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Development of a lower limb multi-joint assistance soft exosuit

Science China(Information Sciences) 2020年第7期63卷 116-118页

作者： Xinyu WU Kai FANG Chunjie CHEN Yu ZHANG Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen College of Advanced Technology University of Chinese Academy of Sciences

Dear editor,Great progress has been made in exoskeleton research over the past decades. Exoskeletons of various types have been developed for a range of purposes, predominantly military and clinical [1,2]. Some adopt rigid structures to increase the wearer’s load carriage capacity, while others utilize external power sources to provide the wearer

关键词： Lower-limb Multi-joint assistance Soft exosuit Metabolic cost Ground walking Uphill walking Stairs clilmbing

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Magnetically driven biohybrid blood hydrogel fibres for personalized intracranial tumour therapy under fluoroscopic tracking

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Nature Biomedical Engineering 2025年 2025 May 1页

作者： Wang, Ben Shen, Jie Huang, Chenyang Ye, Zhicheng He, Jiajun Wu, Xinyu Guo, Zhiguang Zhang, Li Xu, Tiantian College of Chemistry and Environmental Engineering Shenzhen University Shenzhen China Shenzhen Key Laboratory of Spine Surgery Department of Spine Surgery Peking University Shenzhen Hospital Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Hubei Collaborative Innovation Centre for Advanced Organic Chemical Materials Ministry of Education Key Laboratory for the Green Preparation and Application of Functional Materials Hubei University Wuhan China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong The Key Laboratory of Biomedical Imaging Science and System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

Small materials with pliability and untethered mobility are particularly suitable for minimally invasive medical interventions inside the body. However, the capabilities and applicability of such soft ‘robots’ are restricted by foreign-body responses to them and by the need to get them cleared from the body after the intervention. Here we report the development of biodegradable magnetized biohybrid blood hydrogel fibres that evade immune recognition, and their applicability for targeted intracranial tumour therapy with real-time tracking through X-ray fluoroscopy. The gel fibres can be made of the patient’s own blood mixed with a small amount of magnetic particles and can be produced in about 15 min. We show that the locomotion of intracranially injected gel fibres through cerebrospinal fluid can be remotely controlled under a magnetic field and fluoroscopically tracked, and that a drug encapsulated in the gels can be released on demand under magnetic control, as we show for the delivery of doxorubicin to intracranial tumours in the minipigs. Biodegradable soft actuatable materials that avoid foreign-body responses may aid the development of personalized targeted interventions. © The Author(s), under exclusive licence to Springer Nature Limited 2025.

关键词： Body fluids

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An ANN based approach for gait prediction of a lower-limb exoskeleton with plantar pressure sensors

An ANN based approach for gait prediction of a lower-limb ex...

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6th International Conference on intelligent robotics and Applications, ICIRA 2013

作者： Liu, Yuzhang Wang, Can Zheng, Duan Wang, Gang Wu, Xinyu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen Institutes of Advanced Technology China

ISBN: (纸本)9783642408519

This paper proposes an approach based on Artificial Neural Network (ANN) method for gait prediction of a lower-limb exoskeleton equipped with plantar pressure sensors and a pair of crutches. This approach can be implemented to predict the exact moment to change gait motion status. Further, the proposed approach can help to decide the starting movement speed of the pilot, through predictions on angular velocities of joints of both knees and hips. In this way, the exoskeleton can cope better with the pilot. Experimental results show that the new approach can capture the starting point of a new move, as well as predict the starting movement speed based on inputs from pressure sensors installed under pilot's plantar and crutches. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Forecasting

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Inverse Kinematics for Center of Mass through Iteration

Inverse Kinematics for Center of Mass through Iteration

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第三十二届中国控制会议

作者： WANG Fan ZHANG Zhongkai OU Yongsheng Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences The Chinese Unversity of Hong Kong

ISBN: (纸本)9781479900305

In various humanoid robot research areas such as biped walking and balance maintenance,control of Center of Mass (COM) is frequently ***,it becomes a complex problem to directly control the COM for a high degree of freedom humanoid robot,especially in case of double feet *** this paper,an iterative method that is easy to implement is proposed. Based on the approximated assumption that COM is fixed in local coordinate system,the control angle of the robot leg can be solved to drive the COM toward the target *** process can be iterated to achieve high *** last it is shown to be efficient and precise by simulation tests on a NAO humanoid robot.

关键词： Center of Mass Inverse Kinematics Biped Robot Levenberg-Marquardt Algorithm Position Control

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Gait recognition based on sEMG and Deep Residual Shrinkage Network

Gait recognition based on sEMG and Deep Residual Shrinkage N...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Luo, Mingxiang Yang, Lijun Sun, Zeyu Yin, Meng Ma, Yue Wu, Xinyu Cao, Wujing Chinese Academy of Sciences and Southern University of Science and Technology Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518005 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Siat Branch China University of Birmingham United Kingdom

ISBN: (纸本)9798350327182

Transverse resistance exoskeleton is expected to provide better rehabilitation training methods for patients with lower limb injury. Lateral walking gait recognition plays an important role in lateral resistance exoskeleton control. In the phase of lateral walking out of synchrony, the EMG signals produced by the thighs will be different. The EMG signals collected by five subjects while walking laterally were used in the experiment. The four muscles are: the gluteus medius of the left leg, the tensor fascia lata, the adductor major, and the tensor fascia lata of the right leg. Based on the one-dimensional EMG signals of the four muscles, this paper uses the classification model commonly used in the MATlab toolbox for training and recognition. However, the experimental results show that TREE and KNN have poor recognition accuracy for the four gait stages. To this end, this paper applies the convolutional residual shrinkage network (DRSN) to this occasion. The collected one-dimensional EMG signals are plotted as pictures and fed into the model for training and classification. Experimental results show that the classification accuracy is greatly improved compared with the previous model. © 2023 IEEE.

关键词： Muscle

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Inflatable Metamorphic Origami

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Research 2023年第2期6卷 53-63页

作者： Sen Wang Peng Yan Hailin Huang Ning Zhang Bing Li School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518052P.R.China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of TechnologyShenzhen 518052P.R.China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

This study created a new type of inflatable metamorphic origami that has the advantage of being a highly simplified deployable system capable of realizing multiple sequential motion patterns with a monolithic actuation.

关键词： simplified lata system

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Optimization of a Piezoelectric Bending Beam-based Human Knee Energy Harvester 20

Optimization of a Piezoelectric Bending Beam-based Human Kne...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Liao, Haisu Wang, Yidi Shi, Qiuyu Huang, Ruisen Gao, Fei Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy System

ISBN: (纸本)9798350320831

The concept of extracting energy from the human body to recharge depleted energy sources has gained significant attention. Recently, scientists have focused on harnessing biomechanical energy from the human body while walking. The aim of this study is to optimize a piezoelectric bending beam-based human knee energy harvester to enhance performance. Specifically, the shape of the bending beam (the substrate: a carbon fiber plate) is optimized to modulate the deformation, such that the average strain of the piezoelectric macro fiber composites (MFC) attached to the bending beam is improved to generate more electricity. In addition, the effects of the substrate's thickness and the hinge base's height for the bending beam on the output power are also analyzed. Experimental testing on a subject is conducted to validate our design and test the performance. The harvester generates an average power output of 24.55 mW when walking at 4 km/h on a treadmill. The harvester's total weight is 278g. © 2023 IEEE.

关键词： Energy harvesting

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A novel multi-scale fourier descriptor based on plane orthogonal vectors for fast shape retrieval

A novel multi-scale fourier descriptor based on plane orthog...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Ma, Jiajun Zhu, Jiafeng Liang, Guoyuan Wu, Xinyu Guangdong Provincial Key Lab of Robotics and Intelligent System CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen Guangdong Province China

ISBN: (纸本)9781728163215

Shape retrieval is an interesting and challenging issue in computer vision and robot vision. The recent works employing Fourier-based multi-scale descriptors achieve some success in shape retrieval, especially make real-time application possible by improving the efficiency. However, these methods are commonly adopting really complex shape descriptors to present the shape information which is not intuitive enough. In our work, we propose a new Fourier-based method with novel multi-scale descriptor which is a combination of contour feature and regional feature. This novel descriptor has two main characteristics: First, utilize six different invariant signatures which are based on plane orthogonal vectors;Second, leverage multiple scale structures to describe local and global information of shapes. Except the easiness in understanding, this descriptor approach also produces a more distinct topology of shapes than other approaches which means the property of stability on variations, linear or nonlinear. The method is tested on some popular databases that provides a promising retrieval rate(87.46% and 99.27%) with constant time complexity optimization. The results confirm that our method is more capable of representing the topology of shapes than most other methods based on Fourier descriptor. © 2019 IEEE.

关键词： Topology

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Learning Compliant Assembly Strategy From Demonstration

Learning Compliant Assembly Strategy From Demonstration

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Liu, Sheng Sheng, Juyi Ou, Yongsheng China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China

ISBN: (纸本)9798350327182

Compared with robots, humans can complete the different assembly tasks of parts flexibly and quickly. By teaching robots with human experiences, not only the industrial assembling tasks can be resolved, but also many other robot applications can be realized. The pose adjustment stage is the most critical part of the peg-in-hole assembly process. This paper analyzes the contact force in the pose adjustment stage and calculates the control variables that affect the assembly motion. Based on the Gaussian mixture model (GMM), the nonlinear mapping relationship between the control variables and the state variables during the assembly is established using the human demonstration data, and the parameters of the model are solved by the expectation maximization (EM) algorithm, and thus the human-like compliant assembly is completed by a robot. In order to verify the effectiveness of the demonstration-learning algorithm, a peg-in-hole assembly experiment was carried out using KUKA manipulator. Finally, the experiment shows that the proposed learning-based method not only improves the efficiency of the robot peg-in-hole assembly but also makes the manipulator have a satisfied adaptive ability to the complex environments in the assembly process. © 2023 IEEE.

关键词： Manipulators

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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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