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International Conference on advanced Mechatronic Systems (ICAMechS)

作者： Hongbo Wang Fuhai Deng Lingxue Ren Xiaohua Shi Hao Zhang Liyu Xie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Qinhuangdao China

This paper presents a multi-joint lower limbs rehabilitation robot with three degrees of freedom. The robot includes seat, left mechanical leg, right mechanical leg and electric control box, and each mechanical leg includes the hip joint, knee joint and ankle joint which correspond to the hip joint, knee joint and ankle joint of human. The mechanical structure of the rehabilitation robot is described. By adjusting the seat angle, the patient can do the rehabilitation training in different postures. However, when the posture of human upper body changes with the elevation of the seat, the swing limit position of human thigh also changes. In order to guarantee the safety of patients, the mechanical limit of hip joint is designed to be variable. Therefore, the workspace of the robot is also variable. The inverse kinematics and variable workspace of the rehabilitation robot are analyzed. The trajectory planning for the variable workspaces is discussed and the flow chart of the trajectory planning is given.

关键词： Joints robots Trajectory Hip Training Equations Knee

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robotic gesture generation based on a cognitive basis for non-verbal communication

Robotic gesture generation based on a cognitive basis for no...

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Jeong-Yean Yang Dong-Soo Kwon Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology Daejeon Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon Korea

ISBN: (纸本)9781479953349

This paper introduces a semantic synthesis method that enables robots to generate human-like gestures by recognizing cognitive and emotional behaviors based on a given situation. Assuming that the human cognitive process is represented as a series of associated events, we proposed a virtually touchable space associated with robotic hands. Additionally, in a humanoid robot, the motions of two arms are considered as a crucial non-verbal communication channel because large spatial changes capture the attention of a human agent. Additionally, virtual spaces related to certain events are described by robotic hands. The concept of virtual spaces is tested with regard to the expression of the robot's cognitive process with a combination of predefined motion sets.

关键词： Thumb Humanoid robots Shape robot sensing systems Joints

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Mechanism design of exoskeletal master device for dual arm robot teaching

Mechanism design of exoskeletal master device for dual arm r...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Chang-Hyuk Lee Jiwon Choi Hooman Lee Joongbae Kim Young-bong Bang Graduate School of Convergence Science and Technology Seoul National University Suwon-si Korea Department of Robot/Cognitive Systems Research Electronics and Telecommunications Research Institute (ETRI) Korea Advanced Institutes of Convergence Technology Seoul National University Korea

As the usability of robots continues to increase, the use of dual-arm robots is also becoming of increasing importance. However, there has not yet been a proper motion-teaching method for dual-arm robots. In the dual-arm industry robots currently being used, each arm is separately taught by a teaching pendant, but in this case, the synchronization of each arm motion is difficult. In this paper, we propose an exoskeletal master device for dual-arm robot teaching. By adapting a long stroke prismatic joint as well as revolute joints for the shoulder mechanisms, a high-resolution absolute encoder, and a cross roller bearing for each revolute joint, the master device can precisely measure the wearer's motions while at the same time feeling comfortable.

关键词： Welding Education Mobile communication Handheld computers Impedance

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Application of Parallel Mechanism in Varistructured Quadruped/Biped Human-carrying Walking Chair robot

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International Journal of Automation and computing 2013年第5期10卷 447-454页

作者： Ling-Feng Sang Hong-Bo Wang Dian-Fan Zhang Zhen-Hua Tian Fu-Hai Deng De-Lei Fang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Science and Technology Research Institute Yanshan University

For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is *** proposed robot could be used as biped and quadruped walking chair *** the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS＋UP（U,P and S are universal joint,the prismatic pair,and sphere joint,respectively） parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,*** the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism *** motion characteristics of the 2-UPS＋UP parallel mechanism which is the key part of the walking chair robot are ***,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is ***,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to *** study provides a theoretical foundation for the prototype development.

关键词： Human-carrying walking chair robot parallel leg mechanism degree of freedom varistructure workspace kinematics

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Lower body exoskeleton-supported compliant bipedal walking for paraplegics: How to reduce upper body effort?

Lower body exoskeleton-supported compliant bipedal walking f...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Barkan Ugurlu Hironori Oshima Tatsuo Narikiyo Department of Brain Robot Interface Advanced Telecommunications Research Institute International (ATR) Kyoto Japan Department of Advanced Science and Technology Toyota Technological Institute (TTI) Nagoya Japan

This paper introduces a position-based compliance control algorithm that can be implemented in a lower extremity exoskeleton-supported paraplegia walking task, in which upper body has to be utilized to maintain the overall balance. In order to reduce the upper body effort required during the task, the controller is designated to be capable of managing the position/force trade-off in conjunction with an active admittance regulator scheme. In the case of no force errors, the controller prioritizes position tracking in a way to achieve walking support. Once the force error increases (e.g., ground reaction force peaks, unexpected disturbances, stepping on an object, etc.) the position reference is updated in accordance with the force constraints and active admittance characteristics. By the virtue of this strategy, the human-robot system exhibits enhanced environmental interaction capabilities; therefore, the subject can maintain the overall balance with relatively less upper body effort while walking. Implementing the proposed method, we conducted robot-assisted walking experiments on 4 able-bodied subjects with different body mass index levels and genders. Subjects were instructed to be in passive mode. In addition, walking with severe obstacles was also experimented on a single able-bodied subject. In conclusion, the proposed method enabled us to yield enhanced walking performance comparing to classical rigid position control scheme; indicating that it could potentially introduce a compliant locomotion control alternative for the paraplegia walking support task with a comparatively less amount of upper body effort requirements.

关键词： Force Joints Legged locomotion Admittance Foot Exoskeletons

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Frequency Separation Actuation Resonance Cancellation for Vibration Suppression Control of Two-Inertia System Using Double Motors

Frequency Separation Actuation Resonance Cancellation for Vi...

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International Workshop on advanced Motion Control

作者： Kenji Inukai Hiroshi Fujimoto Taro Takahashi The University of Tokyo Kashiwa Chiba Japan Advanced Technology Engineering Department Partner Robot Division Toyota Motor Corporation Tokyo Japan

ISBN: (纸本)9781479957637

Usually, a humanoid robot using motors has low resonances due to the timing belts at each joint, and the low resonances may deteriorate the response performance and positioning precision. In this paper, a joint of humanoid robot which links the motor side to the load side via timing belt is studied. Regarding this system as a two-inertia system, this paper proposes a novel control method which uses multiple motors in both the motor side and the load side for multi-input-single-output (MISO) system. The proposed method achieves vibration suppression and phase stabilization simultaneously. The implementation is relatively simple since there are only two parameters required in the design. Simulations and experimental results also demonstrate the effectiveness of the proposed control system.

关键词： macro-micro bilateral timing system

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Kinematics and statics analysis of a novel 4-dof parallel manipulator with two SPS legs and a PUP composite leg

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ICIC Express Letters 2014年第12期8卷 3445-3451页

作者： Lu, Yi Zhang, Xiuli Hu, Bo College of Mechanical Engineering No. 438 West Hebei Street Qinhuangdao China Hebei Vocational and Technical College of Building Materials Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province No. 438 West Hebei Street Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University No. 438 West Hebei Street Qinhuangdao China

A novel 4-degree of freedom parallel manipulator with two spherical joint-prismatic joint-spherical joint (SPS) active legs and a prismatic joint-universal joint-prismatic joint (PUP) composite leg is proposed and its kinematics and statics are studied. 1. Its structure constraint is analyzed, and formulae for solving the inverse displacement are derived. 2. The formulae for solving velocity, acceleration and active/constrained forces are established. 3. A workspace is constructed. 4. The analytic results are verified by its simulation mechanism. © 2014.

关键词： Kinematics

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Kinematics and Dynamics Analysis of a Quadruped Walking robot with Parallel Leg Mechanism

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Chinese Journal of Mechanical Engineering 2013年第5期26卷 881-891页

作者： WANG Hongbo SANG Lingfeng HU Xing ZHANG Dianfan YU Hongnian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Xi’an University of Architecture and Technology Science and Technology Research Institute Yanshan University School of Design Engineering and ComputingBournemouth University

It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,***,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple ***,Improvement of enhancing capacity and functions of the walking robot is an important research *** to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is *** proposed robot can be used for both a biped and a quadruped walking *** kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are *** results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,*** on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk *** laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.

关键词： walking robot parallel leg mechanism kinematics dynamics over-determinate inputs

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Novel Mobility Formula for Parallel Mechanisms Expressed with Mobility of General Link Group

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Chinese Journal of Mechanical Engineering 2013年第6期26卷 1082-1090页

作者： ZHANG Yitong LU Wenjuan MU Dejun YANG Yandong ZHANG Lijie ZENG Daxing Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University

The determination of virtual constraints is always one of the key and difficult problems in traditional mobility calculation. To make mobility calculation simple, considering avoiding virtual constraints, some new formulae have been presented, however these formulae can hardly intuitively reflect general link group＇s restrictions on output member and its influences on independence of output parameters, which is premise to the judgment of the properties of mobility. Towards the problem to reveal the intrinsic relationship between the degree of freedom（DOF） of a mechanism, the link group, and the dimension of output parameters, also to avoid determination of virtual constraint, based on the new concepts of the ＂DOF of general link group＂ and ＂node parameters＂, a new formula in the calculation of the mobility of mechanisms is presented that is expressed with DOFs of the general link groups and rank of motion parameters of base point of the output link. It is named GOM（mobility of groups and output parameter） formula. On the basis of new concepts of＂effective parameters＂ and ＂invalid parameters＂, a rule is put forward for solving the DOF of mechanisms with invalid parameters by GOM formula, that is, the base point parameters are the subset of effective parameters of link group. Thereafter, several examples are enumerated and the results coincide with the prototype data, which proves the validity of the proposed formula. Meanwhile, it is obtained that the necessary and sufficient condition for the judgment of output parameters independence is that each of the DOF of the link group is not less than zero. The proposed formula which is simple in calculation provides theoretical basis for the judgment of independence of output parameters and provides references for type synthesis of novel parallel mechanisms with independence requirements of their output parameters.

关键词： parallel mechanism degree of freedom general link group output parameters

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Response Surface Learning for Face Misalignment Correction

Response Surface Learning for Face Misalignment Correction

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International Conference on Broadband, Wireless Computing, Communication and Applications (BWCCA)

作者： Youngmin Park Yeongjae Choi Hyun S. Yang Yong-Ho Seo Department of Computer Science Korea Advanced Institute of Science and Technology Daejeon Republic of Korea Department of Intelligent Robot Engineering Mokwon University Daejeon Republic of Korea

Face recognition is an important technique for Natural User Interface (NUI) and Human robot Interaction (HRI) and many of the current state-of-the-art face recognition techniques are based on the local features which are extracted from a face alignment method like Constrained Local Model (CLM). But, in a real world environment, face alignment methods often fail to correctly localize the features because of extreme variations in pose and illumination. In this paper, we propose a learning-based misalinment detection and correction method. From the experiment, it is shown that the accuracy of the existing face alignment methods can be improved using the proposed method which re-aligns a misaligned result with a corrected parameter.

关键词： Face Face recognition Shape Feature extraction Lighting Accuracy Computer vision

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