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A Soft Glove with Proprioceptive Sensing and Multi-modal Haptic Feedback for VR and Telerobotic Applications

Journal of Bionic engineering 2025年第2期22卷 684-702页

作者： Debadrata Sarkar Amit Kumar Aman Arora Human Centered Robotics and Cybernetics Group CSIR-Central Mechanical Engineering Research InstituteDurgapur713209West BengalIndia Advanced Design and Analysis Group CSIR-Central Mechanical Engineering Research InstituteDurgapur713209West BengalIndia

This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinaesthetic aspects while prioritizing wearability and natural finger movements. The glove employs custom-designed flexible bend sensors with carbon-impregnated film for in-situ joint angle tracking, simplifying the sensing system and enhancing portability. A multi-modal haptic feedback approach includes an innovative pneumatically actuated tactile feedback technique and a motor-tendon-driven kinaesthetic feedback system, providing exceptional realism in virtual object manipulation. The glove’s kinaesthetic feedback lets users perceive virtual objects’ size, shape, and stiffness characteristics. Psychophysical investigations demonstrate how readily the users acclimate to this hardware and prove each module’s effectiveness and synergistic operation. This soft VR glove represents a minimalist, lightweight, and comprehensive solution for authentic haptic interaction in virtual environments, opening new possibilities for applications in various fields.

关键词： Virtual reality and interfaces Tactile feedback Haptics and haptic interfaces Soft sensors and actuators

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A Highly Sensitive MEMS Three-Dimensional Force Sensor based on Piezoresistive Cantilever with Stress Concentration

A Highly Sensitive MEMS Three-Dimensional Force Sensor based...

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2024 International Conference on Next Generation Electronics and Photonics, INGEP 2024

作者： Li, Aomen Hou, Cheng Sun, Yuyang Ji, Tianci Liu, Huicong Li, Dongsheng School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Robotics and Microsystems Center Soochow University Suzhou215123 China

This study presents a highly sensitive 3D force sensor based on a piezoresistive cantilever with stress concentration. The sensor achieves precise 3D force detection by integrating a polydimethylsiloxane (PDMS) cap with pyramid microstructures and silicon chip containing four piezoresistive cantilevers with a micro-hole at their root. Finite element simulation validates the superior performance of the micro-hole in enhancing the sensitivity of the force sensor. Compared to a traditional sensor based on a piezoresistive cantilever, the microhole design increases strain in the piezoresistive region of the cantilever by 2 times and the stress by 2.72 times. The proposed sensor exhibits promising potential for applications in various fields, including medical devices, robotics, industrial automation, and others. © Published under licence by IOP Publishing Ltd.

关键词： Nanocantilevers

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Coverage Path Planning of Agricultural Spraying Drones with Graph Convolutional Network 12

Coverage Path Planning of Agricultural Spraying Drones with ...

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12th RSI International Conference on robotics and Mechatronics, ICRoM 2024

作者： Khaloujini, Amirmasood Talaeizadeh, Amin Taheri, Alireza Alastya, Aria Advanced Research Lab for Control and Agricultural Robotics Sharif University of Technology Social and Cognitive Robotics Lab. Department of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798331529734

Optimal route planning for autonomous robots is a crucial element of contemporary agriculture, especially for activities like spraying and pollination. This paper presents a Graph Convolutional Network (GCN) model especially developed to address the Coverage Path Planning (CPP). The aim of this paper is to convert the CPP problem into a Traveling Salesman Problem (TSP), so that by solving the TSP using the proposed neural network, an optimal route can be extracted for each agricultural field in the shortest possible time and with sufficient accuracy, ensuring full coverage of the field's area. The proposed model is a GCN, augmented with a transformer layer and a Multi-Layer Perceptron (MLP), was trained using datasets produced by a Genetic Algorithm (GA) Method. The model obtained a network error of 0.12 while solving TSP cases with 20 points. It showed robust generalization skills, as evidenced by validation and test errors of 0.1261 and 0.1264, respectively. Significantly, the GCN model reduces the solution time to approximately one-tenth compared to conventional approaches, a benefit that increases as the number of points increases. The effectiveness of the model in producing ideal coverage routes highlights its potential for wider use in optimization and coverage path planning, especially in dynamic and extensive agricultural environments. © 2024 IEEE.

关键词： Traveling salesman problem

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Web Service-Based Capacitated Smart Vehicle Routing Problem with Time Window and Threshold Waste Level for Home Health Care Industry 19

Web Service-Based Capacitated Smart Vehicle Routing Problem ...

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19th International Conference on Software Technologies, ICSOFT 2024

作者： Sar, Kubra Ghadimi, Pezhman Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical & Materials Engineering University College Dublin Belfield Dublin Ireland

ISBN: (纸本)9789897587061

In response to the significant rise of Home Health Care (HHC) due to technological advances, an expanding elderly demographic, and increased disease outbreaks—intensified by the COVID-19 pandemic—there is a pressing demand for better management of the resulting medical waste. This paper explores the development of a web-based decision support system designed to optimize medical waste collection in the HHC sector. The system is built using Flask for backend processes, with a user interface crafted from HTML and CSS, and employs JSON files for data management. It features dynamic routing enabled by two metaheuristic algorithms: the Strength Pareto Evolutionary Algorithm (SPEA-2) and the Non-Dominated Sorting Genetic Algorithm (NSGA-II). The application supports real-time adjustments to vehicle routes and waste production sites, enhancing the efficiency of medical waste management by minimizing human intervention. The design allows for easy adaptation to different sectors and can be expanded to test various scenarios. © 2024 by SCITEPRESS – Science and Technology Publications, Lda.

关键词： Home health care

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Application of generative AI technologies to engineering design 1

Application of generative AI technologies to engineering des...

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1st International Conference on Digital Sovereignty, ICDS 2024

作者： Byrne, Daniel Hargaden, Vincent Papakostas, Nikolaos Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical and Materials Engineering University College Dublin Dublin Ireland I-Form Advanced Manufacturing Research Centre Ireland

This paper explores the application of artificial intelligence (AI) technologies in the engineering design domain. Two experiments were designed for examining the abilities of diverse generative AI platforms in engineering design applications. The first experiment tested the AI models' abilities to interpret design briefs, perform arithmetic calculations, and finally to provide instructions to design a part in two separate computer-aided design (CAD) platforms, thus gaining an insight into their perception of the functionality of the CAD platforms. The second experiment required the AI tools to design a headphone holder stand from scratch, further a be bing their capabilities in CAD, but also their abilities in product design. The experiments found that these technologies show great potential in the area of engineering design. While they are not yet near the level of a human engineer, they currently exhibit capabilities that may be useful in product concept generation and design proce bes. © 2025 The Author(s).

关键词： Product design

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Process planning and contour-based error compensation for precision grinding of miniature scalpels

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先进制造进展（英文版） 2024年第1期12卷 108-123页

作者： Cheng Fan Cao-Yang Xue Jun Zhao Wei Jiang Wen-Ge Han Lei Zhang Li-Ning Sun Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electrical EngineeringSoochow UniversitySuzhou 215021JiangsuPeople's Republic of China Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical and Electrical EngineeringZhejiang UniversityHangzhou 310027People's Republic of China State Key Laboratory of Intelligent Equipment and Manufacturing School of Mechanical EngineeringZhejiang University of TechnologyHangzhou 310023People's Republic of China

Miniature scalpels are mainly used in microsur-geries such as ophthalmic and cardiovascular *** size of a miniature scalpel is only a few millimeters,and the precision of the blade shape is high,which makes pro-duction of miniature scalpels extremely *** study proposes a new sharpening process for grinding miniature scalpels on a four-axis machine tool.A post-processing algo-rithm for a four-axis grinding machine based on a kinemat-ics model is *** then propose a corresponding parameter calibration method for the parameters used in the kinematics *** of possible errors in the param-eter calibration,a contour-based error compensation method is proposed for accurate adjustments to the edge shape fol-lowing *** can solve the problem of large devia-tions between the actual edge shape after grinding and the ideal edge *** effectiveness of the proposed process planning and error compensation method is verified experi-mentally,and the grinding process parameters of the minia-ture scalpel are optimized to improve its surface processing *** sharpness of the optimized miniature scalpel is less than 0.75 N,and the blade shape is symmetrical,which meets the technical requirements of miniature scalpels.

关键词： Miniature scalpel Sharpening Kinematics Error compensation Grinding

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PCE: Multi-Agent Path Finding via Priority-Aware Communication & Experience Learning

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-13页

作者： Gao, Jianqi Li, Yanjie Ye, Zhaohui Wu, Xinyu Department of Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics and School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

Multi-agent path finding (MAPF) is an essential issue for warehouse automation, where multiple agents plan collision-free paths from the start to goal positions. Reinforcement learning (RL) has been employed to develop partially observable distributed MAPF methods that can be scaled to any number of agents. However, existing RL-based MAPF methods still have some limitations in handling redundant information and avoiding deadlock, resulting in a low success rate or longer makespan. This paper proposes a Priority-aware Communication & Experience learning method (PCE), which combines RL with a novel priority-aware multi-agent communication and a new priority-aware deadlock experience replay to tackle this challenge. To be specific, our innovation encompasses two-fold. Our proposed communication mechanism aims to handle redundant information, which establishes a dynamic communication topology based on agents' priorities and proposes a two-head priority-aware graph attention network to aggregate information. In order to help the agent avoid deadlock, we prioritize the expert experience that solves the deadlock when performing experience replay. We conduct multiple simulation experiments on warehouse-like structured grid maps. Compared with the state-of-the-art RL-based MAPF methods, PCE performs significantly better with a higher success rate and lower makespan in small and large MAPF and higher average throughput in the lifelong MAPF, which can further improve the efficiency of warehouse automation. Finally, we validate PCE using three Turtlebot3-Burger robots, which shows that PCE can be applied in real warehouse automation scenarios. IEEE

关键词： Aggregates

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General Kinetostatic Modeling and Deformation Analysis of a Two-Module Rod-Driven Continuum Robot with Friction Considered

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Chinese Journal of mechanical engineering 2023年第3期36卷 110-122页

作者： Peiyi Wang Xinhua Yang Xiangyang Wang Sheng Guo School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518005China

Continuum robots actuated by flexible rods have large potential applications,such as detection and operation tasks in confined environments,since the push and pull actuation of flexible rods withstand tension and compressive force,and increase the structure's *** this paper,a generalized kinetostatics model for multi-module and multi-segment continuum robots considering the effect of friction based on the Cosserat rod theory is ***,the model is applied to a two-module rod-driven continuum robot with winding ropes to analyze its deformation and load *** different in-plane configurations under the external load term as S1,S2,C1,and C2 are *** a bending plane as an example,the tip deformation along thex-axis of these shapes is simulated and compared,which shows that the load capacity of C1 and C2 is generally larger than that of S1 and ***,the deformation experiments and simulations show that the maximum error ratio without external loads relative to the total length is no more than 3%,and it is no more than 4.7%under the external *** established kinetostatics model is proven sufficient to accurately analyze the rod-driven continuum robot with the consideration of internal friction.

关键词： Rod-driven continuum robot Kinetostatic model Cosserat rod theory Deformation and stiffness analysis

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A bi-objective Smart Capacitated Vehicle Routing Problem with Threshold Waste Level for the Home Health Care 29

A bi-objective Smart Capacitated Vehicle Routing Problem wit...

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29th International Conference on engineering, Technology, and Innovation, ICE 2023

作者： Sar, Kubra Ghadimi, Pezhman University College Dublin Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical & Materials Engineering Dublin Ireland

ISBN: (纸本)9798350315172

This article presents a bi-objective mixed-integer linear programming (MILP) model for solving the smart capacitated vehicle routing problem with threshold waste level (SCVRP-TWL) with a specific application in home health care services waste management. The model aims to optimize the route of the vehicles for the purpose of minimizing both the total travel time and the total carbon emission. The data used in the model are randomly generated, based on the real coordinates of Dublin city. The results of the model are visualized using the Google API direction tools. The research makes three key contributions to the field of vehicle routing and waste management. The integration of real-time traffic data and waste threshold level in the model, which allows for more accurate and efficient routing decisions. The application of the model in the unique domain of home health care (HHC) services waste management, which addresses a specific and important problem in this field. The use of the non-dominated sorting genetic algorithm II (NSGA-II) as the solution algorithm which allows for a better balancing of the trade-offs between the two objectives. © 2023 IEEE.

关键词： Travel time

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A Review of Artificial Intelligence Application on Enhancing Resilience of Closed-loop Supply Chain 29

A Review of Artificial Intelligence Application on Enhancing...

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29th International Conference on engineering, Technology, and Innovation, ICE 2023

作者： Hu, Yang Ghadimi, Pezhman University College Dublin Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical & Materials Engineering Dublin Ireland

ISBN: (纸本)9798350315172

The purpose of this review is to investigate the landscape of scientific literature in analysing the Artificial Intelligence (AI) technology capabilities for enhancing supply chain resilience both from the forward and reverse side in times of increased risk and uncertainty. This article adopts a systematic literature analysis to extract and analyse the related papers that implemented AI in typical SC functions that can help develop supply chain resilience. It is found that AI technology can be considered as enabling technology for mitigating disruption risk in the closed-loop supply chain due to higher efficiency and accuracy in supplier selection, facility allocation, inventory planning, capacity planning, and demand forecasting, leading to resilience and robustness of a closed-loop supply chain. This review also suggested that a more comprehensive, in-depth, and wide range study from both forward and reverse, especially the reverse side from the reactive, dynamic aspects should be conducted in the future to better reduce supply chain risk more efficiently, effectively, and completely. © 2023 IEEE.

关键词： Risk management

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