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46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2024

作者： Cui, Han Han, Dewei Liu, Wenquan Deng, Xinping Xin, Zhixuan Li, Guanglin Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen China

ISBN: (纸本)9798350371499

Laminar Optical Tomography (LOT) is a promising non-invasive technique for three-dimensional imaging of complex biological structures, combining high resolution and deep penetration. In this study, a LOT system was assembled using a 520nm continuous-wave laser, exploiting the contrast mechanism provided by the unique optical absorption coefficient of hemoglobin at this wavelength for microvascular imaging. The system utilizes raster scanning to illuminate the target tissue's surface, capturing backscattered light intensity with a multi-channel Photomultiplier Tubes. The inverse problem of light propagation within the tissue is solved to reconstruct a three-dimensional image of microvasculature. Phantom and in-vivo rat ear results demonstrate the system's ability to image micro vessels with diameters of several hundred micrometers within the tissue. The implemented LOT system, known for its simplicity and cost-effectiveness, showcases its potential for applications in microvascular physiological and pathological research, as well as clinical diagnostics. © 2024 IEEE.

关键词： Clinical research

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Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

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Frontiers of Mechanical Engineering 2022年第3期17卷 75-89页

作者： Yue ZHENG Xiangxin LI Lan TIAN Guanglin LI CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology(SIAT)Chinese Academy of Sciences(CAS)Shenzhen518055China Shenzhen College of Advanced Technology University of Chinese Academy of SciencesShenzhen518055China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for SocietyShenzhen518055China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055China

The loss of hand functions in upper limb amputees severely restricts their mobility in daily *** a humanoid prosthetic hand would be an effective way of restoring lost hand *** a prosthetic hand design,replicating the natural and dexterous grasping functions with a few actuators remains a big *** this study,a function-oriented optimization design(FOD)method is proposed for the design of a tendon-driven humanoid prosthetic *** optimization function of different functional conditions of full-phalanx contact,total contact force,and force isotropy was constructed based on the kinetostatic model of a prosthetic finger for the evaluation of grasping *** a genetic algorithm,the optimal geometric parameters of the prosthetic finger could be determined for specific functional *** results reveal that the structure of the prosthetic finger is significantly different when designed for different functional requirements and grasping target sizes.A prosthetic finger was fabricated and tested with grasping *** mean absolute percentage error between the theoretical value and the experimental result is less than 10%,demonstrating that the kinetostatic model of the prosthetic finger is effective and makes the FOD method *** study suggests that the FOD method enables the systematic evaluation of grasping performance for prosthetic hands in the design stage,which could improve the design efficiency and help prosthetic hands meet the design requirements.

关键词： function-oriented tendon driven prosthetic hand optimization humanoid underactuated

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A method of Monocular Visual Odometry Combining Feature points and Pixel Gradient for Dynamic Scene 91

A method of Monocular Visual Odometry Combining Feature poin...

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91st IEEE Vehicular Technology Conference, VTC Spring 2020

作者： Li, Panwei Li, Huiyun Chen, Beizhang Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems China

ISBN: (纸本)9781728152073

In the outdoor dynamic scene, the current Monocular Visual odometry methods of simultaneous localization and mapping system (SLAM) have Low utilization of image information, and they are not enough to meet the problem of stable image matching tracking. An information fusion method combining feature points and direct method gray matching method is proposed, which not only has no serious feature loss when demanding in fast motion, but also reduces the dependence on gray-scale invariant hypothesis. The proposed method also has better stability in the scenes with insufficient texture information, and the method reduces the dependence on gray-scale invariant hypothesis. Experimental results show that our novel front-end visual odometry simplifies the feature points, enriches the front-end utilization information, improves the pixel information of the image, and improves the feature points loss and excessive dependence on the intensity. The average real-time frame rate is around 32Hz, meeting the requirements of real-time performance. In the large-scale scene of the KITTI visual odometry datasets, the jitter effect of the dynamic scene is weakened, and the root mean square error of the positioning is 1. 79m, The average root mean square error of the method is reduced to 22.77% of ORB-SLAM, 26.48% of Semi-Direct Monocular Visual Odometry(SVO),and 37.68% of Large-scale direct SLAM(LSD). © 2020 IEEE.

关键词： Textures

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Organic-inorganic hybrid hole transport layers with SnS doping boost the performance of perovskite solar cells

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Journal of Energy Chemistry 2022年第5期31卷 637-645页

作者： Xiaolu Zheng Haibing Wang Feihong Ye Cong Chen Weijun Ke Wenjing Zhang Chuanxin He Yanlong Tai Guojia Fang College of Chemistry and Environmental Engineering Institute of Microscale OptoelectronicsShenzhen UniversityShenzhen 518060GuangdongChina Shenzhen Institute Wuhan UniversityShenzhen 518057GuangdongChina Key Laboratory of Human-Machine Intelligence-Synergy Systems of Chinese Academy of Sciences and Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced TechnologyChinese Academy of SciencesShenzhen 518055GuangdongChina

Perovskite solar cells(PSCs) have demonstrated excellent photovoltaic performance which currently rival the long-standing silicon solar cells’ efficiency. However, the relatively poor device operational stability of PSCs still limits their future commercialization. Binary sulfide is a category of materials with promising optoelectrical properties, which shows the potential to improve both the efficiency and stability of *** we demonstrate that the inorganic tin monosulfide(Sn S) can be an efficient dopant in 2,2’,7,7’-tet rakis(N,N-di-p-methoxy-phenylamine)-9,9’-spirobifluorene(spiro-OMe TAD) to form a composite hole transport layer(HTL) for PSCs. Sn S nanoparticles(NPs) synthesized through a simple chemical precipitation method exhibit good crystallization and suitable band matching with the perovskites. The introduction of Sn S NPs in Spiro-OMTAD HTLs enhanced charge extraction, reduced trap state density, and shallowed trap state energy level of the devices based on the composite HTLs. Therefore, the resulting solar cells employing Sn S-doped spiro-OMe TAD HTLs delivered an improved stabilized power output efficiency of 21.75% as well as enhanced long-term stability and operational stability. Our results provide a simple method to modify the conventional spiro-OMe TAD and obtain PSCs with both high efficiency and good stability.

关键词： Perovskite solar cells SnS nanoparticles Trap state passivation Stability

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Highly Stretchable and Permeable Conductors Based on Shrinkable Electrospun Fiber Mats

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Advanced Fiber Materials 2021年第5期3卷 302-311页

作者： Qingsong Li Chen Ding Wei Yuan Ruijie Xie Xiaomeng Zhou Yang Zhao Mei Yu Zijian Yang Jing Sun Qiong Tian Fei Han Hanfei Li Xinping Deng Guanglin Li Zhiyuan Liu CAS Key Laboratory of Human‑Machine Intelligence‑Synergy Systems Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences(CAS)Shenzhen 518055China Printable Electronics Research Centre Suzhou Institute of Nano‑Tech and Nano‑BionicsChinese Academy of SciencesSuzhou 215123China

Wearable on-skin electrodes or conductors should be vapor permeable,strain-insensitive,isotropically stretchable and stable under cyclic *** strategies have been proposed to prepare the required conductors up to now;however,it is a challenge to fabricate them with above properties in a simple *** this paper,a highly permeable and stretchable conductor based on electrospun fluorine rubber fiber mat is *** fibers are pre-stretched in electric field during electrospinning,and they shrink isotropically by~35-40%in area after being detached from the *** obtained fiber mat conductor demonstrates high stretchability up to~170%,and the resistance changes only 0.8 under 60%strain,which is superior to many other strain-insensitive *** conductor possesses high stability,no cracks or structure damage are observed after washing and cyclic ***,the conductor is vapor permeable with a water vapor transmission rate of~850 g m−2 day−1,which is comparable to the normal water evaporation in ambient conditions,indicating that it would not disturb the sweat evaporation when being used on *** conductor is successfully used as stretchable yarns and electromyography(EMG)electrodes,showing high reliability in E-textiles and on-skin applications.

关键词： Electrospinning Shrinkable fiber mat Stretchable conductor Wearable E-textiles EMG signal recording

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Development of a novel autonomous lower extremity exoskeleton robot for walking assistance

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Frontiers of Information Technology & Electronic Engineering 2019年第3期20卷 318-329页

作者： Yong HE Nan LI Chao WANG Lin-qing XIA Xu YONG Xin-yu WU Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Department of Mechanical Engineering and Intelligent Systems the University of Electro-Communications

Today, exoskeletons are widely applied to provide walking assistance for patients with lower limb motor incapacity. Most existing exoskeletons are under-actuated, resulting in a series of problems, e.g., interference and unnatural gait during walking. In this study, we propose a novel intelligent autonomous lower extremity exoskeleton(Auto-LEE), aiming at improving the user experience of wearable walking aids and extending their application *** traditional exoskeletons, Auto-LEE has 10 degrees of freedom, and all the joints are actuated independently by direct current motors, which allows the robot to maintain balance in aiding walking without extra *** new exoskeleton is designed and developed with a modular structure concept and multi-modal human-robot interfaces are considered in the control system. To validate the ability of self-balancing bipedal walking, three general algorithms for generating walking patterns are researched, and a preliminary experiment is implemented.

关键词： Lower-limb Exoskeleton Self-balancing Bipedal walking Modular design

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On-line dynamic gait generation model for wearable robot with user's motion intention

On-line dynamic gait generation model for wearable robot wit...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Ren, Hao Liu, Du-Xin Li, Niannian He, Yong Yan, Zefeng Wu, Xinyu CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518000 China

ISBN: (纸本)9781538680698

In this paper, an on-line dynamic gait generation model is proposed, which makes it possible to plan real-time gait trajectories in continuous motion process online. The model enables wearers to perform complex movements in different scenes with the help of an exoskeleton robot. Meanwhile, based on multi-sensor fusion, a method is designed to detect the wearers' movement intention. The gait trajectories generated by the proposed algorithm are applied to the lightweight lower-limb exoskeleton robot (LLEX). The experimental results show that the algorithm can accurately and effectively plan wearers' movement trajectories of lower limbs, and freely perform various gait patterns, indicating the described algorithm is credible enough to generate dynamic gait patterns for wearable exoskeleton robots. © 2018 IEEE.

关键词： Trajectories

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Multiscale Convolutional Transformer with Diverse-aware Feature Learning for Motor Imagery EEG Decoding

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IEEE Transactions on Cognitive and Developmental systems 2025年

作者： Hang, Wenlong Wang, Junliang Liang, Shuang Lei, Baiying Wang, Qiong Li, Guanglin Chen, Badong Qin, Jing Nanjing Tech University College of Computer Nanjing211816 China Nanjing Tech University Information Engineering Nanjing211816 China Nanjing University of Posts and Telecommunications School of Internet of Things Nanjing210023 China Shenzhen University School of Biomedical Engineering Shenzhen518060 China Guangdong Provincial Key Laboratory of Computer Vision Shenzhen518055 China Virtual Reality Technology Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China Shenzhen Institute of Advanced Technology Shenzhen518055 China Chinese Academy of Sciences Shenzhen518055 China Xi'an Jiaotong University Institute of Artificial Intelligence and Robotics Xi'an710049 China Hong Kong Polytechnic University School of Nursing Hung Hom Hong Kong

Electroencephalogram (EEG)-based motor imagery (MI) brain-computer interfaces (BCIs) have significant potential in improving motor function for neurorehabilitation. Despite recent advancements, learning diversified EEG features across different frequency ranges remains a significant challenge, as the homogenization of feature representations often limits the generalization capabilities of EEG decoding models for BCIs. In this paper, we propose a novel multiscale convolutional transformer framework for EEG decoding that integrates multiscale convolution, transformer, and diverse-aware feature learning scheme (MCTD) to tackle the above challenge. Specifically, we first capture multiple frequency features using dynamic one-dimensional temporal convolution with different kernel lengths. Subsequently, we incorporate convolutional layers and transformers with a contrastive learning scheme to extract discriminative local and global EEG features within a single frequency range. To mitigate the homogenization of features extracted from different frequency ranges, we propose a novel decorrelation regularization. It enables multiscale convolutional transformers produce less correlated features with each other, thereby enhancing the overall expressiveness of EEG decoding model. The performance of MCTD is evaluated on four public MI-based EEG datasets, including the BCI competition III 3a and IV 2a, the BNCI 2015- 001, and the OpenBMI. For the average Kappa/Accuracy scores, MCTD obtains improvements of 3.58%/2.68%, 3.09%/2.20%, 2.33%/1.54%, and 4.44%/2.22%, over the state-of-the-art method on four EEG datasets, respectively. Experimental results demonstrate that our method exhibits superior performance. © 2016 IEEE.

关键词： Brain computer interface

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Variable admittance control for human-robot collaboration in robot-assisted orthopedic surgery

Variable admittance control for human-robot collaboration in...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Liang, Jiawei Yang, Yuanyuan Wang, Yu Liu, Shoubin Lu, Mu Song, Shiqi Zhang, Peng Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology China Harbin Institute of Technology Shenzhen China

ISBN: (纸本)9781728163215

In recent days, orthopedic surgical robots play an increasingly important role in surgeries. Impedance/admittance control is a commonly used method for orthopedic surgical robots. In this paper, we proposed a variable admittance control method for orthopedic surgery. Instead of modifying virtual damping or mass which present in previous variable admittance control works, we present a new method by setting a dynamic reference point for virtual spring to improve operators' boundary control ability during robot assisted orthopedic surgery. The reference point is the mean point of robot end effector trajectory in the past T period. The performance of the proposed controller was tested by conducting a cooperative experience, where all subjects were asked to finish a reaching task by using a Mini-robot. © 2019 IEEE.

关键词： Orthopedics

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Control method of constant force grinding based on active and passive control

Control method of constant force grinding based on active an...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Li, Kunlun Sun, Yu Li, Meng Qi, Xiaozhi He, Yucheng Wang, Yu Yang, Xiaojun Harbin Institute of Technology Shenzhen China Chinese Academy of Sciences Shenzhen Institutes of Advanced Technology CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems China

ISBN: (纸本)9781728163215

In recent years, bone cutting tool-ultrasound osteotome has been used in the treatment of spinal stenosis. However, the contact force has a great influence on its cutting performance. The cutting speed will be reduced, if the connecting force is too small or too excessive. At present, the clamping devices at the end of the surgical auxiliary robot are mostly rigid connections, which will lead to the instability of the contact force between the surgical instruments and the vertebrae and the inability to achieve efficient and safe grinding. In this paper, a flexible force stabilizer for clamping ultrasonic bone knives is designed based on active-passive combined control mode. A flexible element is added in the ending grasp device to eliminate the sudden change of the contact force. An adaptive fuzzy controller is designed outside the loop to adjust the ideal contact force between the osteotome and the lamina according to the difference with the actual contact force for real-time adjustment. Through comparison experiments, the validity and feasibility of the active-passive combined hybrid control method for the contact force control of the end of the bone knife was verified. © 2019 IEEE.

关键词： Fuzzy control

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