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5th International Conference on Electromechanical Control Technology and Transportation (ICECTT)

作者： Feng, Yongfei Jin, Di Shao, Qianjun Vladareanu, Luige Niu, Jianye Wang, Hongbo Ningbo Univ Fac Mech Engn & Mech Ningbo Peoples R China Romanian Acad Robot & Mechatron Dept Inst Solid Mech Bucharest Romania Hebei Univ Technol Hebei Key Lab Robot Sensing & Human Robot Interac Tianjin Peoples R China Yanshan Univ Minist Educ Parallel Robot & Mechatron Syst Lab Hebei Prov & Key Lab Adv Forging & Stamping Techn Qinhuangdao Hebei Peoples R China

ISBN: (纸本)9781728199283

At present, the number of patients with lower extremity dysfunction is increasing year by year. However, traditional rehabilitation training cannot meet the needs of patients for rehabilitation training. Rehabilitation robot is a good solution to train patients instead of the rehabilitation physician. Based on clinical practice experience, a lower limb rehabilitation training system based on virtual reality (VR) is designed, which combined the VR technology and rehabilitation evaluation program to improve the rehabilitation efficiency of patients. According to the functional requirements of the lower limb rehabilitation robot (LLR-RO), the construction of rehabilitation robot control system and sensor system is completed. Based on the Unity3D development environment, a VR scenes of space shooting is planned and created for rehabilitation training VR technology which enables patients to complete the training process while maintaining a pleasant mood. Through the software and hardware debugging, the feasibility, data transmission capability of VR-based remote rehabilitation training system and the synchronization performance of VR scenes and rehabilitation robots are verified. In the future, more virtual reality scenes will be studied to adapt to patients of different genders and ages.

关键词： lower limb rehabilitation robot virtual reality space shooting synchronization performance

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Touch position identification based on a flexible array-less supercapacitive tactile sensor

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AIP ADVANCES 2019年第1期9卷

作者： Liu, Jixiao Liu, Na Hashimoto, Kazunobu Meng, Chuizhou Guo, Shijie Hebei Univ Technol Sch Mech Engn Tianjin 300401 Peoples R China Hebei Univ Technol Hebei Key Lab Smart Sensing & Human Robot Interac Tianjin 300132 Peoples R China Fudan Univ Acad Engn & Technol Shanghai 200433 Peoples R China

Flexible tactile sensors with simple structures, minimal peripheral electric connections and straightforward data processing will benefit the human-machine interactions in which the contact information is crucial. However, it is still hard to balance the easy fabrication, full flexibility, large measurement area and minimal electric connection in existed tactile sensing systems. This study introduces an innovative positioning method based on a flexible supercapacitive tactile sensor. A 100 mmx100 mm prototype sensor, which contains two layers of flexible electrodes and a layer of ionic gel membrane in the middle to construct electrostatic double-layer capacitors (EDLCs), is developed to study the underlying physical principles. Following the established method, minimized electric connections are needed to achieve the mm-scale touch position/movement trace identification. Under the touch pressure, the formation of supercapacitors around the touch area leads to re-distribution of electric potential within the sensor. The electrical voltage variation is gauged at four points, and the data are calculated to estimate the touch positions following a two-step protocol. The developed method demonstrates high accuracy of position identification (around 5% in the 100 mmx100 mm flexible sensor), superior anti-disturbance capability (more than similar to 10(4) variation of capacitance) and fast response (similar to ms level). At the same time, it has no dependency on complex fabrication, redundant electric circuit or sensing unit arrays. These promising characteristics can benefit various application fields, such as intelligent robotics, biomedical devices and wearable equipment. (C) 2019 Author(s).

关键词： Capacitance

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Portable Dielectrophoresis Microfluidic Chip integrated With Microscopic Platform for Water Blooms Monitoring

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JOURNAL OF MICROELECTROMECHANICAL SYSTEMS 2021年第3期30卷 419-425页

作者： Meng, Jiyu Li, Shanshan Yu, Chengzhuang Cheng, Jingmeng Dai, Shijie Wei, Chunyang Li, Junwei Hebei Univ Technol Sch Mech Engn Tianjin 300130 Peoples R China Hebei Univ Technol Hebei Key Lab Robot Sensing & Human Robot Interac Tianjin 300132 Peoples R China Jiangnan Univ Jiangsu Key Lab Adv Mfg Equipment & Technol Wuxi 214122 Jiangsu Peoples R China Hebei Univ Technol Dept Comp Sci & Elect Engn Langfang 065000 Peoples R China Hebei Univ Technol Sch Sci Inst Biophys Tianjin 300401 Peoples R China

Microalgae concentrations have been studied as an important factor to reflect water qualities. High concentration of microalgae should cause water eutrophication then cause environment pollution. However, conventional methods to monitor algal concentration in source water whose use is hampered by high-cost, complicated operation and the need of a centralized laboratory for practical samples' analysis. In order to overcome these constraints, here in this work, we developed a portable and real-time monitoring platform which consists of a microfluidic chip for algae enrichment, a portable microscopic imaging system integrated with a commercial smartphone. The chip is designed and fabricated with a multi-layer electrode structure to trap algaes via alternating current electrokinetics (ACEK) effect. A temperature dependent fully coupled numerical model is presented to calculate the ACEK flow, showing satisfied trapping performance by adjusting the applied voltage and frequency. Moreover, preliminary experiments are performed in our chip using freshwater samples, in which algae trapping behavior is visually observed and recorded by a self-designed portable microscope. Then the trapping performance of this system can be semi-quantitatively figured out by image processing. This lab-on-a-chip system shows high potential in concentrating bio-particles and developing a portable, integrated and automated system for monitoring the quality of water resources in nature. [2020-0381]

关键词： Electrodes Water resources Algae Indium tin oxide Microscopy Mathematical model Monitoring Microalgae enrichment ACEK microscope water quality monitoring

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Dynamic positioning accuracy of dual-axis drive mechanism of satellite antenna with multi-clearance coupling

Dynamic positioning accuracy of dual-axis drive mechanism of...

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Asia Conference on Mechanical Engineering and Aerospace Engineering (MEAE)

作者： Qi, Chaoqun Zhang, Huibo You, Bindi Fan, Jizhuang Dai, Shijie Hebei Univ Technol Hebei Key Lab Robot Sensing & Human Robot Interac Tianjin 300130 Peoples R China Harbin Inst Technol Weihai Sch Naval Architecture & Ocean Engn Weihai 264209 Shandong Peoples R China Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Heilongjiang Peoples R China

The dual-axis drive mechanism of satellite antenna as a typical multi joint aerospace mechanism consists of azimuth axis and pitch axis. The multi-clearance contained within those drive joint cause contact and impact in joint, and consequently affect the dynamic positioning accuracy. A nonlinear dynamic model of planetary gears with multiple clearances couplings is proposed to investigate the influence mechanism of clearances on the dynamic performances. The nonlinear factors such as radial clearance, backlash and time-varying meshing stiffness of the bearing are considered in the model. And the dynamic model of double-axis driving mechanism of satellite antenna with multi-clearance coupling is established. Then positional and rotational speed error curves of antenna reflector at different rotational speed are respectively analyzed. The numerical simulation results show that the influence of multi-clearance coupling on the dynamic positioning accuracy of double-axis drive mechanism of satellite antenna is remarkable.

关键词： Satellite antennas

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Organization and Understanding of a Tactile Information Dataset TacAct For Physical human-robot Interaction

Organization and Understanding of a Tactile Information Data...

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IEEE/RSJ International Conference on Intelligent robots and Systems (IROS)

作者： Wang, Peng Liu, Jixiao Hou, Funing Chen, Dicai Xia, Zihou Guo, Shijie Hebei Univ Technol Sch Mech Engn Tianjin Peoples R China Hebei Univ Technol Hebei Key Lab Smart Sensing & Human Robot Interac Tianjin 300132 Peoples R China

ISBN: (纸本)9781665417143

human touching the robot to convey intentions or emotions is an essential communication pathway during physical human-robot Interaction (pHRI). Therefore, advanced service robots require superior tactile intelligence to guarantee naturalness and safety when making physical contact with human subjects. Tactile intelligence is the capability to percept and recognize tactile information from touch behaviors, in which understanding the physical meaning of touching actions is crucial. For this purpose, this report introduces a recently collected and organized dataset "TacAct" that encloses real-time tactile information when human subjects touched the test device mimicking a robot forearm. The dataset contains 12 types of 24,000 touch actions from 50 subjects. The dataset details are described, the data are preliminarily analyzed, and the validity of the dataset is tested through a convolutional neural network LeNet-5 which classifying different types of touch actions. We believe that the TacAct dataset would be beneficial for the community to understand the touch intention under various circumstances and to develop learning-based intelligent algorithms for different applications.

关键词： Service robots robot control human-robot interaction Organizations Real-time systems Safety Classification algorithms

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RF-Care: RFID-based human Pose Estimation for Nursing-care Applications

RF-Care: RFID-based Human Pose Estimation for Nursing-care A...

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IEEE International Conference on robotics and Biomimetics (IEEE ROBIO)

作者： Xia, Zihou Liu, Jixiao Guo, Shijie Hebei Univ Tech Sch Mech Engn Tianjin Peoples R China Hebei Univ Tech Hebei Key Lab Smart Sensing & Human Robot Interac Tianjin 300132 Peoples R China

ISBN: (纸本)9781665405355

Continuously and accurately measuring the human posture of the care receiver while the human body is partially obscured, is one of the major challenges in many future smart nursing-care scenarios. To address human posture estimation when visual information is not available, we introduce an RFID-based method to estimate human pose without introducing extra burden to the subject, named the "RF-Care" system. Multiple wearable RFD) tags on human clothing and a dual-antenna reader system are used to extract multiple phase features to estimate the 3D pose of the human body. We developed an NLOS (Non-Line of Sight) human posture estimation method to estimate limb angles by modeling the signals of multiple wearable tags moving in space and then combined with a human skeleton model to reconstruct the human posture. Experimental data validate the developed method and system, and show that the RFID system can effectively monitor human posture in real time, especially when the human body is covered by a blanket. When uncovered, the average angular error of the limbs is about 6 degrees, or the average positional error of the limbs is about 4 cm with Kinect 2.0 as the standard;when covered, the angular standard error of the limbs is about 6 degrees, or the positional standard error of the limbs is about 4 cm. The developed system would benefit various nursing-care applications such as nursing-care robots and untethered monitoring at home.

关键词： Errors

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Observer-based finite-time control for trajectory tracking of lower extremity exoskeleton

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2022年第2期236卷 257-269页

作者： Wang, Jie Liu, Jiahao Chen, Lingling Guo, Shijie Univ Sci & Technol Beijing Inst Artificial Intelligence Beijing Peoples R China Hebei Univ Technol Sch Artificial Intelligence & Data Sci Guangrong Rd Tianjin 300130 Peoples R China Engn Res Ctr Intelligent Rehabil Minist Educ Tianjin Peoples R China Hebei Key Lab Robot Sensing & Human Robot Interac Tianjin Peoples R China

In this article, an advanced observer-based finite-time trajectory tracking controller is investigated for lower extremity exoskeleton without available joint angular velocities to improve the movement ability of dependent persons, which is robust against uncertain dynamics, human active joint torque and external disturbances. First, the Lagrange principle is applied to analyze the dynamic properties of lower extremity exoskeleton driven by artificial pneumatic muscles, and its swing phase model is established. After that, a novel finite-time extended state observer is proposed to observe the lumped disturbances and unavailable angular velocities of the lower limb exoskeleton simultaneously. Furthermore, a finite-time sliding mode controller of exoskeleton is designed based on the extended state observer, and the finite-time convergence of tracking error is rigorously demonstrated based on the Lyapunov theory. Finally, the control system simulation is established and experimental tests are conducted with a voluntary subject during flexion of wearer's knee and hip joints, the obtained results demonstrate fast and high-precision tracking performance of the proposed approach.

关键词： Lower extremity exoskeleton sliding mode control finite-time control Lyapunov theory extended state observer

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Effects of sintering in a high magnetic field on properties of vitrified bond and vitrified CBN composites

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CERAMICS INTERNATIONAL 2018年第18期44卷 22301-22307页

作者： Wang, Xuezhi Sun, Xue Ma, Zhelun Yu, Tianbiao Wang, Wanshan Hebei Univ Technol Sch Mech Engn Tianjin 300401 Peoples R China Hebei Key Lab Smart Sensing & Human Robot Interac Tianjin 300401 Peoples R China Northeastern Univ Sch Mech Engn & Automat Shenyang 110819 Liaoning Peoples R China

Vitrified bond CBN grinding wheels are being widely used due to their superior performance. Also, advantages of vitrified grinding wheels are high elastic modulus, stable chemical property, and low thermal expansion coefficient. Brittleness and low strength are key factors restricting the development of vitrified bond CBN grinding wheels. In this paper, the sintering in a high magnetic field was innovatively introduced into the manufacturing of vitrified bond CBN grinding wheels, and the effects of sintering in a high magnetic field on properties on vitrified bond and vitrified CBN composites were systematically investigated. Vitrified bond was characterized using three-point bending, scanning electron microscopy, X-ray diffraction. It was observed that microstructure of vitrified bond could be changed, grain orientation could be controlled and average grain size could be decreased in a high magnetic field, while vitrified bond strength could be simultaneously improved. High quality vitrified bond could be obtained by appropriately adjusting the strength and direction of high magnetic field. Results demonstrated that vitrified bond properties were improved when the magnetic field strength was 6 T. In order to highlight the high magnetic field effect on the vitrified CBN composites, the ordinary CBN abrasives and nickel plated CBN abrasives were used respectively. Microstructures, bending strengths of vitrified CBN composites were compared in different high magnetic fields. When the magnetic field strength was appropriate (less than 6 T), the binding characteristic of vitrified bond CBN composites with nickel plated CBN abrasives was greatly improved. The highest bending strength value of vitrified CBN composites was 79.5 MPa in 6 T high magnetic field.

关键词： High magnetic field Vitrified bond Vitrified CBN composites Grain orientation

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A low cost and portable smartphone microscopic device for cell counting

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SENSORS AND ACTUATORS A-PHYSICAL 2018年 274卷 57-63页

作者： Zeng, Yujin Jin, Ke Li, Jie Liu, Jixiao Li, Junwei Li, Tiejun Li, Shanshan Hebei Univ Technol Sch Mech Engn Tianjin 300130 Peoples R China Hebei Key Lab Smart Sensing & Human Robot Interac Tianjin 300401 Peoples R China Hebei Univ Technol Sch Architecture & Design Tianjin 300401 Peoples R China Hebei Univ Technol Inst Biophys Tianjin 300401 Peoples R China

Portable smartphone microscopic devices can potentially address various imaging and cell counting needs in healthcare monitoring. In this paper, a portable microscopic platform is constructed by a commercial smartphone and a custom-designed slider-scale microfluidic chip. Here the smartphone acts both as a detector and image analysis station. We demonstrate the adaptation of a smartphone's camera by loading a single-ball lens to function as a compact microscope, and then a glass slider or a slider-scale multiplex microfluidic chip is designed for preprocess of the samples. Our portable imaging device allows for micron size resolution and a home-coded Android application is performed for automatic/manual particle counting. Pumpkin pollen powders on a slider were counted as a demo test and then the counting for dairy somatic cells within a microfluidic chip were carried out automatically. The results from the smartphone microscopic device show good agreement with those values done by commercial microscope and flowcytometry. With advances in miniaturized electronics and smartphones, this low cost and portable smartphone microscopic platform can be used as common and convenient tools to perform true point-of-care biomedical or biochemical lab-on-a-chip applications. (C) 2018 Elsevier B.V. All rights reserved.

关键词： Microscopic Smartp hone Portable Cell counting Low cost

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Intrinsically Flexible and Breathable Supercapacitive Pressure Sensor Based on MXene and Ionic Gel Decorating Textiles for Comfortable and Ultrasensitive Wearable Healthcare Monitoring

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ACS APPLIED ELECTRONIC MATERIALS 2022年第4期4卷 1958-1967页

作者： Sun, Guifen Wang, Peng Jiang, Yongxiang Sun, Hongchang Meng, Chuizhou Tianjin Univ Technol & Educ Inst Robot & Intelligent Equipment Tianjin 300222 Peoples R China Tianjin Univ Technol & Educ Sch Mech Engn Tianjin 300222 Peoples R China Hebei Univ Technol State Key Lab Reliabil & Intelligence Elect Equip Tianjin 300401 Peoples R China Hebei Univ Technol Hebei Key Lab Smart Sensing & Human Robot Interac State Key Lab Reliabil & Intelligence Elect Equip Tianjin 300401 Peoples R China Hebei Univ Technol Sch Mech Engn Tianjin 300401 Peoples R China

The continuous real-time monitoring of human physical health is crucial in the pursuit in a high quality of modern life and has attracted a great deal of attention in research on advanced wearable pressure sensors. However, most of the previous sensors have been built on flexible solid substrate that is not air permeable, leading to skin inflammation after a long-term skin attachment. Herein, we have developed a flexible and breathable pressure sensor based on nonwoven fabrics decorated with MXene as fabric electrodes and an ionic gel as a fabric electrolyte. Due to the advantages of both the supercapacitive iontronic sensing mechanism and the hierarchical structures of the nanoscaled stacked MXene wrapping on the microscale fabric framework, the optimized pressure sensor exhibits a high sensitivity of 31.40 kPa(-1) (0-10 kPa), a wide detection range of up to 80 kPa, and a short response time of similar to 45 ms as well as excellent repeatability and cyclability. The fabric sensor can be seamlessly woven into textiles for practical wearable sensing and is capable of detecting subtle arterial pulse beats at the wrist and weak breathing rhythms at the chest without affecting the comfort of the wearer. The incorporation of the developed fabric sensors into commonly used clothing through a facile manufacturing process is promising to achieve a comfortable health diagnosis.

关键词： pressure sensor supercapacitive iontronic flexible breathable textile electronic ultrasensitive

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