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Standing assistance which realizes voluntary movements of the patient within a safety motion tolerance 23rd

Standing assistance which realizes voluntary movements of th...

23rd International Conference on Climbing and Walking robots and the Support Technologies for Mobile Machines, CLAWAR 2020

作者： Chugo, Daisuke Suzuki, Yu Yokota, Masahiro Muramatsu, Satoshi Yokota, Sho She, Jin-Hua Hashimoto, Hiroshi Katayama, Takahiro Mizuta, Yasuhide Koujina, Atsushi Graduate School of Science and Technology Kwansei Gakuin University 2-1 Gakuen Hyogo Sanda669-1337 Japan School of Science and Information and Telecommunication Engineering Tokai University Japan Faculty of Science and Engineering Toyo University Saitama Kawagoe Japan School of Engineering Tokyo University of Technology Hachioji Tokyo Japan Advanced Institute of Industrial Technology Shinagawa Tokyo Japan Service Robot Division RT.WORKS CO. LTD Osaka Japan

ISBN: (纸本)9781916449046

This paper proposes a novel standing assistance robot, which realizes voluntary movements of the patient within a safety motion range. In previous studies, conventional assistive robots did not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Such general assistive robots helped patients by using a fixed motion reference pathway in spite of their original intention, and as a result, these robots failed to use the physical strength of the patients. Therefore, we have clarified the range of motion that allows patients to move their body safely and applied this safety tolerance for assistive robot control. However, determining whether a patient's movements are within a safe tolerance may not be enough to successfully assist the patient. For example, the robot should assist its patient immediately if the patient falls down even if this motion is done within safety tolerance. Thus, in this paper, we extend from our previous safety tolerance to safety "motion" tolerance. Furthermore, we implement this idea to our assistive robot control using damping control algorithm. Proposed idea is implemented to our new prototype and its effectiveness is verified by experimental results with elderly subjects who lives in the nursing care house. © CLAWAR Association Ltd.

关键词： robots

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Design and study ofa biomimetic wall-climbing robot with spine wheels and a vacuum suction cup

Design and study ofa biomimetic wall-climbing robot with spi...

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Liu, Jinfii Xu, Linsen Chen, Shouqi Xu, Hong Cheng, Gaoxin Liu, Lei Xu, Jiajun Hefei Institutes of Physical Science CAS University of Science and Technology of China No.96 Jinzhai Road Hefei230026 China Hefei Institutes of Physical Science CAS Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province No.801 Changwu Road Changzhou213164 China University of Science and Technology of China No.96 Jinzhai ad Hefei230026 China

ISBN: (纸本)9781728137261

Wall-climbing robots can be widely applied in search and rescue, nuclear power plant maintenance, pressure pipeline inspection and so on, as a kind of special robots in extreme environment. However, the traditional single motion mode can not ensure the stable adhesion of the robot on complex wall surfaces. Inspired by the structure characteristics of flies and clingfish, a biomimetic flexible spine wheel and an eddy suction cup mechanism are proposed. Then, based on the law of mechanism configuration synthesis, a novel wall-climbing locomotion mechanism is developed by equipping these above biomimetic mechanisms. With the elastic mechanics theory of finite element, the original stiffness matrix of a single spine wheel at different stiffness is deduced. Based on the transformation mechanism of rotation matrix and the original stiffness matrix of the spine wheel, an innovative contact model is set up to analyze the forces acting on a single spine wheel. Beyond that, mechanical analysis model between suction force and load is also presented, and the simulation results show that the mechanical model is effective and reasonable in the selection of vacuum component. Finally, we fabricated the wall-climbing robot adopting the technology of 3D printing and precision machining to verify its climbing performance. Meanwhile, experiment results present the robot could climb stably on the 0-360° wall surfaces. © 2018 IEEE.

关键词： Wheels

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The progress in epidemiological, diagnosis and treatment of primary hemifacial spasm

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Heliyon 2024年第19期10卷 e38600页

作者： Xiang, Guangfa Sui, Minghong Jiang, Naifu Luo, Rui Xia, Jianwei Wei, Xinling Lin, Yifeng Li, Xingyu Cai, Zixiang Lin, Junxia Li, Shipei Chen, Wanyi Zhao, Yang Yang, Lin Zunyi Medical University Campus Zhuhai Guangdong Zhuhai China Department of Rehabilitation Medicine Huazhong University of Science and Technology Union Shenzhen Hospital Guangdong Shenzhen China Shenzhen Institute of Advanced Technology (SIAT) Chinese Academy of Sciences (CAS) Guangdong Shenzhen China Shenzhen University Health Science Center Guangdong Shenzhen China School of Special Education and Rehabilitation Binzhou Medical University Shandong Yantai China Gannan Medical University Jiangxi Ganzhou China College of Health Science Guangdong Pharmaceutical University Guangdong Guangzhou China Standard Robots Co. Ltd Room 405 Building D Huafeng International Robot Fusen Industrial Park Hangcheng Avenue Guxing Community Xixiang Street Baoan District Guangdong Shenzhen China

Hemifacial Spasm is a neurological disorder characterized by persistent and rhythmic spasms of the facial muscles, significantly affecting the patient's quality of life. This condition can be classified into primary and secondary types;this article focuses on the characteristics of primary hemifacial spasm. Epidemiological studies indicate that the condition is more common in women, older adults, and individuals with posterior fossa stenosis or uneven blood flow dynamics, and is associated with gene expression related to demyelinating lesions. In terms of diagnosis, magnetic resonance imaging can show the location of arterial or venous compression on the facial nerve on a macroscopic level and reveal white matter lesions on a microscopic level. Additionally, optimized electrophysiological techniques can determine the type of neural excitation disorder from both central and peripheral perspectives, thereby improving detection rates. There are numerous treatment options available. Although early oral medications may have limited effectiveness, botulinum toxin injections can provide temporary relief. Future considerations include balancing injection costs with long-term efficacy. Microvascular decompression remains the preferred treatment approach and can be further optimized with endoscopic techniques. For refractory cases, alternative therapies such as facial nerve massage, radiofrequency techniques, rhizotomy, or acupuncture may be considered. © 2024

关键词： Botulinum toxin Electromyography Hemifacial spasm Lateral spread response Magnetic resonance imaging Microvascular decompression Treatment

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Using Point Clouds for Automated Condition Verification in Physical Integration Testing

Using Point Clouds for Automated Condition Verification in P...

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IEEE/SICE International Symposium on System Integration

作者： Floris Erich Geoffrey Biggs Noriaki Ando Floris Erich and Noriaki Ando are with the Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology (AIST) Japan Geoffrey Biggs is with Tier IV Inc. Japan

ISBN: (数字)9781728166674

ISBN: (纸本)9781728166681

In this paper we present a method for performing automated verification of test case conditions using point clouds. This paper mainly addresses two concerns, the specification of test scenarios and a similarity metric between point clouds. Point clouds are obtained from a depth sensor observing a physical environment and from a simulated depth sensor observing a simulated environment. The point clouds are compared by calculating the distance of each point in each respective point cloud to their nearest neighbour in the other point cloud. We then show how the method can be used to test a pick and place application. This method can be used as part of the automated testing phase within a continuous integration system, which allows organizations to test industrial robot applications.

关键词： Three-dimensional displays robot sensing systems Testing Vegetation Service robots Software

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Efforts to unmanned construction for post-disaster restoration and reconstruction 36

Efforts to unmanned construction for post-disaster restorati...

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36th International Symposium on Automation and robotics in Construction, ISARC 2019

作者： Kitahara, S. Nitta, Y. Nishigaki, S. Kumagaigumi Co Ltd Japan Disaster and Accident Sub-committee Construction Robot Committee JSCE Japan Advanced Technology Research Team Public Works Research Institute Japan Disaster and Accident Sub-committee Construction Robot Committee JSCE Japan Kick Japan Disaster and Accident Sub-committee Construction Robot Committee JSCE Japan

This paper presents largely severe natural disasters had happened in Japan, and efforts to unmanned construction until now. First, problems in responses to post-disaster restoration and reconstruction are reported. Secondly, are described demonstration of ultra-long-distance unmanned construction and the requirements for the deployment. Thirdly, this paper presents research and development on autonomous crawler carrier. Finally, concluding remarks and further works are reported. In addition, are proposed levels of promising applicability of robots in responses to post-disaster restoration and reconstruction. © 2019 International Association for Automation and robotics in Construction I.A.A.R.C. All rights reserved.

关键词： Disasters

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A bio-inspired wall-climbing robot with claw wheels and adhesive tracks

A bio-inspired wall-climbing robot with claw wheels and adhe...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Liu, Jinfu Xu, Linsen Xu, Jiajun Wu, Xuan Wang, Meiling Lu, Linlin Hefei Institutes of Physical Science Chinese Academy of Sciences Institute of Advanced Manufacturing Technology Hefei China University of Science and Technology of China Hefei China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781538680698

The paper presents a bio-inspired wall-climbing robot capable of locomotion on a great variety of surfaces at speeds up to 10cm/s using claws or tracks. Inspired by the mechanism and movement characteristics of the feet on flies, a novel and innovative structure is designed and implemented. Furthermore, three mechanical models, which are statics and dynamics on rough wall surfaces as well as adhesion on smooth surface, are proposed to analyze the force or torque acting on the robot. Finally, experiments on foam, brick and glass surfaces are carried out, and the results indicate that the robot with claw wheels and adhesive tracks is able to climb steadily on various complex walls. © 2018 IEEE.

关键词： Adhesives

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Kinematic Characteristics and Dynamics Analysis of the Tetrahedral Deployable Mechanism Based on the Screw Theory

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Jiqiren/robot 2020年第1期42卷 21-28and38页

作者： Han, Bo Han, Yuanyuan Xu, Yundou Zheng, Dong Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao066004 China Department of Mathematics and Computer Science Hengshui University Hengshui053000 China

In order to solve the modeling and analysis problems of the kinematics and dynamics of the spaceborne tetrahedral space deployable antenna, a kinematics and dynamics characteristics analysis method based on screw theory is established. Firstly, configuration and geometric characteristics of the 3RR-3RRR tetrahedral deployable mechanism are analyzed, its screw constrained topology diagram is obtained based on screw theory, and its degree of freedom (DOF) is calculated to be only one. Then, the kinematics analysis of the mechanism is conducted, the velocities of the components are obtained through the combinatorial operation of kinematic twists, and the Jacobian matrix of this mechanism is also obtained. The 6-dimensional acceleration of each component is expressed by the screw derivative, and the angular accelerations and centroid linear accelerations of the node disks and rods are deduced. Finally, the dynamic equation is established based on the Newton-Euler equation and the principle of virtual work, and the numerical calculation and simulation verification are carried out. The simulation results are completely consistent with the numerical results, which verifies the correctness of the kinematics and dynamics characteristics analysis method based on screw theory. Every parameter has clear physical meanings in the analysis based on the proposed method, and the analysis process is easy to program due to its stylization and is suitable for the analysis of such spatial deployable mechanisms. © 2020, Science Press. All right reserved.

关键词： Screws

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Publisher’s Note: “Vibration and stability analysis of a tensioned moving printed electronic laminated membrane under multiple working conditions” [AIP Adv. 12, 105017 (2022)]

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AIP Advances 2023年第1期13卷

作者： Mingyue Shao Miao Zhang Jimei Wu Xuxia Guo Qiumin Wu Jiajuan Qing 1School of Printing Packaging Engineering and Digital Media Technology Xi’an University of Technology Xi’an 710054 China 2Shaanxi Key Laboratory of Advanced Manufacturing and Evaluation of Robot Key Components Baoji University of Arts and Sciences 721016 Baoji China 3School of Mechanical and Precision Instrument Engineering Xi’an University of Technology Xi’an 710048 China

This article was originally published online on 28 October 2022 using the incorrect version of the article. All online versions of this article were corrected o

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Type Synthesis of 3-Translational Redundant Actuated Parallel Mechanisms With Closed-Loop Branch Chains Based On Graphical Approach

Research Square

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Research Square 2021年

作者： Li, Yong-Quan Jiang, Hong-Sheng Zheng, Tian-Yu Xi, Ke-Long Jing, Han Zhang, Li-Jie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao066004 China

The 3-translational parallel mechanism is widely used in industrial, medical, and military fields, among others. With the development of the national logistics industry, a pressing need for a kind of 3-translational parallel mechanism emerged. Such mechanisms have high stiffness and high bearing capacity and are used for cargo handling and sorting. A novel method based on the graphical approach was proposed for the synthesis of 3-translational redundancy actuated parallel mechanism with closed-loop branch chains. The new mechanism has four symmetrically arranged branch chains, which eases subsequent kinematics and dynamics analyses while providing good mechanical properties. Based on the graphical approach theory, according to the constraint number contained in the branch chain, two types of redundant driven branch chains with closed-loop structures were constructed. The first type includes rotation constraint in one direction, while the second type includes the rotation constraint in two directions. Based on various combinations of two branch chain types, their allocation schemes can be divided into two types. Moreover, said these two allocation schemes can be integrated into at least 500 and 400 types of 3-translational redundant actuated parallel mechanisms with closed-loop branch chains. Then, the degree of freedom properties of representative mechanisms were tested using the screw theory. A large number of novel mechanisms were integrated assessed using this method, and branch chains such mechanisms were symmetrically distributed. They have a strong bearing capacity, simple calculation, and control, and can be applied to the handling and sorting of goods, large-scale precision machine tools, and large construction machinery vibration isolation systems, among others. © 2021, CC BY.

关键词： Redundancy

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

Research Square

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Research Square 2021年

作者： Xu, Yundou Yang, Fan Mei, Youen Zhang, Dongsheng Zhou, Yulin Zhao, Yongsheng Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology Science of Ministry of National Education Yanshan University Qinhuangdao006004 China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Tencent Robotics X Tencent Holdings Shenzhen518057 China

In the present study, the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective. In this paper, kinematics of the hybrid manipulator, including the forward and inverse position, are analyzed. Then, 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 analyzed. After 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 simulation. Based on the obtained results from the force analysis, the manipulator structure is design. Then, the structure optimization is carried out to improve the robot stiffness. Finally, 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 processing ability of the prototype and proves that the prototype has good application prospects. © 2021, CC BY.

关键词： Kinematics

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