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin China Shenzhen Academy of Aerospace Technology Robotics Institute of Shenzhen Academy of Aerospace Technology Shenzhen China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

The condition of active assistance is the basic design criteria of target assistance torque profile. Based on the human-exoskeleton interaction model, the condition of active assistance was derived first. And then, some biomechanical simulation experiments based on OpenSim were carried out to demonstrate the the condition of active assistance. The condition of active assistance for exoskeleton robot is that the target assistance torque and the human joint muscle torque should be in a same direction and the assistance ratio should be greater than 0 and less than 1.

关键词： Exoskeletons Torque Muscles Robots Trajectory Force Dynamics

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Object-oriented Map Exploration and Construction Based on Auxiliary Task Aided DRL

Object-oriented Map Exploration and Construction Based on Au...

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International Conference on Pattern Recognition

作者： Junzhe Xu Jianhua Zhang Shengyong Chen Honghai Liu College of Computer Science and Technology Zhejiang University of Technology Hangzhou China College of Computer Science and Technology Tianjin University of Technology Tianjin China State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China

Environment exploration by autonomous robots through deep reinforcement learning (DRL) based methods has attracted more and more attention. However, existing methods usually focus on robot navigation to single or multiple fixed goals, while ignoring the perception and construction of external environments. In this paper, we propose a novel environment exploration task based on DRL, which requires a robot fast and completely perceives all objects of interest, and reconstructs their poses in a global environment map, as much as the robot can do. To this end, we design an auxiliary task aided DRL model, which is integrated with the auxiliary object detection and 6-DoF pose estimation components. The outcome of auxiliary tasks can improve the learning speed and robustness of DRL, as well as the accuracy of object pose estimation. Comprehensive experimental results on the indoor simulation platform AI2-THOR have shown the effectiveness and robustness of our method.

关键词： Navigation Object oriented modeling Pose estimation Semantics Object detection Reinforcement learning Robustness

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A generalized model for predicting the optimal overlap rate and height of successive single-layer involved in laser metal deposition process based on the aspect ratio

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Optics & Laser technology 2025年 191卷

作者： Enjie Dong Tingyu Chang Gan Li Ze Liu Liming Xia Linjie Zhao Junwen Lu Jiaxuan Chen Mingjun Chen Jian Cheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China Department of Mechanical Engineering City University of Hong Kong Hong Kong China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Guangdong 518055 China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou 310027 China Aircraft Repair & Overhaul Plant/Sichuan Province Engineering Technology Research Center of General Aircraft Maintenance Civil Aviation Flight University of China Guanghan 618307 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou 450000 China

The surface flatness of single-layer islands deposition is essential for high-quality multi-layer component deposition and the stability of the Laser metal deposition (LMD) manufacturing process. The aspect ratio of single-track deposition and the overlap rate are critical factors influencing the flatness of single-layer island deposition. Existing methods for determining the optimal overlap rate, whether through experimental approaches or simplified recursive overlap models, still suffer from long development cycles and limited accuracy. In this study, a generalized, efficient and reliable model for predicting the optimal overlap rate only using the aspect ratio of the single-track deposition as the input parameter was developed after fully understanding the influence of the aspect ratio and overlap rate on the morphology, stacking effect and flatness of single-layer islands. Besides, a prediction model for the height of the single-layer island, based on the input parameters of the aspect ratio and the overlap rate has also been developed. Further, verification datasets from different experimental batches and materials were used to validate the accuracy and generalizability of the island height prediction model. The validation results indicated that the relative error between the predicted and actual values was less than 10%. The single-track aspect ratio can be directly used to guide the LMD multi-layer component deposition, regardless of the combination of powder and substrate materials, using these reliable and generalized prediction models for the optimal overlap rate and the island height developed in current study. The single-layer island deposition stage was completely eliminated, thereby significantly shorten the development cycle and reduce the cost of LMD process parameter development.

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Bilateral Teleoperation of Wheeled Mobile Robots Subject to Lateral Sliding on Soft Terrains

Bilateral Teleoperation of Wheeled Mobile Robots Subject to ...

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第三十九届中国控制会议

作者： Weihua Li Sanjun Liu Dianbo Ren Jianfeng Wang Haibo Gao School of Automotive Engineering Harbin Institute of Technology(Weihai) State Key Laboratory of Robotics and System Harbin Institute of Technology Shanghai Aerospace Equipments Manufacturer Co Ltd.

With the widespread applications of wheeled mobile robots（WMR） in various fields,new challenges have arisen in terms of designing its control system.A special challenge is the soft terrain which can induce both of the longitudinal slipping and the lateral *** paper proposes a new method for haptic teleoperation control of a WMR with lateral *** this teleoperation system,the linear velocity and the angular velocity of the WMR separately follow the master haptic interface’s *** to the functional benefits of displaying the lateral sliding information as haptic feedback to the operator,the lateral velocity is segregated and only perceived by the human *** the teleoperator for the master robot and the slave WMR is designed based on the passivity *** of the proposed controller demonstrate that this approach results in stable bilateral teleoperation with a satisfactory tracking performance.

关键词： Teleoperation Lateral Sliding Wheeled Mobile Robot

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Design and safety control of a high-payload nursing robotic arm with tactile skin

Design and safety control of a high-payload nursing robotic ...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Wu, Jiahao Song, Yanshu Huang, Hailin Liu, Fei Chen, Junan Li, Bing Harbin Institute of Technology School of Mechanical Engineering and Technology Shenzhen518055 China Harbin Institute of Technology School of Electronic and Information Engineering Shenzhen518055 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781728163215

Service robots are being increasingly used to replace human beings in carrying out various sophisticated, heavy and even dangerous tasks. In order to solve the problem of labor shortage in the medical and nursing industry, this paper proposes a novel high-payload robotic arm for nursing tasks, which can help caregivers to lift and transfer patients. Firstly, we simulate and analyze the specific nursing tasks and application scenarios, and determine its kinematics configuration and load capacity parameters of each joint. Then we design and fabricate the modular and low flexibility robotic joints for the prototype. To avoid the occurrence of safety accidents while lifting patients, we design a new kind of tactile skin based on the resistance characteristic of varistor materials, using which a safety control algorithm is proposed. Experiments show that it can meet the requirements of load capacity and position control accuracy, and the proposed safety control method can effectively avoid many dangerous situations. © 2019 IEEE.

关键词： Nursing

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