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Extended Hybrid Zero Dynamics for Bipedal Walking of the Knee-less Robot SLIDER

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arXiv 2025年

作者： Zong, Rui Liang, Martin Fang, Yuntian Wang, Ke Chen, Xiaoshuai Chen, Wei Kormushev, Petar Robot Intelligence Lab Dyson School of Design Engineering Imperial College London United Kingdom Department of Electrical and Electronic Engineering Imperial College London United Kingdom Paddington Robotics London United Kingdom Leap AI Aberdeen United Kingdom

Knee-less bipedal robots like SLIDER have the advantage of ultra-lightweight legs and improved walking energy efficiency compared to traditional humanoid robots. In this paper, we firstly introduce an improved hardware design of the bipedal robot SLIDER with new line-feet and more optimized mass distribution which enables higher locomotion speeds. Secondly, we propose an extended Hybrid Zero Dynamics (eHZD) method, which can be applied to prismatic joint robots like SLIDER. The eHZD method is then used to generate a library of gaits with varying reference velocities in an offline way. Thirdly, a Guided Deep Reinforcement Learning (DRL) algorithm is proposed to use the pre-generated library to create walking control policies in real-time. This approach allows us to combine the advantages of both HZD (for generating stable gaits with a full-dynamics model) and DRL (for real-time adaptive gait generation). The experimental results show that this approach achieves 150% higher walking velocity than the previous MPC-based approach. Copyright © 2025, The Authors. All rights reserved.

关键词： Anthropomorphic robots

DECOMPOSITION OF INDUSTRIAL SYSTEMS FOR ENERGY EFFICIENCY OPTIMIZATION WITH OPTTOPO

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arXiv 2022年

作者： Thiele, Gregor Johanni, Theresa Sommer, David Krüger, Jörg Department for Process Automation and Robotics Fraunhofer Institute for Production Systems and Design Technology IPK Germany Faculty of Electrical Engineering and Computer Science Technical University of Berlin Berlin Germany Weierstrass Institute for Applied Analysis and Stochastics Berlin Germany Institute for Machine Tools and Factory Management Technical University of Berlin Berlin Germany

The operation of industrial facilities is a broad field for optimization. Industrial plants are often a) composed of several components, b) linked using network technology, c) physically interconnected and d) complex regarding the effect of set-points and operating points in every entity. This leads to the possibility of overall optimization but also to a high complexity of the emerging optimization problems. The decomposition of complex systems allows the modeling of individual models which can be structured according to the physical topology. A method for energy performance indicators (EnPI) helps to formulate an optimization problem. The optimization algorithm OptTopo achieves efficient set-points by traversing a graph representation of the overall system. © 2022, CC BY.

关键词： Optimization

Towards Safe Robot Use with Edged or Pointed Objects: A Surrogate Study Assembling a Human Hand Injury Protection Database

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arXiv 2024年

作者： Kirschner, Robin Jeanne Micheler, Carina M. Zhou, Yangcan Siegner, Sebastian Hamad, Mazin Glowalla, Claudio Neumann, Jan Rajaei, Nader Burgkart, Rainer Haddadin, Sami Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich80992 Germany Department of Orthopaedics and Sports Orthopaedics Klinikum rechts der Isar TUM School of Medicine Technical University of Munich Munich81675 Germany Institute for Machine Tools and Industrial Management TUM School of Engineering and Design Technical University of Munich Garching near Munich85748 Germany Endoprothetikzentrum der Maximalversorgung BG Hospital Murnau Murnau82418 Germany Department of Diagnostic and Interventional Radiology Klinikum rechts der Isar TUM School of Medicine Technical University of Munich Munich81675 Germany

The use of pointed or edged tools or objects is one of the most challenging aspects of today’s application of physical human-robot interaction (pHRI). One reason for this is that the severity of harm caused by such edged or pointed impactors is less well studied than for blunt impactors. Consequently, the standards specify well-reasoned force and pressure thresholds for blunt impactors and advise avoiding any edges and corners in contacts. Nevertheless, pointed or edged impactor geometries cannot be completely ruled out in real pHRI applications. For example, to allow edged or pointed tools such as screwdrivers near human operators, the knowledge of injury severity needs to be extended so that robot integrators can perform well-reasoned, time-efficient risk assessments. In this paper, we provide the initial datasets on injury prevention for the human hand based on drop tests with surrogates for the human hand, namely pig claws and chicken drumsticks. We then demonstrate the ease and efficiency of robot use using the dataset for contact on two examples. Finally, our experiments provide a set of injuries that may also be expected for human subjects under certain robot mass-velocity constellations in collisions. To extend this work, testing on human samples and a collaborative effort from research institutes worldwide is needed to create a comprehensive human injury avoidance database for any pHRI scenario and thus for safe pHRI applications including edged and pointed geometries. © 2024, CC BY.

关键词： Risk assessment

Fabrication of Translucent Graded Dental Crown Using Zirconia-Yttrium Multi-Slurry Tape Casting 3d Printer

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SSRN

SSRN 2024年

作者： Romario, Yulius Shan Bhat, Chinmai Ramezani, Maziar Pasang, Tim Chen, Zhangwei Jiang, Cho-Pei Graduate Institute of Manufacturing Technology National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan High-value Biomaterials Research and Commercialization Center National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan Department of Mechanical Engineering Auckland University of Technology Auckland1010 New Zealand Department of Engineering Design Manufacturing and Management Systems Western Michigan University KalamazooMI4900-5200 United States Additive Manufacturing Institute Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Department of Mechanical Engineering National Taipei University of Technology Taiwan 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan

This paper aims to fabricate functionally graded dental crown using a multi-slurry tape casting additive manufacturing technology. The different luminescence of the dental crown was obtained with different composition of zirconia and yttria. Zirconia with tunable mechanical properties and translucency are obtained by adding 3, 3.5, 4, 4.5, and 5 mol% of yttrium oxide to zirconia powder. After obtaining the printable slurry with maximum solid loading, the green bodies are prepared using the in-house built high speed multi-ceramic tape casting technology. They are later sintered with two-stage sintering method. After the successful fabrication, the mechanical properties and translucency of the specimens were evaluated with Vickers hardness, three-point bending and translucency parameter tests. Finally, an FGM tooth crown with five photocurable slurries is proposed to demonstrate the translucent gradient effect of sintered part. The solid loading of 80% zirconia and 20% resin delivered samples without any surface cracks. The shrinkage ratio analysis showed that the sintered sample dimension was reduced by 20%, 20%, and 23% along X, Y, and Z directions. The samples fabricated with 3% yttrium oxide to zirconia delivered excellent hardness (1687 HV) and flexural strength (650.6 MPa). However, the relative luminescence increased with increasing the yttrium oxide for 3 – 5 mol%. With the optimized process parameters, the proposed dental crown is fabricated and analyzed for their shrinkage ratio, mechanical, and translucency properties. The study proposes the potential of fabricating customized dental crown with gradient translucent appearance. © 2024, The Authors. All rights reserved.

关键词： Zirconia

Kinematic calibration of a 3RRPS metamorphic parallel mechanism

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Kinematic calibration of a 3RRPS metamorphic parallel mechan...

ASME 2020 International design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2020

作者： Chai, Xuheng Nurahmi, Latifah Dai, Jian S. Gan, Dongming MOE Key Laboratory for Mechanism Theory and Equipment Design International Centre for Advanced Mechanisms and Robotics Tianjin University Tianjin China Department of Mechanical Engineering Institut Teknologi Sepuluh Nopember Kampus ITS Sukolilo Surabaya60111 Indonesia Kinematics and Robotics Lab Centre for Robotics Research King’s College London Strand LondonWC2R 2LS United Kingdom School of Engineering Technology Purdue University West LafayetteIN47907 United States

ISBN: (纸本)9780791883990

In this paper, a kinematic calibration method is developed for a 3rRPS metamorphic parallel mechanism with respect to all unknown parameters. Each limb of the 3rRPS mechanism is composed of (rR), P, and S joints. Two joints are actuated, namely P and r joints, hence the mechanism is able to switch between the 3RPS parallel mechanism and 3US parallel mechanism. The geometric constraint equations of the 3rRPS mechanism are initially established. Then, the optimization problems for the base, platform and actuated prismatic lengths during given trajectory are formulated by using the global search optimization algorithm. A physical model of the 3rRPS metamorphic parallel mechanism is built and an experiment is setup to validate the proposed calibration and optimization models. The external device, i.e., the OptiTrack is used during the experiment for motion capture system. All unknown parameters are identified and optimized by dint of the geometric properties of this mechanism and nonlinear optimization algorithms. The experimental results demonstrate that the proposed calibration method is valid and effective. Copyright © 2020 ASME

关键词： Mechanisms

Intelligent upper-limb exoskeleton integrated with soft wearable bioelectronics and deep-learning for human intention-driven strength augmentation based on sensory feedback

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arXiv 2023年

作者： Lee, Jinwoo Kwon, Kangkyu Soltis, Ira Matthews, Jared Lee, Yoon-Jae Kim, Hojoong Romero, Lissette Zavanelli, Nathan Kwon, Youngjin Kwon, Shinjae Lee, Jimin Na, Yewon Lee, Sung Hoon Yu, Ki Jun Shinohara, Minoru Hammond, Frank L. Yeo, Woon-Hong Department of Mechanical Robotics and Energy Engineering Dongguk University Seoul04620 Korea Republic of IEN Center for Human-Centric Interfaces and Engineering Institute for Electronics and Nanotechnology Georgia Institute of Technology AtlantaGA30332 United States School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA30332 United States George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology AtlantaGA30332 United States School of Industrial Design Georgia Institute of Technology AtlantaGA30332 United States School of Electrical and Electronic Engineering Yonsei University Seoul03722 Korea Republic of School of Biological Sciences Georgia Institute of Technology AtlantaGA30332 United States Wallace H. Coulter Department of Biomedical Engineering Georgia Institute of Technology and Emory University School of Medicine AtlantaGA30332 United States Institute for Materials Parker H. Petit Institute for Bioengineering and Biosciences Neural Engineering Center Institute for Robotics and Intelligent Machines Georgia Institute of Technology AtlantaGA30332 United States

The age and stroke-associated decline in musculoskeletal strength degrades the ability to perform daily human tasks using the upper extremities. Here, we introduce an intelligent upper-limb exoskeleton system that uses cloud-based deep learning to predict human intention for strength augmentation. The embedded soft wearable sensors provide sensory feedback by collecting real-time muscle signals, which are simultaneously computed to determine the user's intended movement. The cloud-based deep-learning predicts four upper-limb joint motions with an average accuracy of 96.2% at a 500-550 millisecond response rate, suggesting that the exoskeleton operates just by human intention. In addition, an array of soft pneumatics assists the intended movements by providing 897 newton of force while generating displacement of 87 millimeter at maximum. Collectively, the intent-driven exoskeleton can reduce human muscle activities by 3.7 times on average compared to the unassisted *** Codes 68T40 (Primary) 92C55, 68T99 (Secondary) Copyright © 2023, The Authors. All rights reserved.

关键词： Sensory feedback

R-SIEL: a physics-informed learning algorithm for discovering dynamics of serial manipulators

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Expert Systems with Applications 2025年 287卷

作者： Omar, Mohamed Li, Ruifeng Wang, Ke Asker, Ahmed State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Production and Mechanical Design Engineering Department Faculty of Engineering Mansoura University Mansoura35516 Egypt Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China School of Engineering and Applied Sciences Nile University Giza12573 Egypt

Dynamic modeling is essential for serial manipulators’ design and control. Multi-body dynamics simulators, such as SIMULINK and Adams, can precisely replicate a robot's dynamic behavior but are incapable of determining its nonlinear dynamic model. This work aims to identify serial manipulators’ dynamics from simulation data, which extends the capability of using an algorithm that combines the Euler-Lagrange method and sparse identification of nonlinear dynamics (SINDy) with physics-based constraints and Akaike Information Criterion (AICc). The algorithm is called Recursive SINDy Euler-Lagrange (R-SIEL). The Euler-Lagrange method is used to construct a preliminary library of symbolic functions. The physics-informed constraints, which utilize the similarities between the symbolic coefficients of the dynamic equations, are employed to decrease the number of functions in the library to get a constrained library. SINDy is equipped with three kinds of constraints: the constrained library, the dataset, and similarities between links’ dynamic equations. The generation of the three distinct datasets—training, constraints, and testing data—uses simulated data from the MATLAB® SIMULINK environment. The algorithms of sequential threshold least-squares and L0-minimization are coded with the convex optimization package CVX to determine the best dynamic model. The resulting models are tested with the testing dataset, and based on the lowest AICc, the best model is chosen. The proposed algorithm is applied to different serial manipulators: 2DOF robot, Stanford, PRR robot, ABB SCARA, UR5, and KUKA KR4 AGILUS robots. The resulting model is validated with the dynamic model derived using the conventional Euler-Lagrange method. For the considered manipulators, the R-SIEL algorithm shows a high capability to identify the dynamic model compared to the one identified compared to the previous algorithm. © 2025 Elsevier Ltd

关键词： Lagrange multipliers

Centrifugal Microfluidic Based Painless Blood Sample Collection for Hematocrit Measurement

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Centrifugal Microfluidic Based Painless Blood Sample Collect...

Biomedical engineering International Conference (BMEiCON)

作者： Santi Rattanavarin Thanapat Sangkharat Ekachai Juntasaro Witsaroot Sripumkhai Pattaraluck Pattamang Norabadee Ranron Numfon Khemthongcharoen Chompunoot Sinthupibulyakit Chamras Promptmas Chayapitcha Saesue Jiraskul Udarwudhipong Wutthinan Jeamsaksiri Department of Production and Robotics Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok (KMUTNB) Bangkok Thailand Mechanical Engineering Simulation and Design Group (MESD) Sirindhorn International Thai-German Graduate School of Engineering (TGGS) King Mongkut’s University of Technology North Bangkok (KMUTNB) Bangkok Thailand Thai Microelectronics Center (TMEC) National Electronics and Computer Technology Center (NECTEC) National Science and Technology Development Agency (NSTDA) Chachoengsao Thailand Infrastructure Development Division (IDD) National Science and Technology Development Agency (NSTDA) Pathum Thani Thailand National Electronics and Computer Technology Center (NECTEC) National Science and Technology Development Agency (NSTDA) Pathum Thani Thailand Faculty of Medical Technology Huachiew Chalermprakiet University Samut Prakan Thailand Department of Biomedical Engineering Faculty of Engineering Mahidol University Nakhon Pathom Thailand

This work demonstrates a centrifugal microfluidic chip design for painless blood collection and hematocrit measurement. The fluid channel in the microfluidic chip was fabricated using a laser-cutting method. An optimal dimension of the negative pressure chamber was designed to control the maximum sample volume obtained for further hematocrit examination. The estimated blood sample of 20 µl could be obtained based on the negative pressure driven by finger press actuation on the negative pressure chamber of the microfluidic chip. The repeatability of blood volume collection evaluated by a laboratory technician was 21.126±0.001 µl with a coefficient of variation (CV) of 5.32%. The sample volume used in this centrifugal microfluidic chip was around three times lower than that used in the standard method. Pack red cell preparation for hematocrit examination in the microfluidic chip could be achieved using a centrifugation speed around 2.4 times lower than that used in the standard method. The hematocrit examination by our centrifugal microfluidic chip and the standard method was 41.75±0.77 (1.84 %CV), and 41.5±0.71 (1.7 %CV), respectively. The results showed that the hematocrit measurements in our centrifugal microfluidic chip were compatible with those measured by the standard method.

关键词：

Novel Smart N95 Filtering Facepiece Respirator with Real-time Adaptive Fit Functionality and Wireless Humidity Monitoring for Enhanced Wearable Comfort

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arXiv 2023年

作者： Kwon, Kangkyu Lee, Yoon Jae Jung, Yeongju Soltis, Ira Choi, Chanyeong Na, Yewon Romero, Lissette Kim, Myung Chul Rodeheaver, Nathan Kim, Hodam Lloyd, Michael S. Zhuang, Ziqing King, William Xu, Susan Ko, Seung-Hwan Lee, Jinwoo Yeo, Woon-Hong School of Electrical and Computer Engineering College of Engineering Georgia Institute of Technology AtlantaGA30332 United States Center for Human-Centric Interfaces and Nanoengineering Institute for Electronics and Nanotechnology Georgia Institute of Technology AtlantaGA30332 United States Applied Nano and Thermal Science Lab Department of Mechanical Engineering Seoul National University 1 Gwanak-ro Gwanak-gu Seoul08826 Korea Republic of George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology AtlantaGA30332 United States School of Industrial Design Georgia Institute of Technology AtlantaGA30332 United States Division of Cardiology Emory University School of Medicine AtlantaGA30322 United States National Institute for Occupational Safety and Health National Personal Protective Technology Laboratory PittsburghPA15236 United States Seoul National University Gwanak-ro Gwanak-gu Seoul08826 Korea Republic of Department of Mechanical Robotics and Energy Engineering Dongguk University 30 Pildongro 1-gil Jung-gu Seoul04620 Korea Republic of Wallace H. Coulter Department of Biomedical Engineering Parker H. Petit Institute for Bioengineering and Biosciences Neural Engineering Center Institute for Materials Institute for Robotics and Intelligent Machines Georgia Institute of Technology AtlantaGA30332 United States

The widespread emergence of the COVID-19 pandemic has transformed our lifestyle, and facial respirators have become an essential part of daily life. Nevertheless, the current respirators possess several limitations such as poor respirator fit because they are incapable of covering diverse human facial sizes and shapes, potentially diminishing the effect of wearing respirators. In addition, the current facial respirators do not inform the user of the air quality within the smart facepiece respirator in case of continuous long-term use. Here, we demonstrate the novel smart N-95 filtering facepiece respirator that incorporates the humidity sensor and pressure sensory feedback-enabled self-fit adjusting functionality for the effective performance of the facial respirator to prevent the transmission of airborne pathogens. The laser-induced graphene (LIG) constitutes the humidity sensor, and the pressure sensor array based on the dielectric elastomeric sponge monitors the respirator contact on the user’s face, providing the sensory information for a closed-loop feedback mechanism. As a result of the self-fit adjusting mode along with elastomeric lining, the fit factor is increased by 3.20 and 5 times at average and maximum respectively. We expect that the experimental proof-of-concept of this work will offer viable solutions to the current commercial respirators to address the *** Codes 92C55 Copyright © 2023, The Authors. All rights reserved.

关键词： Graphene