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SSRN 2025年

作者： Hu, Yang Monticolo, Davy Ghadimi, Pezhman Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical & Materials Engineering University College Dublin Belfield Dublin Ireland Université de Lorraine ERPI Nancy France

Persistent quality problems with medical devices and the associated recall present potential health risks to patients and users, bringing extra costs to manufacturers and disturbances to the entire supply chain (SC). Conventional medical device recall strategy neglects the significance of the failure detection process in the premarket phase, increasing the risk of medical device recall events. Insufficient research on developing an effective methodology for addressing medical device recall failure detection leads to economic loss and health threats. To address these problems, this research first reconsiders the structure of the conventional medical device recall strategy theory from the supply chain risk management and resilience view and reinforces the importance of failure detection and quality inspection work in the premarket stage. Then, we developed a machine learning-based medical device recall initiator prediction framework with five algorithms to conduct proactive failure detection based on the practical industrial case. In the case study, an accuracy rate of 88.18% is achieved, which indicates the potential of the proposed framework in assisting manufacturers with asset predictive failure detection for reducing recall. A comparative analysis of prediction performance between our framework and the most similar research was presented. The comparison results showed that our distinctive design in the dataset, clustering method, and key input features chosen are valid and efficient. The proposed predictive framework obtains higher accuracy, scalability, and practical values. The main purpose of the proposed predictive framework is to build a sustainable and resilient supply chain using an intelligent decision-making support tool. © 2025, The Authors. All rights reserved.

关键词： Outages

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Decoupling of nanoindentation residual stress field in single-crystalline 4H-SiC via micro-Raman spectroscopy

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Optics Letters 2025年第11期50卷 3513-3516页

作者： Yang, Zhoudong Tian, Jing Wang, Xinyue Chen, Junwei Zuo, Yuanhui Zhang, Rongjun Tang, Hongyu Fan, Xuejun Zhang, Guoqi Fan, Jiajie Shanghai Engineering Technology Research Center for SiC Power Device School of Intelligent Robotics and Advanced Manufacturing Fudan University Shanghai200433 China Research Institute of Fudan University in Ningbo Ningbo315336 China School of Information Science and Technology Fudan University Shanghai200433 China Department of Mechanical Engineering Lamar University PO Box 10028 BeaumontTX77710 United States EEMCS Faculty Delft University of Technology Delft2628 Netherlands

This Letter presents a combined analytical and experimental method to effectively decouple the radial and tangential residual stress fields induced by Berkovich nanoindentation in single-crystalline 4H-SiC using micro-Raman spectroscopy. By integrating the Raman stress characterization model with Yoffe’s expanding cavity model, precise extraction of individual residual stress components around the indentation region is realized. Through the vertical backscattering micro-Raman mapping of the E2 phonon mode, we systematically investigate the residual stress distribution near the indentation. The results highlight significant anisotropy in nanoindentation-induced stress fields, strongly dependent on the crystal orientation of 4H-SiC, predominantly featuring radial tensile stress gradients. This comprehensive theoretical–experimental approach offers a robust optical framework for residual stress characterization in 4H-SiC and provides foundational insights for extending Raman spectroscopy-based stress characterization to other crystalline materials and related device structures. © 2025 Optica Publishing Group. All rights, including for text and data mining (TDM), Artificial Intelligence (AI) training, and similar technologies, are reserved.

关键词： Raman spectroscopy

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Design of a Variable Stiffness Spring with Human-Selectable Stiffness

Design of a Variable Stiffness Spring with Human-Selectable ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Chase W. Mathews David J. Braun Department of Mechanical Engineering Advanced Robotics and Control Laboratory within the Center for Rehabilitation Engineering and Assistive Technology Vanderbilt University Nashville Tennessee USA

Springs are commonly used in wearable robotic devices to provide assistive joint torque without the need for motors and batteries. However, different tasks (such as walking or running) and different users (such as athletes with strong legs or the elderly with weak legs) necessitate different assistive joint torques, and therefore, springs with different stiffness. Variable stiffness springs are a special class of springs which can exert more or less torque upon the same deflection, provided that the user is able to change the stiffness of the spring. In this paper, we present a novel variable stiffness spring design in which the user can select a preferred spring stiffness similar to switching gears on a bicycle. Using a leg-swing experiment, we demonstrate that the user can increment and decrement spring stiffness in a large range to effectively assist the hip joint during leg oscillations. Variable stiffness springs with human-selectable stiffness could be key components of wearable devices which augment locomotion tasks, such as walking, running, and swimming.

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Development of a ML-Control Strategy for a Wrist Exoskeleton Based on EMG and Force Measurements with Sensor Strategy Optimisation

Development of a ML-Control Strategy for a Wrist Exoskeleton...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Roberto F. Pitzalis Nicholas Cartocci Christian Di Natali Darwin G. Caldwell Giovanni Berselli Jesús Ortiz Department of Advanced Robotics Istituto Italiano di Tecnologia Genoa Italy Department of Mechanical Energy and Transportation Engineering (DIME) University of Genoa Genoa Italy Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

The aim of this paper is to infer the development of a control and sensor strategy for an industrial wearable wrist exoskeleton through preliminary classification and prediction of workers' actions gathered in a real working environment. The effort intensity, correlated with the exerted force, and sensor strategy optimization are considered and evaluated for design purposes. In this paper, an EMG-based wrist motion classification and a force prediction models are presented based on measurements taken on six healthy subjects in a manufacturing plant. A wrist motion pattern recognition algorithm has been developed on top of surface EMG data measured through an 8-channel commercially available sensor (Myo Armband). Moreover, a force regression model has been built based upon wrist force measurements detected by using a commercial hand-held dynamometer (Vernier GoDirect Hand Dynamometer). This control strategy lays the basis for a more complex architecture which will be designed to control an active wrist exoskeleton for industrial applications, simplifying its design, costs and data process by adopting as few sensors and electronic components as possible while maintaining sufficient reliability and accuracy to provide adequate assistance.

关键词： Wrist Maximum likelihood estimation Accuracy Force Exoskeletons Prediction algorithms Feature extraction Reliability engineering Electromyography Classification algorithms

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Kinematic,Workspace and Force Analysis of A Five-DOF Hybrid Manipulator R(2RPR)R/SP+RR

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Chinese Journal of mechanical engineering 2022年第5期35卷 232-243页

作者： Yundou Xu Fan Yang Youen Mei Dongsheng Zhang Yulin Zhou Yongsheng Zhao Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 006004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Tencent Robotics X Tencent HoldingsShenzhen 518057China

In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research *** this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are ***,the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements,and the actual workspace of the hybrid robot is *** that,the force analysis of the over-constrained parallel mechanism is carried out,and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the *** on the obtained results from the force analysis,the manipulator structure is ***,the structure optimization is carried out to improve the robot ***,calibration and workspace verification experiments are performed on the prototype,cutting experiment of an S-shaped aluminum alloy workpiece is completed,and the experiment verifies the machining ability of the *** work conducts kinematics,workspace,force analyses,structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR,providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering.

关键词： Hybrid manipulator Over-constrained Kinematic analysis Stiffness analysis

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Flexible Wing Dynamics of an Underwater Gliding Robot

Flexible Wing Dynamics of an Underwater Gliding Robot

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Aihu Jia Rui Sun Yuntao Guan Xiaobin Qin Yongxi Liu Shangkui Yang Zheming Zhuang Rongjie Kang Jian S. Dai International Centre for Advanced Mechanisms and Robotic MOE Key Laboratory for Mechanism Theory and Equipment Design School of Mechanical Engineering Tianjin University Tianjin PRChina Mechanisms and Robotics Centre for Robotics Research Institute for Robotics Southern University of Science and Technology Shenzhen PRChina

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

Biological flapping wing propulsion is known for its high efficiency, high mobility and high stability. The pectoral fins of fish contains nerves, muscle contraction, power transmission, biomaterials, etc., providing thrust and steering to the fish. Many scholars have studied the physiology and ecology of fish fins. Investigations have shown that the structure and size of the pectoral fins have an important influence on the swimming performance of fish, and also the flapping wing robots. This paper designed a special underwater gliding robot, manta-ray inspired robot, analyzed the motion mechanism of the flapping wing propulsion, designed a new flexible wing propulsion device - tensegrity structure, and used the Euler-Lagrange equation to establish its dynamics model, and derived the static stiffness of the tensegrity structure. The cycle variation rules of the fluid force applied to the system and the tension applied to the structure were obtained through MATLAB. A prototype was fabricated, and the feasibility of the flexible wing mounted on a manta-ray inspired robot was verified through tests.

关键词： Analytical models Biological system modeling Dynamics Prototypes Propulsion Fish Mathematical models

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

Mechanism Improvement of RoboWalk Rehabilitation Device to A...

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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.

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Human-Like Robot Impedance Regulation Skill Learning from Human-Human Demonstrations

arXiv

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arXiv 2025年

作者： Li, Chenzui Wu, Xi Liu, Junjia Teng, Tao Chen, Yiming Calinon, Sylvain Caldwell, Darwin Chen, Fei Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Idiap Research Institute Martigny Switzerland Department of Advanced Robotics Istituto Italiano di Tecnologia Genoa16163 Italy

Humans are experts in collaborating with others physically by regulating compliance behaviors based on the perception of their partners’ states and the task requirements. Enabling robots to develop proficiency in human collaboration skills can facilitate more efficient human-robot collaboration (HRC). This paper introduces an innovative impedance regulation skill learning framework for achieving HRC in multiple physical collaborative tasks. The framework is designed to adjust the robot compliance to the human partner’s states while adhering to reference trajectories provided by human-human demonstrations. Specifically, electromyography (EMG) signals from human muscles are collected and analyzed to extract limb impedance, representing compliance behaviors during demonstrations. Human endpoint motions are captured and represented using a probabilistic learning method to create reference trajectories and corresponding impedance profiles. Meanwhile, an LSTM-based module is implemented to develop task-oriented impedance regulation policies by mapping the muscle synergistic contributions between two demonstrators. Finally, we propose a whole-body impedance controller for a human-like robot, coordinating joint outputs to achieve the desired impedance and reference trajectory during task execution. Experimental validation was conducted through a collaborative transportation task and two interactive Tai Chi pushing hands tasks, demonstrating superior performance from the perspective of interactive forces compared to a constant impedance control method. Copyright © 2025, The Authors. All rights reserved.

关键词： Electromyography

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MULTI-PHYSICS MODELING OF CONTINUOUS AND PULSED LASERS: IMPACT ON THERMAL HISTORY AND SURFACE PROPERTIES IN POWDER BED FUSION ADDITIVE MANUFACTURING

MULTI-PHYSICS MODELING OF CONTINUOUS AND PULSED LASERS: IMPA...

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ASME 2024 International mechanical engineering Congress and Exposition, IMECE 2024

作者： Qadeer, Abdul Akhtar, S.Sohail Abubakar, Abba A. Arif, Abul Fazal M. Mekid, Samir Al-Athel, Khaled S. Mechanical Engineering Department King Fahd University of Petroleum and Minerals Dhahran31261 Saudi Arabia Interdisciplinary Research Center for Intelligent Manufacturing and Robotics King Fahd University of Petroleum and Minerals Dhahran31261 Saudi Arabia Interdisciplinary Research Center for Advanced Materials King Fahd University of Petroleum and Minerals Dhahran31261 Saudi Arabia

ISBN: (纸本)9780791888674

Metal additive manufacturing (MAM) processes have revolutionized manufacturing and design, offering unprecedented freedom to create intricate and complex *** has demonstrated that in laser powder bed fusion (LPBF) of metal additive manufactured parts, the microstructure and surface can be influenced by various process ***, the influence of laser pulse parameters in LPBF remains relatively *** pulse parameters significantly affect the microstructure and melt pool evolution in metal powder bed additive manufacturing *** over these variations is crucial for achieving desired material properties and part *** in pulse parameters, such as power, width, and interval, can alter grain size, orientation, and subcellular structure, thus impacting mechanical ***, optimizing laser energy density by controlling pulse parameters can mitigate defect formation, enhancing density and mechanical ***, exploring precise control over pulse width and interval during manufacturing contributes significantly to achieving high-quality *** this study, a meso-scale numerical model was employed to investigate the influence of pulse parameters, such as pulse width and interval on the thermal history and melt pool evolution in *** physics-based model incorporates key phenomena such as heat transfer via radiation & convection, phase change, recoil pressure, and density-driven melt pool *** physical phenomena play a crucial role in the surface finish and microstructure of fabricated parts, affecting the formation of defects such as balling, keyhole, and spattering.A discrete element model (DEM) was employed to construct the powder bed, while the finite volume method (FVM) simulated the thermal-fluid behavior using an initial condition derived from an STL *** of the numerical model against existing literature has confirmed its capacity to accurately predict melt pool beh

关键词： In situ processing

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

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

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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)

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