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Recent Advances in Triboelectric Nanogenerators: From Technological Progress to Commercial Applications

ACS Nano 2023年第12期17卷 11087-11219页

作者： Choi, Dongwhi Lee, Younghoon Lin, Zong-Hong Cho, Sumin Kim, Miso Ao, Chi Kit Soh, Siowling Sohn, Changwan Jeong, Chang Kyu Lee, Jeongwan Lee, Minbaek Lee, Seungah Ryu, Jungho Parashar, Parag Cho, Yujang Ahn, Jaewan Kim, Il-Doo Jiang, Feng Lee, Pooi See Khandelwal, Gaurav Kim, Sang-Jae Kim, Hyun Soo Song, Hyun-Cheol Kim, Minje Nah, Junghyo Kim, Wook Menge, Habtamu Gebeyehu Park, Yong Tae Xu, Wei Hao, Jianhua Park, Hyosik Lee, Ju-Hyuck Lee, Dong-Min Kim, Sang-Woo Park, Ji Young Zhang, Haixia Zi, Yunlong Guo, Ru Cheng, Jia Yang, Ze Xie, Yannan Lee, Sangmin Chung, Jihoon Oh, Il-Kwon Kim, Ji-Seok Cheng, Tinghai Gao, Qi Cheng, Gang Gu, Guangqin Shim, Minseob Jung, Jeehoon Yun, Changwoo Zhang, Chi Liu, Guoxu Chen, Yufeng Kim, Suhan Chen, Xiangyu Hu, Jun Pu, Xiong Guo, Zi Hao Wang, Xudong Chen, Jun Xiao, Xiao Xie, Xing Jarin, Mourin Zhang, Hulin Lai, Ying-Chih He, Tianyiyi Kim, Hakjeong Park, Inkyu Ahn, Junseong Huynh, Nghia Dinh Yang, Ya Wang, Zhong Lin Baik, Jeong Min Choi, Dukhyun Kyung Hee University Gyeonggi Yongin17104 Korea Republic of Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology 77 Massachusetts Avenue CambridgeMA02139 United States Department of Mechanical Engineering Soft Robotics Research Center Seoul National University Seoul08826 Korea Republic of Department of Mechanical Engineering Gachon University Seongnam13120 Korea Republic of Department of Biomedical Engineering National Taiwan University Taipei10617 Taiwan Frontier Research Center on Fundamental and Applied Sciences of Matters National Tsing Hua University Hsinchu30013 Taiwan School of Advanced Materials Science & Engineering Sungkyunkwan University Suwon16419 Korea Republic of Sungkyunkwan University 2066 Seobu-ro Gyeonggi Suwon16419 Korea Republic of Department of Chemical and Biomolecular Engineering National University of Singapore 4 Engineering Drive 4 117585 Singapore Division of Advanced Materials Engineering Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Department of Physics Inha University 100 Inha-ro Incheon22212 Korea Republic of School of Materials Science & Engineering Yeungnam University Gyeongbuk Gyeongsan38541 Korea Republic of 291 Daehak-ro Daejeon34141 Korea Republic of School of Materials Science and Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore Institute of Flexible Electronics Technology of Tsinghua Zhejiang Jiaxing314000 China Nanomaterials and System Lab Major of Mechatronics Engineering Faculty of Applied Energy System Jeju National University Jeju632-43 Korea Republic of School of Engineering University of Glasgow GlasgowG128QQ United Kingdom Seoul02792 Korea Republic of Department of Physics Inha University Incheon22212 Korea Republic of Suwon16419 Korea Republic of Department of

Serious climate changes and energy-related environmental problems are currently critical issues in the world. In order to reduce carbon emissions and save our environment, renewable energy harvesting technologies will serve as a key solution in the near future. Among them, triboelectric nanogenerators (TENGs), which is one of the most promising mechanical energy harvesters by means of contact electrification phenomenon, are explosively developing due to abundant wasting mechanical energy sources and a number of superior advantages in a wide availability and selection of materials, relatively simple device configurations, and low-cost processing. Significant experimental and theoretical efforts have been achieved toward understanding fundamental behaviors and a wide range of demonstrations since its report in 2012. As a result, considerable technological advancement has been exhibited and it advances the timeline of achievement in the proposed roadmap. Now, the technology has reached the stage of prototype development with verification of performance beyond the lab scale environment toward its commercialization. In this review, distinguished authors in the world worked together to summarize the state of the art in theory, materials, devices, systems, circuits, and applications in TENG fields. The great research achievements of researchers in this field around the world over the past decade are expected to play a major role in coming to fruition of unexpectedly accelerated technological advances over the next decade. © 2023 The Authors. Published by American Chemical Society

关键词： Nanogenerators

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Dynamic obstacle tracking based on high-definition map in urban scene

Dynamic obstacle tracking based on high-definition map in ur...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Li, Yuxiao Wang, Can Su, Zhilong Duan, Shengcai Wu, Xinyu Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Shenzhen518055 China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Beijing100049 China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781728163215

The application of High-Definition map can realize centimeter-level position in urban scenes, the development of deep learning has made great breakthrough in the point cloud dynamic obstacle recognition. All these technologies make obstacle detection and tracking based on High-Definition map effectively realize in the modern smart city scene. It is different from the previous obstacle detection and tracking methods based purely on vision the using of High-Definition map can provide high-precision positioning and reduce the difficulty of point cloud classification. The using of lidar also solves the problem of up-to-scale in dynamic detection. In this paper, we put forward a new Multi-camera Lidar Point Cloud Map, we complete the map at normal speed on the highway and get a satisfactory result. At the same time, we also find a robust combination of traditional kalman filter, Hungary algorithm and current deep learning to solve dynamic obstacle tracking and detection. The experimental results show that our system can effectively complete the special problem of generating map and target tracking on urban scene. © 2019 IEEE.

关键词： Optical radar

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Design Validation and Collision Studies of A Compliant Magnetorheological Fluid Actuator

Design Validation and Collision Studies of A Compliant Magne...

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IEEE International Conference on Human-Machine Systems

作者： Guangzeng Chen Jie Pengyu Tongyi Shang Yunjiang Lou T.T. Wong Li Chen Jian Liu State Key Laboratory of Robotics and System School of Mechatronics Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China. Shenzhen Institutes of Advanced Technology Shenzhen University Town Shenzhen China Emergency Department Chinese PLA General Hospital Department of Biomedical Engineering Shandong University Jinan China

ISBN: (数字)9781728158716

ISBN: (纸本)9781728158723

Robots are integrating into human society and become an important part. The robots and human must be considered as a whole system and the robots should be intelligent both in digital and physical like human to cooperate and interact with human non-physically or physically. For improving the physical intelligence of the robot, a magnetorheological fluid actuator (MRA) is proposed and studied in this paper. A collision model and a speed peak force planning method are proposed and some experiments are conducted. It shows that the collision peak force of the MRA with external objects can be easily controlled to different levels by controlling the compliance of the MRA for safe physical interaction with human or some striking works like hammering a nail.

关键词： Torque Robots Actuators Force Collision avoidance Rotors Couplings

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Real-world Robot Reaching Skill Learning Based on Deep Reinforcement Learning

Real-world Robot Reaching Skill Learning Based on Deep Reinf...

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第32届中国控制与决策会议

作者： Naijun Liu Tao Lu Yinghao Cai Rui Wang Shuo Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences Center for Excellence in Brain Science and Intelligence Technology of the Chinese Academy of Sciences

Traditional programming method can achieve certain manipulation tasks with the assumption that robot environment is known and ***,with robots gradually applied in more domains,robots often encounter working scenes which are complicated,unpredictable,and *** overcome the limitation of traditional programming method,in this paper,we apply deep reinforcement learning(DRL) method to train robot agent to obtain skill *** policy trained with DRL on real-world robot is time-consuming and costly,we propose a novel and simple learning paradigm with the aim of training physical robot ***,our method train a virtual agent in an simulated environment to reach random target position from random initial ***,virtual agent trajectory sequence obtained with the trained policy,is transformed to real-world robot command with coordinate transformation to control robot performing reaching *** show that the proposed method can obtain self-adaptive reaching policy with low training cost,which is of great benefits for developing intelligent and robust robot manipulation skill system.

关键词： Robot reaching skill learning deep reinforcement learning

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Magnetic Continuum Robot for Intelligent Manipulation in Medical Applications

SmartBot

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SmartBot 2025年

作者： Yuanbiao Ma Xuanyu An Qijun Yang Mingxue Cai Zhiqiang Tang Jinke Chang Veronica Iacovacci Tiantian Xu Li Zhang Qianqian Wang Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments School of Mechanical Engineering Southeast University Nanjing China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Mechanical Engineering National University of Singapore Queenstown Singapore Department of Engineering Science University of Oxford Oxford UK Department of Surgical Biotechnology Division of Surgery & Interventional Science Centre for Biomaterials in Surgical Reconstruction and Regeneration University College London London UK BioRobotics Institute Scuola Superiore Sant’Anna Pisa Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Chow Yuk Ho Technology Center for Innovative Medicine The Chinese University of Hong Kong Hong Kong China Multi-Scale Medical Robotics Center Hong Kong Science Park Hong Kong China

Magnetic continuum robots (MCRs) have garnered substantial attention as a new class of flexible robotic systems capable of navigating complex and confined spaces with remarkable dexterity. By combining continuous, deformable structures with remotely applied magnetic fields, MCRs achieve contactless, remote manipulation, making them well-suited for medical applications. This review introduces recent advances in MCR research, focusing on design principles, structural configurations, and control strategies. Various MCR designs and structures, including those integrated with permanent magnets, magnetic matter, ferromagnetic sphere, and micro coil, are discussed. Furthermore, different magnetic actuation platforms are introduced, and the level of MCR automation is classified based on control strategies. Key intelligent manipulation capabilities of MCRs, including navigation, delivery, printing, grasping, imaging, and sensing are explored. Finally, future development priorities and directions are identified to provide insights for advancing intelligent robotic systems.

关键词： intelligent manipulation magnetic actuation magnetic continuum robot medical application

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Spherical interpolated convolutional network with distance-feature density for 3D semantic segmentation of point clouds

arXiv

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arXiv 2020年

作者： Wang, Guangming Yang, Yehui Zhang, Huixin Liu, Zhe Wang, Hesheng Department of Automation Insititue of Medical Robotics Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong University Shanghai200240 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology China Department of Computer Science and Technology University of Cambridge United Kingdom

The semantic segmentation of point clouds is an important part of the environment perception for robots. However, it is difficult to directly adopt the traditional 3D convolution kernel to extract features from raw 3D point clouds because of the unstructured property of point clouds. In this paper, a spherical interpolated convolution operator is proposed to replace the traditional grid-shaped 3D convolution operator. This newly proposed feature extraction operator improves the accuracy of the network and reduces the parameters of the network. In addition, this paper analyzes the defect of point cloud interpolation methods based on the distance as the interpolation weight and proposes the self-learned distance-feature density by combining the distance and the feature correlation. The proposed method makes the feature extraction of spherical interpolated convolution network more rational and effective. The effectiveness of the proposed network is demonstrated on the 3D semantic segmentation task of point clouds. Experiments show that the proposed method achieves good performance on the ScanNet dataset and Paris-Lille-3D dataset. Copyright © 2020, The Authors. All rights reserved.

关键词： Semantic Segmentation

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A Framework for the Integration of Coarse Sensing Information and Environmental Constraints*

A Framework for the Integration of Coarse Sensing Informatio...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Rui Li Yingbai Hu Yanjun Cao Mengyao Li School of Automation Chongqing University Chongqing China Informatics 6 Technical University of Munich Munich Germany Department of Computer and Software Engineering École Polytechnique de Montréal Boul Édouard-Montpetit Québec Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (数字)9781728160757

ISBN: (纸本)9781728160764

A series of previous work has found that the environmental constraint (EC), which is the natural result of the contact of the robot and the interacting objects, is immensely helpful for the realization of high-precision robotic tasks. However, due to the existence of multifarious errors, such as mechanical error, modeling error and sensing error, there would be discrepancy between the actual constraints and the ideal models. In such case, it is hard to realize manipulation with EC-based strategies. Inspired by human, a preliminary framework which aims at the integration of the coarse sensing information and the environmental constraints is proposed for robotic manipulation. By mapping the sensing information into the new space, where the environmental constraint can be formally described, the region that integrates the sensing information and the environmental constraint is constructed and the conditions to achieve high-precision manipulation are derived. Based on the conditions, a motion planning strategy is proposed to achieve the required task. The effectiveness of this strategy is verified by case studies.

关键词：

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A lightweight soft exoskeleton in lower limb assistance

A lightweight soft exoskeleton in lower limb assistance

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Chinese automation Congress (CAC)

作者： Yu Zhang Zhuo Wang Chunjie Chen Tao Fang Ruimei Sun Yanjie Li School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Shenzhen China ShenZhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China BeiJing Aerospace Wanyuan Science Technology Co. Ltd. Beijing China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

The soft exoskeleton is a wearable robot which is functioned to improve the capacity of human walking or loading. The metabolic of human is increase with the additional load, one integrated design method is used to reduce this effect in this paper. Meanwhile, in order to enhance the convenience and decrease the disturbance to wearer, the wireless module is used to replace the signal line. The nonlinear characteristics and uncertainty of flexible material make the control of soft exoskeleton system be a challenge, a switching controller is proposed to deal with this problem in this paper. It consists of Iterative learning control (ILC) based stable controller and admittance control based unstable controller, functioned with wearers walking stable and not. An experiment of force tracking is conducted to verify the controller performance in this paper, and the result demonstrate that the tracking is well after 20 iteration. In order to evaluate the performance of assistance of soft exoskeleton, five health adult male take part in metabolic experiment By compare the metabolic rate between the wear soft exoskeleton and not wear, the metabolic rate are decrease 7.33%, 14.56% and 10.45% with the walking speed of 3km/h, 5km/h and 7km/h, which are corresponding absolute values decrease of 0.46W/kg, 1.60W/kg and 1.21W/kg respectively.

关键词： AC motors Mechanical cables Wireless communication Pulleys Microprocessors Micromechanical devices Germanium

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Boosting the Efficiency and Mechanical Stability of Organic Solar Cells Through a Polymer Acceptor by Reducing the Elastic Modulus

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advanced Energy Materials 2025年

作者： Wang, Yan Yu, Han Zhao, Dan Liu, Wei Liu, Baoze Wu, Xin Gao, Danpeng Zhang, Dong Zhang, Shoufeng Sun, Xianglang Zhang, Chunlei Zhao, Chaoyue Fu, Yuchen Song, Wei Gong, Shaokuan Fu, Yuang Kwok, Chung Hang Ge, Ziyi Lu, Xinhui Chen, Xihan Xiao, Shuang Wong, Wai-Yeung Chai, Yu Yan, He Zhu, Zonglong Department of Chemistry City University of Hong Kong Kowloon999077 Hong Kong Department of Chemistry Guangdong-Hong Kong-Macao Joint Laboratory of Optoelectronic and Magnetic Functional Materials Energy Institute and Hong Kong Branch of Chinese National Engineering Research Center for Tissue Restoration & Reconstruction Hong Kong University of Science and Technology Clear Water Bay Kowloon999077 Hong Kong Department of Applied Biology and Chemical Technology and Research Institute for Smart Energy The Hong Kong Polytechnic University Hung Hom 999077 Hong Kong Hong Kong University of Science and Technology-Shenzhen Research Institute No. 9 Yuexing 1st RD Hi-tech Park Nanshan Guangdong Shenzhen518057 China School of Automation Engineering University of Electronic Science and Technology of China Sichuan Chengdu611731 China Department of Physics City University of Hong Kong Kowloon999077 Hong Kong Zhejiang Engineering Research Center for Energy Optoelectronic Materials and Devices Ningbo Institute of Materials Technology & Engineering Chinese Academy of Sciences Ningbo315201 China Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems SUSTech Energy Institute for Carbon Neutrality Department of Mechanical and Energy Engineering Southern University of Science and Technology Guangdong Shenzhen518055 China Department of Physics The Chinese University of Hong Kong Shatin999077 Hong Kong Center for Advanced Material Diagnostic Technology and College of Engineering Physics Shenzhen Technology University Guangdong Shenzhen518118 China Shenzhen Research Institute City University of Hong Kong Shenzhen518057 China

Organic solar cells (OSCs) are regarded as one of the most promising flexible power sources due to their lightweight and flexible properties, with the improvement of photovoltaic and mechanical performance. To improve the current density and power conversion efficiency (PCE), mPh4F-TS (TS) and PYSe2F-T (PA) are introduced into the binary host, PM6/mPh4F-TT (PM6/TT) as third components. It is demonstrated that the corresponding ternary devices, in both rigid and flexible devices, achieved superior efficiencies (19.6%/17.7% for PM6/TT+TS, and 19.2%/17.4% for PM6/TT+PA) outperform the binary counterparts (18.3%/16.4%). However, distinct differences in mechanical performance are observed between the polymer acceptor (PA) and small-molecular acceptor (TS). The PM6/TT+PA significantly improved the mechanical stability of flexible devices with a lower elastic modulus of 3.6 GPa, while the PM6/TT+TS resulted in the opposite effect with a higher elastic modulus of 5.5 GPa. Through in-depth investigation, a clear correlation between the elastic modulus, crack density, and mechanical stability of the active layer blends is successfully established, revealing the key role of reducing the elastic modulus in enhancing the mechanical stability of flexible OSCs. This study provides important guidance for the development of flexible photovoltaic devices with both high efficiency and mechanical robustness. © 2025 The Author(s). advanced Energy Materials published by Wiley-VCH GmbH.

关键词： Organic solar cells

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Thermometry of photosensitive and optically induced electrokinetics chips

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Microsystems & Nanoengineering 2018年第1期4卷 190-198页

作者： Feifei Wang Lianqing Liu Gongxin Li Pan Li Yangdong Wen Guanglie Zhang Yuechao Wang Gwo-Bin Lee Wen Jung Li State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences110016 ShenyangChina University of Chinese Academy of Sciences 100049 BeijingChina Shenzhen Academy of Robotics 518057 ShenzhenChina Key Laboratory of Advanced Process Control for Light Industry of the Ministry of Education Institute of AutomationJiangnan University214122 WuxiChina Department of Power Mechanical Engineering National Tsing Hua University30013 HsinchuTaiwan Department of Mechanical and Biomedical Engineering City University of Hong KongKowloon TongHong KongChina

Optically induced electrokinetics(OEK)-based technologies,which integrate the high-resolution dynamic addressability of optical tweezers and the high-throughput capability of electrokinetic forces,have been widely used to manipulate,assemble,and separate biological and non-biological entities in parallel on scales ranging from micrometers to ***,simultaneously introducing optical and electrical energy into an OEK chip may induce a problematic temperature increase,which poses the potential risk of exceeding physiological conditions and thus inducing variations in cell behavior or activity or even irreversible cell damage during ***,we systematically measure the temperature distribution and changes in an OEK chip arising from the projected images and applied alternating current(AC)voltage using an infrared *** have found that the average temperature of a projected area is influenced by the light color,total illumination area,ratio of lighted regions to the total controlled areas,and amplitude of the AC *** an example,optically induced thermocapillary flow is triggered by the light image-induced temperature gradient on a photosensitive substrate to realize fluidic hydrogel *** studies show that the projected light pattern needs to be properly designed to satisfy specific application requirements,especially for applications related to cell manipulation and assembly.

关键词： exceeding illumination manipulation

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