检索结果-内蒙古大学图书馆

您好，读者！请登录

内蒙古大学图书馆

首页
概况
党建
资源
服务
科研支持
- 论文收录引用证明
- 科技查新
知识产权
档案馆
帮助

咨询与建议

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

您的常用邮箱：*

您的手机号码：*

问题描述：

当前已输入0个字，您还可以输入200个字

全部搜索
期刊论文
图书
学位论文
标准
纸本馆藏
外文资源发现
数据库导航
超星发现

高级检索

时间限定

出版年份：

文献类型

图书期刊文献学位论文多媒体

馆藏选择

电子馆藏纸本馆藏

核心期刊

全部期刊 SCI 收录期刊 SSCI 收录期刊 EI 收录期刊 CSCD 收录期刊 CSSCI 收录期刊

语言

中文英文

文献类型

期刊文献图书学位论文标准纸本馆藏

帮助

文字说明：

T=题名（书名、题名），A=作者（责任者），K=主题词，P=出版物名称，PU=出版社名称，O=机构（作者单位、学位授予单位、专利申请人），L=中图分类号，C=学科分类号，U=全部字段，Y=年（出版发行年、学位年度、标准发布年）

检索规则说明：

AND代表“并且”；OR代表“或者”；NOT代表“不包含”；(注意必须大写,运算符两边需空一格)

检索范例：

范例一：(K=图书馆学 OR K=情报学) AND A=范并思 AND Y=1982-2016
范例二：P=计算机应用与软件 AND (U=C++ OR U=Basic) NOT K=Visual AND Y=2011-2016

分类表

所选分类

>> <<

限定检索结果

文献类型

156 篇 会议
66 篇 期刊文献

馆藏范围

222 篇 电子文献
0 种 纸本馆藏

日期分布

学科分类号

111 篇 工学
- 49 篇 计算机科学与技术...
- 45 篇 控制科学与工程
- 45 篇 软件工程
- 32 篇 生物医学工程（可授...
- 27 篇 仪器科学与技术
- 26 篇 生物工程
- 22 篇 机械工程
- 22 篇 信息与通信工程
- 12 篇 光学工程
- 12 篇 电气工程
- 7 篇 材料科学与工程（可...
- 7 篇 电子科学与技术（可...
- 7 篇 化学工程与技术
- 5 篇 交通运输工程
- 4 篇 力学（可授工学、理...
- 4 篇 动力工程及工程热...
- 4 篇 建筑学
68 篇 理学
- 31 篇 生物学
- 24 篇 物理学
- 21 篇 数学
- 9 篇 化学
- 7 篇 统计学（可授理学、...
- 4 篇 地质学
- 3 篇 系统科学
36 篇 医学
- 33 篇 临床医学
- 13 篇 基础医学(可授医学...
- 6 篇 药学(可授医学、理...
- 3 篇 公共卫生与预防医...
- 3 篇 特种医学
13 篇 管理学
- 9 篇 管理科学与工程(可...
2 篇 经济学
1 篇 法学
1 篇 教育学

主题

15 篇 robot sensing sy...
12 篇 robots
11 篇 robot kinematics
10 篇 kinematics
9 篇 mathematical mod...
8 篇 legged locomotio...
7 篇 exoskeletons
7 篇 manipulators
7 篇 human robot inte...
6 篇 anthropomorphism
6 篇 knee
6 篇 humanoid robots
6 篇 control systems
6 篇 service robots
6 篇 dynamics
5 篇 exoskeleton (rob...
5 篇 neural networks
5 篇 cameras
5 篇 real-time system...
5 篇 mechatronics

机构

36 篇 guangdong provin...
28 篇 university of ch...
21 篇 shenzhen college...
20 篇 guangdong provin...
14 篇 cas key laborato...
12 篇 shenzhen institu...
8 篇 shenzhen institu...
8 篇 cas key laborato...
7 篇 shenzhen institu...
6 篇 cas key laborato...
6 篇 school of logist...
6 篇 department of me...
6 篇 guangdong-hong k...
5 篇 university of sc...
5 篇 siat branch shen...
5 篇 shenzhen key lab...
5 篇 chinese academy ...
5 篇 national metal a...
5 篇 siat-cuhk joint ...
4 篇 chinese academy ...

作者

43 篇 wu xinyu
24 篇 s. ali a. moosav...
19 篇 xinyu wu
13 篇 wang can
13 篇 p. dario
11 篇 c. laschi
10 篇 feng wei
9 篇 chen chunjie
8 篇 g. teti
8 篇 e. guglielmelli
7 篇 ou yongsheng
7 篇 omid mahdizadeh
6 篇 liang guoyuan
6 篇 cao wujing
6 篇 zhang yanhui
6 篇 vahid akbari
6 篇 wang zhuo
6 篇 su zhilong
6 篇 xiong xinhong
5 篇 mahdi nabipour

语言

221 篇 英文
1 篇 中文

检索条件"机构=ARTS Lab-Advanced Robotics Technology & Systems Lab"

共 222 条记录，以下是11-20 订阅

全选清除本页清除全部题录导出标记到"检索档案"

详细简洁

排序：

Accurate Prediction of Knee Joint Angles Using a Hybrid CNN-LSTM-Attention Network from Surface Electromyography

Accurate Prediction of Knee Joint Angles Using a Hybrid CNN-...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Wang, Zhuo Chen, Hui Yang, Fangliang Wang, Xiangyang Wu, Xinyu Chen, Chunjie Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781665481090

In various fields such as robotics, rehabilitation, biomechanics, human-machine interfaces, and clinical research, human motion prediction has extensive applications. A hybrid networks model based on Convolutional Neural Network-Long Short-Term Memory-Attention (CNN-LSTM-Attention) was employed in this paper to extract features from the high-dimensional space and time series of surface electromyography (sEMG) data for continuous prediction of knee angles. Five able-bodied subjects participated in the study, walking at a self-selected pace while six surface electromyography (sEMG) signals from muscles involved in knee flexion and extension, along with knee angles, were synchronously recorded. The performance was assessed using the root mean square error (RMSE), Pearson Correlation Coefficient (r), and coefficient of determination (R2) between estimated and measured knee joint angles. Compared to the CNN, LSTM, and CNN-LSTM algorithms, the adopted method estimated knee angles more accurately, achieving an average RMSE, ρ, and R2 of 3.09± 0.90,\ 0.9911 ± 0.0052, and 0.9817± 0.0108, respectively. As the advance time increased, the accuracy of knee joint angle estimation decreased, particularly when the advance time reached 100 ms, at which point the RMSE is 4.83 degress. In addition, the computing time of the prediction model was less than 1 ms, which was shorter than the advance time 100 ms it could predict, thereby facilitating real-time computation in practical environments. Compared to previous studies, the proposed method excelled at extracting features directly from raw signals, avoiding the need for handcrafted feature extraction. Consequently, the model effectively achieved continuous and accurate predictions of joint motion angles and demonstrated potential to reduce latency in the human-machine interface. © 2024 IEEE.

关键词： Clinical research

来源：评论

学校读者我要写书评

暂无评论

Different Height Stairs Climbing Pattern Generation for Humanoids

Different Height Stairs Climbing Pattern Generation for Huma...

引用

2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Yang, Ming Tian, Dingkui Xu, Minjia Li, Feng Sun, Jianquan Shang, Weiwei Wu, Xinyu University of Science and Technology of China Hefei230026 China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China Daqing Vocational College Daqing163255 China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Shenzhen518055 China

ISBN: (纸本)9798350327182

Climbing stairs has been an indispensable ability for humanoids. This paper presents a novel and practical problem: climbing stairs of varying heights. In this study, the humanoid is modeled as an inverted pendulum and set the pelvis trajectory on the vertical axis, representing the center of mass (CoM), as a quadratic function. We also use a polynomial to design the ZMP and CoM trajectory on the horizontal plane. To generate the CoM trajectory, the sliding mode controller is utilized to track the reference trajectory. To eliminate chattering of the sliding mode controller, the universal approximation property of the radial basis function (RBF) network is leveraged to approximate the switching law. Finally, simulation experiments are performed in CoppeliaSim, and the biped robot is capable of walking stably and quickly. © 2023 IEEE.

关键词： Stairs

来源：评论

学校读者我要写书评

暂无评论

Rehabilitation Training of Spinal Cord Injured Individuals by a Self-Balancing Exoskeleton Robot

Rehabilitation Training of Spinal Cord Injured Individuals b...

引用

2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Li, Wentao Li, Jinke He, Yong Tian, Dingkui Li, Feng Sun, Jianquan Wu, Xinyu Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China Siat Cuhk Joint Laboratory of Robotics and Intelligent Systems China University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China China Construction Third Bureau First Engineering Mep Co. Ltd. Shenzhen518109 China

ISBN: (纸本)9798350327182

Physical therapy plays an important role in the rehabilitation for spinal cord injured individuals, and exoskeleton can assist with this process. In this paper, a self-balancing exoskeleton robot is introduced, which can provide assist not only in gait training, but also in balance training. In addition, it allows individuals walk with it without other assistive devices. This exoskeleton is designed to have a high degree of compatibility with humans. The structure and control system of the exoskeleton is introduced and the forward and inverse kinematic are solved, which enables the robot to perform various rehabilitation training actions as required. Experiments with a male subject have shown that this exoskeleton achieves the predicted results in gait training and balance training. © 2023 IEEE.

关键词： Inverse kinematics

来源：评论

学校读者我要写书评

暂无评论

Kinematic and Kinetic Analysis of 3-RRS Parallel Manipulator

Kinematic and Kinetic Analysis of 3-RRS Parallel Manipulator

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Sara Ashrafi S. Ali A. Moosavian Department of Mechanical Engineering Advanced Robotics and Automated Systems (ARAS) Lab. Center of Excellence in Robotics and Control K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

This paper presents the Kinematic and Kinetic properties of the 3-RRS parallel manipulator that has been designed and prototyped at the ARAS lab, together with an extensive experimental setup. Inverse and forward kinematics of the mechanism are studied, which leads to the attainment of eight possible solutions in each case, of which just one is physically acceptable and maintains its consistency in both analyses. In addition, the Jacobian matrix of the manipulator is derived for various operational scenarios. In this most recent update, a linear actuator under the moving platform is added to cancel the effect of the mass of the plate and the ball for enhancing the responsiveness of the system. Dynamic and kinetic equations are updated based on reduced gravitational effects.

关键词： Jacobian matrices Actuators Mechatronics System dynamics Dynamics Kinematics Kinetic theory Manipulator dynamics

来源：评论

学校读者我要写书评

暂无评论

Shape Estimation of Continuum Arms Based on Inverse Kinematics Data-Driven Modeling

Shape Estimation of Continuum Arms Based on Inverse Kinemati...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Saeedeh Shekari S. Ali A. Moosavian Dept of Mechanical Engineering Advanced Robotics and Automated Systems (ARAS) Lab. Center of Excellence in Robotics and Control K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

In recent decades, soft robotic arms inspired by biological organisms with flexible structures have enabled significant advancements in robotics, particularly by allowing robots to navigate in complex and unknown environments. Tendon-driven continuum robotic arms, as a type of such systems, are characterized by their infinite degrees of freedom and the inherent complexity of their nonlinear systems, while the analysis of their configurations is highly challenging. In this study, a data-driven inverse kinematics model is developed to estimate the shape of a two-segment continuum robot called RoboArm in ARAS lab. The robot's final configuration was recorded using two cameras, and the shape estimation was performed by tracking the position of each segment's end along a given dynamic path. The experimental results were compared with software simulations which demonstrate high accuracy in predicting the arm's configuration. By comparing the estimated shapes from the simulations with the robot's actual shape during movement, we validated the effectiveness of this approach for accurately modeling the robot's configuration in real-time.

关键词： Data-driven modeling Accuracy Shape Tracking Estimation Kinematics Soft robotics Real-time systems Software Continuum robots

来源：评论

学校读者我要写书评

暂无评论

A Compliant Traction Method of Manipulator Based on Online Calibration of Force Sensor Zero-Point 6

A Compliant Traction Method of Manipulator Based on Online C...

引用

6th International Conference on Automation, Control and Robots, ICACR 2022

作者： Xu, Zhilu Wang, Weijun Feng, Wei Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen China Shenzhen Institute of Advanced Technology Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China

ISBN: (数字)9781665498739

ISBN: (纸本)9781665498739

With the increasing number of cooperative robots, it is becoming increasingly important to improve the safety and operability of human-robot interaction. Installing a six-dimensional force sensor at the end of the manipulator can realize the drag of the manipulator in Cartesian space. A compliant traction method of manipulator based on online calibration of force sensor zero-point is proposed in this paper. Aiming at the problem of "zero drift"of force sensor, after calculating the gravity of the end tool, the zero-point of the force sensor is calibrated online by means of mean processing, so as to obtain more accurate external force. Then, the relationship between the end position of the manipulator and the external force, the end moving speed of the manipulator and the external force is established, and the change of the position and speed of the manipulator is controlled by the external force at the same time. Finally, experiments show the effectiveness of this method and ensure the safety and reliability in the traction process. © 2022 IEEE.

关键词： Manipulators

来源：评论

学校读者我要写书评

暂无评论

Exoskeleton-Based Lower Limb Rehabilitation Robot Design and Simulation for Children with Cerebral Palsy

Exoskeleton-Based Lower Limb Rehabilitation Robot Design and...

引用

2024 International Convention on Rehabilitation Engineering and Assistive technology and World Rehabilitation Robot Convention, i-CREATE and WRRC 2024

作者： Cao, Wujing Zhang, Shuo Zou, Yupeng Guo, Xinqiang Li, Changyu Wang, Jingxin Kobsiriphat, Worawarit Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518005 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems China School of Mechanical Engineering China University of Petroleum China Jining Zhongke Intelligent Technology Co. Ltd. China Zhengzhou Central Hospital Zhengzhou University Department of Rehabilitation Medicine Zhengzhou China National Metal and Materials Technology Center Thailand

ISBN: (纸本)9798350355123

Squat gait is the most common abnormal gait in children with cerebral palsy. Gait training with lower limb rehabilitation robots can improve rehabilitation efficiency and reduce manual labor for them. A novel exoskeleton-based lower limb rehabilitation robot for children with cerebral palsy is proposed, considering the squat gait characteristics of children with cerebral palsy. The structure of the lower limb rehabilitation robot, which combines hip and knee with 4 active degrees of freedom exoskeleton and mobile walker, is designed and optimized. Static analysis of the key mechanical structure of the exoskeleton is conducted using ANSYS Workbench, and local structures are optimized to ensure the safety factor of the mechanical structure is greater than 1, guaranteeing reasonable structural strength and stiffness design. Dynamic simulation analysis based on the ADAMS model validates the reliability and dynamic walking effect of the lower limb exoskeleton rehabilitation robot, obtaining the curve relationship between joint angles and motion cycles, thus verifying the effectiveness of the mechanical system motion. © 2024 IEEE.

关键词： Exoskeleton (robotics)

来源：评论

学校读者我要写书评

暂无评论

Real-time Terrain Recognition based on Transformer and Gait Prediction based on CNN-LSTM-Attention for Exosuit

Real-time Terrain Recognition based on Transformer and Gait ...

引用

2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Yang, Fangliang Chen, Chunjie Wang, Zhuo Xu, Yinsheng Liu, Yao Wu, Xinyu University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China Guilin University of Technology Guilin541004 China

ISBN: (纸本)9798350327182

For wearable soft exosuits, an imprecise control strategy can easily injure the wearer, while real-time terrain recognition and accurate gait phase estimation can effectively improve the control strategy of the exosuit and make the wearer comfortable and safe. In this paper, a real-time terrain recognition algorithm based on Transformer and a gait estimation algorithm based on CNN-LSTM-Attention are implemented. The Transformer-based recognition of different terrains improves the recognition accuracy to some extent, and the CNN-LSTM-Attention based feature extraction for temporal signals such as gait phase is also extremely noticeable. Experiments show that the Transformer-based algorithm achieves 99.64 % recognition accuracy in six different terrain environments. In the gait phase estimation experiment, CNN-LSTM-CBAM achieved the best performance with an evaluation index r2 of 0.9221. The aforementioned terrain recognition algorithms and gait phase estimation algorithms may have a positive impact on soft exosuit and dynamic prosthetics research. © 2023 IEEE.

关键词： Landforms

来源：评论

学校读者我要写书评

暂无评论

Mechanism Improvement of RoboWalk Rehabilitation Device to Adjust the Assistive Force Direction

Mechanism Improvement of RoboWalk Rehabilitation Device to A...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Shahin Naeemi Omid Mahdizadeh S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

The growing need for assistive and rehabilitative robots requires more understanding of interactions between the human and such robots. RoboWalk is one of such robotic assistive devices to help users in walking. One of the challenges in using RoboWalk is the horizontal component which undesirably appears besides the desirable assistive vertical force for weight compensation. This horizontal component can disrupt the user’s gait and cause discomfort and stability disturbances. This is due to the fact that the current design of RoboWalk does not allow for any displacement due to the singularity of the robot’s inverse kinematics. This paper proposes a few solutions to solve this problem in redesigning the motion mechanism. Analyses using Adams software show the effects of each solution on enhancing RoboWalk’s functionality. Obtained results reveal that the proposed solutions are feasible and have the potential to significantly improve the user experience.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Improved Aerodynamic Performance of Ornithopter Aerial Robot Using Spatial Mechanism Compared to Planar Design

Improved Aerodynamic Performance of Ornithopter Aerial Robot...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Sina Hallajian S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

Ornithopter’s research can be categorized into two parts. First, aerodynamics analysis of the flying robot including designing the body and choosing the robot’s material based on the analysis. Second, design and analysis of the mechanism which makes the wings move. So far, most of the researches has been focused on the first subject, i. e., aerodynamics analysis; even some books were published on this topic. However, there is little research about the mechanisms while most of the previous works are based on the patterns verified before. This paper will propose the design of a new spatial mechanism. Besides, three common planar mechanisms will be modeled and simulated to analyze and compare to the proposed mechanism in terms of aerodynamics forces for one wing beat cycle. These results reveal that the proposed 3D mechanism works more promising than others.

关键词：

来源：评论

学校读者我要写书评

暂无评论

没有更多数据了...

全选清除本页清除全部题录导出标记到“检索档案”

共23页 << < 1 2 3 4 5 6 7 8 9 10 > >>

检索报告对象比较合并检索0

隐藏清空

合并搜索

回到顶部

执行限定条件

内容：

评分：

请选择保存的检索档案：

请选择收藏分类：

订阅名称：

通借通还

温馨提示：

图书名称：

借书校区：

取书校区：

手机号码：

邮箱地址：

一卡通帐号：

电话和邮箱必须正确填写，我们会与您联系确认。

联系人：

所在院系：

联系邮箱：

联系电话：

内蒙古自治区呼和浩特市赛罕区大学西街235号邮编: 010021

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：