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9th International Symposium on Sensors, Mechatronics, and Automation System, ISSMAS 2023

作者： Wu, Xiong Wei, Shouqi You, Jinwei Sun, Jianquan School of Mechanical and Engineering Guilin University of Electronic Technology Guilin541004 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9781510672802

In order to improve the tracking and synchronization performance of multi-motor synchronous system after disturbance in steady state operation, a multi-motor control system was proposed. Firstly, the multi-motor speed synchronization control structure was designed based on the traditional mean coupling control (MCC) structure. Then the particle swarm optimization and the improved variable speed integral term were introduced into it to optimize the regular compensation factors and the parameters of PI controller. The improved system was called MCC_PSO system. In MATLAB/Simulink, we chose three permanent magnet synchronous motors (PMSM) to build the multi-motor synchronous control system model and from the results we can know the improved synchronous control system is superior to the traditional control system in both tracking performance and synchronization performance. © 2024 SPIE.

关键词： mean coupling multi-motor synchronous control particle swarm optimization variable speed integration

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Supernumerary Robotic Limbs to Augment Astronauts Performing Post-Fall Recoveries during Partial-Gravity Spacewalks

Supernumerary Robotic Limbs to Augment Astronauts Performing...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Ballesteros, Erik Carpenter, Kalind Asada, H. Harry Department of Mechanical Engineering Massachusetts Institute of Technology Course 2 CambridgeMA02139 United States Advanced Robotics Systems Group 347Z NASA Jet Propulsion Laboratory PasadenaCA91011 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper investigates the effectiveness of a type of wearable robot, known as Supernumerary Robotic Limbs (SuperLimbs) in assisting an astronaut performing partial-gravity ExtraVehicular Activities (EVAs). SuperLimbs can directly address a key technology gap identified by NASA concerning that of incapacitated crew rescue devices during partial-gravity EVAs. To contextualize SuperLimbs in human spaceflight application, we start by reviewing other forms of wearable robotics technologies and perform a qualitative comparison with SuperLimbs. From there, we present a suite of operational modes that SuperLimbs is capable of delivering in a suited partial-gravity EVA. Within the operational mode suite, we selected the most urgent use-case: that of performing a post-fall recovery, and reviewed the results from a pilot-human study. To validate the effectiveness of SuperLimbs in providing the necessary assistive forces needed for a post-fall recovery, a series of validation experiments was performed with a prototype SuperLimbs system. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： NASA

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Learning Grasping for Robot with Parallel Gripper from Human Demonstration via Contact Analysis

Learning Grasping for Robot with Parallel Gripper from Human...

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IEEE International Conference on Control and robotics engineering (ICCRE)

作者： Zhengshen Zhang Chenchen Liu Lei Zhou Jiawei Sun Zhiyang Liu Marcelo H. Ang Wen Feng Lu Francis EH Tay Advanced Robotics Centre National University of Singapore Department of Mechanical Engineering National University of Singapore

ISBN: (数字)9798350372694

ISBN: (纸本)9798350372700

Recent studies in the field of robotic grasping have predominantly concentrated on generating valid grasps using geometric features of target objects, employing either analytical or deep learning methods. Although such approaches have proved successful in simple picking tasks, they often fall short in task-oriented robotic grasping that demands the grasp pose to be limited to specific parts of the object. In human hand-object interaction, individuals tend to grasp particular parts of an object to facilitate subsequent tasks based on their learned knowledge from daily life experiences. Some previous research has explored the mapping of the human hand pose to a dexterous gripper with similar degrees of freedom (DoF). Nevertheless, the majority of robotic grippers are still parallel jaw grippers, which presents a challenge in mapping high DoF human hand poses to the low DoF grasp pose of a parallel gripper. In this paper, we propose three schemes that map human hand poses to the grasp pose of a parallel gripper. Our quantitative results demonstrate that the optimal mapping scheme can achieve an impressive overall success rate of 87% in robust robotic grasping. Video: https://***/PXSF6HI5u6k.

关键词： Deep learning Estimation Grasping Grippers Task analysis Robots

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Design and Experiment of A Hybrid Wave Energy Harvester Based on Tapered Rollers 21

Design and Experiment of A Hybrid Wave Energy Harvester Base...

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21st International Conference on Micro and Nanotechnology for Power Generation and Energy Conversion Applications, PowerMEMS 2022

作者： Li, Yunfei Tang, Tianyi Fang, Yan Huang, Manjuan Hou, Cheng Liu, Huicong Sun, Lining State Key Laboratory of Robotics and System Harbin150001 China Soochow University School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics China

ISBN: (纸本)9781665493062

This paper presents a hybrid energy harvester based on tapered rollers with an electromagnetic generator (EMG) component and a triboelectric nanogenerator (TENG) component for ultra-low frequency wave energy harvesting. The chaotic pendulum is adjusted to adapt the wave excitation under different sea conditions, ensuring that the device achieves optimal output performance. At excitation frequency of 1Hz and the tilt angle of 60°, the open-circuit voltage peaks of 8.4 and 132 V can be achieved by the EMG and TENG, respectively, corresponding to the power outputs of 4.38 and 0.078 mW, respectively. It was demonstrated that the device can easily light up over 360 red light-emitting diodes. © 2022 IEEE.

关键词： Wave energy conversion

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State of Charge Algorithm Considering Open Circuit Voltage of LiFePO4 Battery Cells for Battery Energy Storage System

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Transactions of the Korean Institute of Electrical Engineers 2025年第5期74卷 969-976页

作者： Na, Kunwoo Choi, Keun Ha Kim, Wooyong Dept. of Biomedical & Robotics Engineering Incheon National University Korea Republic of Dept. of Mechanical Engineering Korea Advanced Institute of Science and Technology Korea Republic of

Lithium iron phosphate (LFP) batteries are increasingly adopted in electric vehicles (xEVs) and battery energy storage systems (BESS) due to their thermal stability, safety, and cost-effectiveness. Despite these advantages, the inherently low electrical conductivity and flat charge-discharge voltage profile of LFP batteries present significant challenges for accurate state estimation. To address these limitations, this study employs a Sigma-Point Kalman Filter (SPKF), which demonstrates superior performance compared to the conventional Extended Kalman Filter (EKF) in handling nonlinear system dynamics. Furthermore, to account for the hysteresis behavior characteristic of LFP cells, quasi-open circuit voltage (qOCV) measurements are utilized. A Dual Sigma-Point Kalman Filter (DSPKF) is proposed to enhance the estimation of both state of charge (SoC) and hysteresis states. The experimental results validate the effectiveness of the proposed method, offering a high-precision state estimation framework that improves the reliability and performance of LFP batteries in xEV and BESS applications. Copyright © The Korean Institute of Electrical Engineers.

关键词： State of charge

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Development of a Lower Limb Gait Asymmetry Index with Cyclogram Analysis Using Image Processing 12

Development of a Lower Limb Gait Asymmetry Index with Cyclog...

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

作者： Etaati, Sepideh Javaherat, Fatemeh Delrobaei, Mehdi K. N. Toosi University of Technology Faculty of Electrical Engineering Department of Mechatronics Tehran Iran K. N. Toosi University of Technology Advanced Robotics and Automated Systems lab. Faculty of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798331529734

Ahstract- This study focuses on developing a gait asymmetry index and applying image processing techniques to cyclogram analysis. We evaluated gait asymmetry under different walking conditions, specifically examining the effects of wearing a knee brace and holding a weight in hand. Using inertial measurement units (IMUs), we collected gait data to analyze knee, hip, and ankle angles in the sagittal plane. The joint kinematics data were assessed using our proposed asymmetry index, which combines image processing techniques and linear regression models. The proposed asymmetry index incorporates cyclogram area, trend symmetry, and the longest length of the cyclogram shape, effectively capturing variations in symmetry and providing a comprehensive measure. The results demonstrate that the proposed asymmetry index can effectively distinguish between different gait conditions. The findings potentially offer insights for researchers and clinicians in human biomechanics, aiding in the planning of interventions and the assessment of motion patterns, as well as for developers of bipedal walking robots in the field of robotic locomotion, enhancing their ability to design hardware and evaluate motion patterns. © 2024 IEEE.

关键词： Robot programming

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Supplemental Human-Machine Interface for Haptic Shared Control to Convey Sensor Reliability Information to an Operator of Underwater Vehicles

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IEEE Transactions on Haptics 2025年 PP卷 PP页

作者： Sato, Eito Orita, Yasuaki Sakagami, Norimitsu Wada, Takahiro Nara Institute of Science and Technology Human Robotics Laboratory Information Science and Engineering Graduate School of Science and Technology Ikoma Japan Ryukoku University Mechanical Engineering and Robotics Course Faculty of Advanced Science and Technology Faculty of Advanced Science and Technology Shiga Japan

In haptic shared control (HSC) for teleoperation, the human operator and autonomous system share control via torque on the input device. When a discrepancy exists between the human's maneuvering intent and the autonomous maneuver presentation, the human can apply additional force to the device to achieve the desired maneuvering. The required force level is generally predetermined during design and closely relates to the human workload. This study investigated scenarios where discrepancies between human and machine control occur frequently owing to unreliable sensor information. We propose a method to allow the operator to adjust the machine's assist level, facilitating smoother control transitions and proving useful when machine suggestions are unreliable. Conventional HSC systems generally lack sufficient information for operators to make informed decisions regarding adjusting assist levels, leading to delayed decisions and increased workloads. To address this, our research objective is to communicate sensor reliability to humans, thereby facilitating deciding the machine's assist level. We focused on the HSC of a remotely operated underwater vehicle (ROV) where the sensor system is prone to unreliable. Maneuvering experiments with an ROV simulation involving sixteen participants demonstrated the proposed method effectively communicates sensor reliability to operators and reduces mental demand compared to conventional methods. © 2025 IEEE.

关键词： Remotely operated vehicles

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Landing Area Prediction in Complex Terrains for Walking-assisted Lower-limb Exoskeleton Robot

Landing Area Prediction in Complex Terrains for Walking-assi...

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2023 International Conference on Biomimetic Intelligence and robotics

作者： Liu, Yuexun Liu, Du-Xin Ma, Yue Guo, Sheng Wu, Xinyu Robotics Research Center School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing100044 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

With the expansion of application scenarios, the walking-assisted lower-limb exoskeleton robot urgently needs to improve its walking ability in complex terrains. However, due to the lack of environmental understanding ability and decision-making ability, the exoskeleton can not meet the need of people with lower-limb disability in complex terrains. To improve the walking abillity, this paper proposes a method of predicting the landing area in complex terrains for walking-assisted lower-limb exoskeleton robot. Multiple sensors were used to obtain the terrain information, step length, and stride length of human walking, and a multi-type input convolutional network was built to establish the mapping relationship to learn the decision-making mechanism of human standing in a complex environment. The result shows that the established network effectively predicts the landing area. Under the condition of full training, the predicted position deviation of the landing area is controlled within 6%, and the prediction rationality of the landing area can reach 90%. © 2023 The Authors. Published by Elsevier B.V.

关键词： Decision making

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Origami-Inspired Soft Gripper with Tunable Constant Force Output

arXiv

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arXiv 2025年

作者： Ni, Zhenwei Xu, Chang Qin, Zhihang Zhang, Ceng Tang, Zhiqiang Wang, Peiyi Laschi, Cecilia Department of Mechanical Engineering and Advanced Robotics Centre National University of Singapore Singapore Singapore centre Singapore Singapore

Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications that require stable grasping force. In this work, we propose a soft gripper that utilizes an origami-inspired structure to achieve tunable constant force output over a wide strain range. The geometry of each taper panel is established to provide necessary parameters such as protrusion distance, taper angle, and crease thickness required for 3D modeling and FEA analysis. Simulations and experiments show that by optimizing these parameters, our design can achieve a tunable constant force output. Moreover, the origami-inspired soft gripper dynamically adapts to different shapes while preventing excessive forces, with potential applications in logistics, manufacturing, and other industrial settings that require stable and adaptive operations. Copyright © 2025, The Authors. All rights reserved.

关键词： Grippers

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Robot Manipulator Trajectory Tracking with Uncertainties Based on Adaptive Sliding Control

Robot Manipulator Trajectory Tracking with Uncertainties Bas...

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2023 IEEE International Conference on Unmanned Systems, ICUS 2023

作者： Li, Haiqing Yang, Baojun Jiang, Shu Luo, Jiufei School of Advanced Manufacturing Engineering Chongqing University of Posts and Telecommunications Chongqing China Chongqing Huashu Robotics Co. Ltd. Chongqing China College of Mechanical and Vehicle Engineering Hunan University Changsha China

ISBN: (纸本)9798350316308

Trajectory tracking control with uncertainties has been challenging for robot manipulators. To deal with issue, this study proposes an adaptive fuzzy compensation sliding control method that considers system friction and disturbance to improve the accuracy of trajectory tracking control for robotic manipulators. First, the adaptive control rate is designed based on a fuzzy approximation to process the uncertainty problems, and the stability is analyzed based on the Lyapunov algorithm. Then, an adaptive robust controller based on adaptive fuzzy compensation sliding control (AFCSC) is designed for a robot manipulator with system friction and disturbance. Finally, the effectiveness of the proposed trajectory tracking controller is demonstrated by the simulation. Simulation results show that the manipulator works with higher accuracy and is more stable compared with adaptive fuzzy friction compensating control. © 2023 IEEE.

关键词： Friction

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