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

作者： Kim Yan Wanquan Yan Shing Shin Cheng Department of Mechanical and Automation Engineering CUHK T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Department of Mechanical and Automation Engineering CUHK T Stone Robotics Institute Shun Hing Institute of Advanced Engineering The Chinese University of Hong Kong Multi-Scale Medical Robotics Center Hong Kong

Pericardiocentesis is an important surgical intervention to treat a medical condition called pericardial effusion, during which excessive fluid accumulates around the heart, potentially leading to life-threatening situation. It involves the insertion of a needle and catheter towards the heart into the pericardial space to drain the excessive fluid under ultrasound (US) guidance. The risky procedure requires surgeons to acquire sufficient training to ensure safe execution of the procedure. However, existing heart simulators lack dynamic features, do not offer realistic images under US imaging, and are not reusable. This work presents a dynamic heart simulator (DHS) with pericardial effusion to mimic the beating motion of the human heart and the realistic US imaging results. The beating heart motion is realized using a hydraulic actuation system connected to a double-layer balloon set. The clear and realistic US imaging results are obtained through a unique formula proposed for the chest tissue and the cardiac muscle. A characterization method was also developed to allow customization of important anatomical parameters in the DHS. The experimental results show that the DHS allowed highly realistic simulation of the beating heart, cardiac muscle, and pericardium under US imaging and has been demonstrated to enable successful US-guided pericardiocentesis.

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Mathematical Modelling of a Four-Fingered Metamorphic Anthropomorphic Hand on Precision Grasp

Mathematical Modelling of a Four-Fingered Metamorphic Anthro...

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

作者： Tun Wang Yen-Hua Lin Jian S. Dai Department of Mechanical and Electrical Engineering Centre of Advanced Oil and Gas Equipment China University of Petroleum (Beijing) Beijing China Department of Engineering Centre for Robotics Research King's College London London UK Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

For a metamorphic robotic hand with a foldable palm, its finger operation planes change with palm configurations. Although this reconfigurable design can enhance the grasp flexibility, manipulation workspace and application adaptability, the hand's grasp stability cannot be guaranteed when the palm reconfigures. Especially for the four-fingered metamorphic hand performing precision grasps in anthropomorphic postures, improper control of the palm configurations can result in unsuccessful grasps, which may even lead to hand damage. This paper first displays the workspace of the four-fingered anthropomorphic hand for generating precision grasp gestures. Based on it, force-closure/-balance analyses are performed, deriving the effective precision grasp workspace for typical anthropomorphic postures classified by built mathematical definition. Grasp levels are further discussed by introducing an evaluation method which considers the minimum friction coefficient (MFC) as the quality metric. The proposed scheme gives a way to depict the grasp performance of every robotic hand configuration, without considering specific objects that are to be grasped. Dynamic changes in postures' grasp performance with palm configurations are exhibited in the end.

关键词： Measurement Friction Mathematical models Stability analysis Robots Petroleum

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Motion-Force Interaction Performance of Parallel Robotic Mechanisms

SmartBot

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SmartBot 2025年第1期1卷 27-69页

作者： Qizhi Meng Andres Kecskemethy Xin-Jun Liu Department of Mechanical Engineering Institute of Science TokyoTokyoJapan Chair for Mechanics and Robotics Faculty of EngineeringUniversity of Duisburg-EssenDuisburgGermany State Key Laboratory of Tribology in Advanced Equipment Tsinghua UniversityBeijingChina Beijing Key Laboratory of Transformative High-End Manufacturing Equipment and Technology Department of Mechanical Engineering(DME)Tsinghua UniversityBeijingChina

Parallel robotic mechanisms have emerged as a vital subfield in robotics science and engineering over the past few decades,receiving widespread attention and undergoing significant *** extensive research encompassing type synthesis,dimension optimization,control theory,design principles,manufacturing techniques,and others,comprehensive reviews on the motion–force-related performance of parallel robotic mechanisms and their applications to real-world problems are still *** review aims to fill this gap by analyzing and summarizing significant studies on the motion–force interaction performance of parallel robotic *** the historical development of theoretical paradigms,the research of parallel robotic mechanisms began relatively late compared with their serial ***,approaches for parallel mechanisms were inherited or adopted from serial ***,many cases have demonstrated that parallel robotic mechanisms possess unique characteristics,making it infeasible to directly transfer the theories developed for serial mechanisms to parallel ***,new methodologies are needed to properly analyze and evaluate the intrinsic properties of parallel robotic mechanisms,where the interaction between motion and force plays a crucial *** paper offers an extensive and systematic review of the existing journal literature that analyzes and evaluates motion–force interaction performance of parallel robotics mechanisms,also known as motion/force transmission and constraint performance,providing a broad and detailed bibliography that will serve as a reference for the research *** work examines research strategies,evaluation methods,performance indices,and real-world applications concerning the motion–force interaction performance of parallel robotic mechanisms,offering a foundation to stimulate future research and innovation.

关键词： constraint index motion-force interaction parallel manipulators parallel mechanisms parallel robotic mechanisms performance evaluation robotic mechanisms screw theory transmission index

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Noise-Optimized Signal Processing for TENG-Based Touch Sensing Using I2C Integrated Circuits

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IEEE Sensors Journal 2025年

作者： Moger, Gourav Kakim, Alibek Mubarak, Assem Bushanov, Yersaiyn Kalimuldina, Gulnur Yeshmukhametov, Azamat Nazarbayev University Department of Robotics Engineering Astana Kazakhstan Nazarbayev University School of Engineering and Digital Sciences Department of Mechanical and Aerospace Engineering Astana Kazakhstan LLP MiraiTech Astana Kazakhstan Nazarbayev University Institute of Smart Systems and Artificial Intelligence Advanced Robotics and Mechatronics System laboratory Astana Kazakhstan

Triboelectric nanogenerator (TENG) sensors efficiently convert mechanical stimuli into electrical signals, making them well-suited for touch sensing due to their high sensitivity, durability, and self-powered operation. However, conventional signal acquisition methods introduce noise, affecting measurement accuracy. This paper presents a compact, Inter-Integrated Circuit (I2C)-based signal processing circuit designed to enhance signal fidelity while minimizing noise interference. The system’s performance was evaluated by analyzing sensor response across varying contact areas (50 mm² to 576 mm²) and drop heights, demonstrating a consistently high signal-to-noise ratio (SNR) across impact conditions. A high-frequency impact experiment further confirmed the PCB’s ability to distinguish sensor output from noise. Comparison with direct analog acquisition showed a significant enhancement in SNR, validating the PCB’s effectiveness in noise reduction. The system exhibited a rise time of 3.27 milliseconds, ensuring rapid detection of mechanical stimuli. Additionally, the measured latency of 88.9 ms between impact and signal detection falls within acceptable limits for realtime applications. These results establish the proposed PCB-based signal processing method as a practical solution for improving TENG sensor performance in touch-sensing applications requiring high accuracy and noise resilience. The compact, low-power design further enhances its suitability for integration into wearable electronics, interactive surfaces, and space-constrained systems where conventional bulky processing units are impractical. © 2001-2012 IEEE.

关键词： Network coding

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A Novel Bio-Intelligent Real-Time Redundancy Resolution Method for Cable-Driven Parallel Manipulators

A Novel Bio-Intelligent Real-Time Redundancy Resolution Meth...

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

作者： S. Ali A. Moosavian SeyedSina Seyedi HasanAbadi Arman Gholibeikian Department of Mechanical Engineering K. N. Toosi University of Technology Advanced Robotic and Automated Systems (ARAS) Center of Excellence in Robotics and Control Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Cable-driven parallel manipulators (CDPMs) are widely used where there is a need for high speeds and high accelerations, thanks to the low inertia and low cost of their links. However, cables can only exert tensional force. Due to this inherent property of the cables, CDPMs are required to be designed with at least one degree of redundancy in their joint space, to be able to generate an acceptable range of wrench within the workspace. Meanwhile, redundancy in joint space leads a problem called redundancy resolution, which is basically a force distribution from workspace to joint space. In this research, inspired by a simple mathematical model of the limbic system of the brain, a novel real-time redundancy resolution method is proposed. The presented method utilizes the kinematic information of the end-effector to find the solution to the redundancy resolution problem. The results show that this Brain Emotional Learning (BEL) method has a better performance in comparison with some common numerical optimization methods solved with a nonlinear programming solver like fmincon function in MATLAB, in terms of computational cost, continuity of the profile of the cables forces, and robustness.

关键词： Power cables Redundancy Force Optimization methods Kinematics Brain modeling Mathematical models Real-time systems Robustness Trajectory

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Design, Optimization and Fabrication of a Sensorized-Insole using Taguchi Method

Design, Optimization and Fabrication of a Sensorized-Insole ...

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Iranian Conference of Biomedical engineering (ICBME)

作者： Amin Hoseini Amir Mohammad Mohammadzadeh Alireza Akbarzadeh Dept. of Mechanical Engineering Center of Advanced Rehabilitation and Robotics Research(FUM CARE) Ferdowsi University of Mashhad(FUM) Mashhad Iran

The human foot plays a vital role during locomotion, being the primary point of contact with the environment. Detecting foot-related issues early is crucial for injury prevention and well-being. Assessing foot irregularities requires measuring parameters like pressure, center of pressure, and force. The Ferdowsi University of Mashhad Center of advanced Rehabilitation and robotics (FUM-CARE) developed an insole with eight Force-Sensing Resistor (FSR) sensors to address these needs. The FUM insole optimized sensor placement to accurately detect the standard gait pattern. Experiments, following the Taguchi methodology, were conducted on the insole, considering three cost functions to determine two sensor arrangements. The cost functions attempted to follow the various aspects of the vertical ground reaction force, vGRF, of a gait cycle. The two sensor arrangements aimed to mimic different aspects of the vertical ground reaction force (vGRF) during a gait cycle. The first arrangement attempted to track magnitudes of valleys and peaks of a standard vGRF diagram, with the first, third, and seventh factors as key influencers. The second configuration, targeting precise vGRF replication, was influenced primarily by the first, third, and sixth factors. Remarkably, the first sensor placement had a 2.4% error at detection of peaks and valleys magnitude. The second arrangement exhibited a 97% cross-correlation with the standard vGRF diagram, confirming its alignment. Additionally, the FUM Insole’s construction employed a lamination method, which offered resistance to surface scratches and shear forces. This strategic approach significantly enhanced sensor durability for prolonged functionality.

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Global Stabilization of Antipodal Points on n-Sphere with Application to Attitude Tracking

arXiv

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arXiv 2023年

作者： Tong, Xin Cheng, Shing Shin Department of Mechanical and Automation Engineering CUHK T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Department of Mechanical and Automation Engineering CUHK T Stone Robotics Institute Shun Hing Institute of Advanced Engineering Multi-Scale Medical Robotics Center The Chinese University of Hong Kong Hong Kong

Existing approaches to robust global asymptotic stabilization of a pair of antipodal points on unit n-sphere Sn typically involve the non-centrally synergistic hybrid controllers for attitude tracking on unit quaternion space. However, when switching faults occur due to parameter errors, the non-centrally synergistic property can lead to the unwinding problem or in some cases, destabilize the desired set. In this work, a hybrid controller is first proposed based on a novel centrally synergistic family of potential functions on Sn, which is generated from a basic potential function through angular warping. The synergistic parameter can be explicitly expressed if the warping angle has a positive lower bound at the undesired critical points of the family. Next, the proposed approach induces a new quaternion-based controller for global attitude tracking. It has three advantageous features over existing synergistic designs: 1) it is consistent, i.e., free from the ambiguity of unit quaternion representation;2) it is switching-fault-tolerant, i.e., the desired closed-loop equilibria remain asymptotically stable even when the switching mechanism does not work;3) it relaxes the assumption on the parameter of the basic potential function in literature. Comprehensive simulation confirms the high robustness of the proposed centrally synergistic approach compared with existing non-centrally synergistic approaches. © 2023, CC BY-NC-ND.

关键词： Hybrid systems

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Design and Manufacturing of an Intelligent Ping-Pong Robot (RoboPing)

Design and Manufacturing of an Intelligent Ping-Pong Robot (...

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

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

robotics and artificial intelligence (AI) are rapidly transforming many industries and aspects of our lives, and sport activities are no exception. Robots and AI are already being used in a variety of sports, including training and performance analysis. This paper introduces a new assistant ping-pong robot (RoboPing) that shoots ping-pong balls with different speeds and spins, besides using AI to analyze training sessions and providing useful insights into the game. RoboPing represents a significant advancement in mechanical design over previous versions, offering enhanced functionality. Being equipped with a precise vision system makes RoboPing more advanced compared to existing versions.

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Photonic structures in radiative cooling

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Light(Science & Applications) 2023年第7期12卷 1187-1215页

作者： Minjae Lee Gwansik Kim Yeongju Jung Kyung Rok Pyun Jinwoo Lee Byung-Wook Kim Seung Hwan Ko Applied Nano and Thermal Science Lab Department of Mechanical EngineeringSeoul National University1 Gwanak-roGwanak-guSeoul 08826South Korea Electronic Device Research Team Hyundai Motor Group37Cheoldobangmulgwan-roUiwang-siGyeonggi-do 16082South Korea E-drive Materials Research Team Hyundai Motor Group37Cheoldobangmulgwan-roUiwang-siGyeonggi-do 16082South Korea Department of Mechanical Robotics and Energy EngineeringDongguk University30 pildong-ro 1-gilJung-guSeoul 04620South Korea. Department of Civil Engineering and Engineering Mechanics Columbia UniversityNew YorkNY 10027USA. Institute of Advanced Machinery and Design(SNU-IAMD)/lnstitute of Engineering Research Seoul National University1 Gwanak-roGwanak-guSeoul 08826South Korea

Radiative cooling is a passive cooling technology without any energy consumption,compared to conventional cooling technologies that require power sources and dump waste heat into the *** decades,many radiative cooling studies have been introduced but its applications are mostly restricted to nighttime use ***,the emergence of photonic technologies to achieves daytime radiative cooling overcome the performance *** example,broadband and selective emissions in mid-IR and high reflectance in the solar spectral range have already been *** review article discusses the fundamentals of thermodynamic heat transfer that motivates radiative *** photonic structures such as multilayer,periodical,random;derived from nature,and associated design procedures were thoroughly *** integration with new functionality significantly enhances the effciency of radiative cooling technologies such as colored,transparent,and switchable radiative cooling applications has been *** commercial applications such as reducing cooling loads in vehicles,increasing the power generation of solar cells,generating electricity,saving water,and personal thermal regulation are also ***,perspectives on radiative cooling and emerging issues with potential solution strategies are discussed.

关键词： radiative overcome transparent

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Test-Stand Experimental Analysis of RoboWalk Weight Assisting Performance

Test-Stand Experimental Analysis of RoboWalk Weight Assistin...

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

作者： Morteza Ghafoori S. Ali A. Moosavian Dept 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 increment in elder population has been the main cause of exoskeletons and rehabilitation robots development. Studies have proven that assistive robots are more effective in limb empowerment and rehabilitation than traditional ways. A lower-limb assistive robot called RoboWalk has been designed in ARAS lab at K. N. Toosi University of Technology to help compensate user weight when moving. This study reviews the RoboWalk weight assisting robot and illustrates its Test-Stand more thoroughly with updated modifications and parts. Test-Stand system features and operational specifications are then described. Then, system kinetics and kinematics are also explained. Finally, the weight assisting performance of RoboWalk is analyzed. Results show that the gait generating mechanism creates a singularity in Test-Stand system that causes a decrease in the assisting force. It is concluded that this issue is only related to the Test-Stand and does not appear in the actual RoboWalk robot. Nevertheless, Solutions to avoid this in Test-Stand including back and forth simulation of the gait and maximum motor torque limitation are also suggested.

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