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Inertial Measurement Unit-Based Optimization Control of a Soft Exosuit for Hip Extension and Flexion Assistance

JOURNAL OF MECHANISMS AND robotICS-TRANSACTIONS OF THE ASME 2021年第2期13卷 021016页

作者： Chen, Qiang Guo, Shijie Sun, Lei Liu, Qiming Jin, Shanhai Hebei Univ Technol Sch Mech Engn State Key Lab Reliabil & Intelligence Elect Equip Hebei Key Lab Robot Sensing & Human Robot Interac Tianjin 300401 Peoples R China Yanbian Univ Sch Engn Yanji 133002 Peoples R China

The optimization of the assistive force of a soft exosuit is crucial to the assistive effect. In this paper, an inertial measurement unit (IMU)-based optimization controller was designed to provide effective hip extension and flexion assistance for a soft hip-assistive exosuit. The parameters of the assistive profiles that were defined by two functions were approximatively estimated based on an analysis of biological hip power, and then optimized in real time using the hip angles measured by two IMUs bound to the thighs of the wearer. The peak and offset timings were determined using the parameters of the previous gait, while the start and stop points were determined from those of the current gait. Confi rina lion experiment was conducted in which four subjects were tested to demonstrate the validity of the optimization by applying the optimized parameters to the soft exosuit developed by the authors' group. Two of the subjects completed the outdoor walking test at a self-determined pace while carrying a load of 15 kg. All the subjects conducted the walking test on a treadmill at a constant speed of 1.53 m/s with the same load. The results showed that the proposed optimization controller worked well without considering individual differences. In the outdoor walking test, the wearer's natural gait could be maintained by applying the optimized assistive forces. In the treadmill walking test, metabolic rate with assistance turned on was reduced by 8.53 +/- 2.65% (average +/- SEM) compared with the result of assistance turned off.

关键词： soft exosuit hip assistance assistive profiles optimization control metabolic rate robot design wearable robots

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Detachable and reassemble sandwiching device with high dynamic range for multivolume droplet digital polymerase chain reactions

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SENSORS AND ACTUATORS B-CHEMICAL 2024年 412卷

作者： Wei, Chunyang Yu, Chengzhuang Meng, Jiyu Li, Junwei Li, Qinghua Li, Shanshan Shandong First Med Univ & Shandong Acad Med Sci Coll Artificial Intelligence & Big Data Med Sci Jinan 250117 Peoples R China Hebei Univ Technol Sch Mech Engn Hebei Key Lab Robot Sensing & Human Robot Interact Tianjin 300132 Peoples R China Tianjin Univ Sci & Technol Coll Mech Engn Tianjin 300222 Peoples R China Hebei Univ Technol Inst Biophys Sch Hlth Sci & Biomed Engn Tianjin 300401 Peoples R China

Droplet digital polymerase chain reaction (ddPCR) can achieve absolute nucleic acid quantification by analyzing thousands of independent droplets. Nevertheless, the challenges, including high chip cost, complex dropletproduction operation, and low system integration, still hinder its widespread application. Here, we propose a detachable ddPCR device assembled by a 3D-printed photosensitive resin, an elastic PDMS film, and a glass substrate. The device is prefilled with mineral oil and is easy to assemble, detach and reassemble for reuse. With the predesigned microstructures, smaller and bigger droplets are step-emulsified for multivolume droplets. The smaller ones (Phi = 97.13 +/- 2.71 mu m, n approximate to 6 000) are used to improve the upper limit of quantification (ULQ), and the larger ones (Phi = 258.27 +/- 4.53 mu m, n approximate to 1 000) are used to decline the lower detection limit (LDL). Benefits from the multivolume design, the proposed ddPCR device obtains an ultra-wide dynamic range of over 10(5). The device allows for droplet production, single-layer self-assembly, thermal cycling, and fluorescence acquisition in one device, resulting in a miniaturized and simplified ddPCR system. We applied this device in quantifying PCR reagents with concentrations from 1 copy/mu L to 1 000 copies/mu L. Statistical analysis of the expected and experimental DNA copy numbers indicates that the device holds excellent quantification performance. With the characteristics of low chip cost, simplified operation, wide dynamic range, and high system integration, the proposed device is expected to broaden the applications of ddPCR, including single-cell expression, copy number variation, and point-of-care fields.

关键词： Digital PCR Multivolume droplets High dynamic range Assembled device Reusability

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A Hand Motion Recognition System Combining Wearable sensing Gloves and Template Matching Algorithm 21

A Hand Motion Recognition System Combining Wearable Sensing ...

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21st IEEE International Conference on Mechatronics and Automation (IEEE ICMA)

作者： Wang, Dapeng Fu, Yupeng Yang, Bo Liu, Teng Meng, Chuizhou Guo, Shijie Hebei Univ Technol State Key Lab Reliabil & Intelligence Elect Equip Tianjin 300401 Peoples R China Hebei Univ Technol Engn Res Ctr Minist Educ Intelligent Rehabil Device & Detect T Tianjin 300401 Peoples R China Hebei Univ Technol Hebei Key Lab Smart Sensing & Human Robot Interac Tianjin 300401 Peoples R China Hebei Univ Technol Sch Mech Engn Tianjin 300401 Peoples R China

ISBN: (纸本)9798350388084;9798350388077

Hand motion recognition systems, especially those these using wearable electronic glove, have received growing attention in the field of human-computer interaction and medical rehabilitation. However, two problems still exist: (1) the sensors are usually single, which fails to acquire the multi-sensor information;and (2) Pattern recognition based on deep learning algorithms tend to require a large number of samples to ensure pattern recognition accuracy, whereas obtaining a large amount of hand movement information from a patient is difficult. To address the above problems, this study develops a hand motion recognition system through combining a wearable sensing glove and a new template matching algorithm. The wearable sensing glove employs five Flex sensors and one Inertial Measurement Unit (IMU) to obtain the gesture information, followed by realization of the human-computer interaction through the Unity3D software. Meanwhile, a simple template matching algorithm is constructed for the hand gesture recognition, which can recognize 10 numbers and 20 letters in American Sign Language (ASL) with an accuracy of 90.11% and 87.13%, respectively. The proposed hand motion recognition system can basically meet the needs of patients for hand movement recognition.

关键词： pattern recognition hand motion recognition wearable sensing glove template matching algorithm

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Continuously-Tunable and Ultrawide-Range Thermal Regulator Based on Superaligned Carbon Nanotube Aerogels for Dynamic Thermal Management of Batteries and Buildings

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ADVANCED FUNCTIONAL MATERIALS 2024年第22期34卷 2314021-2314021页

作者： Yu, Wei Dai, Wenhua Hong, Zixin Li, Guoxian Wang, Ziying Meng, Chuizhou Wang, Jiaping Liu, Changhong Guo, Shijie Fan, Shoushan Hebei Univ Technol Hebei Key Lab Smart Sensing & Human Robot Interact State Key Lab Reliabil & Intelligence Elect Equipm Sch Mech EngnEngn Res CtrMinist Educ Intelligent Tianjin 300401 Peoples R China Tsinghua Univ Tsinghua Foxconn Nanotechnol Res Ctr Beijing 100084 Peoples R China Tsinghua Univ Dept Phys Beijing 100084 Peoples R China

Efficient heat transfer control is highly demanded for dynamic thermal management of equipment and buildings especially when the environmental temperature dramatically changes. Thermal switches, the current approach of heat transfer control, suffer from the issues of low switching ratios below eight and sharp state transition between "on" and "off". Herein, a continuously-tuned thermal regulator with an ultrahigh thermal-conductivity change ratio of 43 based on superaligned carbon nanotube aerogel is reported, which works on the regulation of both thermal interfacial resistance and conduction pathways by compressive deformation-induced microstructure evolution. This thermal regulator can stabilize the device temperature at 25 degrees C when the environmental temperature varies by 7 and 11 degrees C under the natural convection and forced convection conditions, respectively. Toward practical application, the thermal regulator with flexibility is wrapped around a cylindrical lithium-ion battery to control the operation temperature within the optimal range of 20-40 degrees C for enhanced discharging performance even at an environmental temperature of -20 degrees C. Besides, by combining the thermal regulator with radiative cooling film, the house model temperature can be lowered by 2.7 degrees C during daytime and raised by 1.1 degrees C during nighttime compared with the bare one. This efficient thermal regulation approach offers an effective solution for practical thermal management.

关键词： CNT aerogel dynamic thermal management heat transfer control lithium-ion battery radiative cooling

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Highly breathable and sensitive iontronic wearable sensor based on porous ionic electrolyte and microstructure for human movement sensing

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CHEMICAL ENGINEERING JOURNAL 2024年 495卷

作者： Wang, Peng Cao, Jinjing Li, Yurui Sun, Guifen Shao, Haiyan Meng, Chuizhou Univ Jinan Sch Mech Engn Jinan 250022 Peoples R China Shandong Agr & Engn Univ Sch Informat Sci & Engn Jinan 250100 Peoples R China Hebei Univ Technol Hebei Key Lab Smart Sensing & Human Robot Interact State Key Lab Reliabil & Intelligence Elect Equipm Sch Mech EngnEngn Res CtrMinist Educ Intelligent Tianjin 300401 Peoples R China

Flexible sensors have received enormous attention for various potential applications in healthcare biomonitoring. However, achieving high sensitivity, wide sensing range, reliable breathability and hydrophobicity for long-term comfortable health monitoring remains a key challenge. Herein, we present a breathable and hydrophobic pressure sensor with high sensitivity and a wide detection range based on porous ionic electrolyte and nanofiber. The sensor consists of a middle porous ionic electrolyte, top and bottom micropatterned Ag/G/ TPU nanofiber electrodes. Thanks to the microstructures and the supercapacitive working principle, the assembled electronic sensors exhibit ultra-high sensitivity (21.3 kPa-1), a wide working range (0.30-106 kPa), an extremely low detection limit (about 40 mg), and significant reliability. Benefits from the microporous structures in the electrode and electrolytes, the prepared sensor shows high air permeability (25.02 mm/s) and moisture permeability (102.35 g/m2h), improving long-term comfort wearing. Meanwhile, the hydrophobicity (155.1 degrees) of TPU nanofibers endows the sensor with excellent sweat resistance. The fabricated sensor has been successfully applied in human movement recognition with a 100 % success rate with the help of a neural network. This work is expected to pave the way for the manufacture of breathable, hydrophobic, highly sensitive and wide-range pressure sensors in the next generation of electronic skin.

关键词： Wearable pressure sensor Breathable Hydrophobicity Electrospun nanofibers Knee joint motion monitoring

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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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Flexible, Freestanding, Ultrasensitive, and Iontronic Tactile sensing Textile

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ACS APPLIED ELECTRONIC MATERIALS 2021年第5期3卷 2195-2202页

作者： Wang, Peng Li, Guoxian Liu, Jun Hou, Zhanrui Meng, Chuizhou Guo, Shijie Hebei Univ Technol State Key Lab Reliabil & Intelligence Elect Equip Hebei Key Lab Smart Sensing & Human Robot Interac Tianjin 300401 Peoples R China Hebei Univ Technol Sch Mech Engn Tianjin 300401 Peoples R China

Recently, flexible textile-based sensors have drawn great interest due to their promising application in wearable electronics. However, most previous work has been done either by attaching conventional sensors to a textile-based substrate or by sewing fiber-like sensors into fabrics. The use of an additional substrate would interfere with detection performance and to some extent reduce user experience. Herein, we propose a flexible, freestanding tactile sensor by using the MXene/cotton composite thread as electronic electrodes and ionic gel (IG) as an iontronic electrolyte. Two or more such fiber electrodes are crisscross placed and bonded with a small amount of IG as glue at the intersection points to form the sensor unit or array without using any substrate. Due to its supercapacitive sensing mechanism upon optimization of electrode thickness and IG composition, it shows a high sensitivity of 9.62 kPa(-1) (0-40 kPa), ultralow detection limit of 0.884 Pa, and short response time of 24 ms. The sensor is capable of detecting micromotions like pulse beat at the wrist, water dripping, and sound wave through the air. In addition, a 6 x 6 sensor array is demonstrated to acquire 2D pressure mapping with recognition of different object shapes. Moreover, the sensor array can be conformally attached on a complex surface of 3D objects such as a table tennis ball to detect 3D positioned pressures. The proposed tactile-sensing textile in the true sense would provide a concept to develop advanced sensing devices with comfort for wearable systems.

关键词： tactile sensor supercapacitive iontronic textile and fabric flexible and wearable freestanding and self-supporting

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Microfabrication of On-Demand Tapered Glass Capillaries by Etching Combined With Polishing

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JOURNAL OF MICROELECTROMECHANICAL SYSTEMS 2022年第3期31卷 473-480页

作者： Wei, Chunyang Yu, Chengzhuang Li, Shanshan Meng, Jiyu Li, Tiejun Pan, Feng Wang, Zichao Li, Junwei Hebei Univ Technol Hebei Key Lab Robot Sensing & Human Robot Interac Sch Mech Engn Tianjin 300132 Peoples R China Hebei Univ Technol State Key Lab Reliabil & Intelligence Elect Equip Tianjin 300130 Peoples R China Jiangnan Univ Jiangsu Key Lab Adv Food Mfg Equipment & Technol Wuxi 214122 Jiangsu Peoples R China Hebei Univ Technol Inst Biophys Sch Hlth Sci & Biomed Engn Tianjin 300401 Peoples R China Hebei Univ Technol Dept Elect & Informat Engn Langfang 065000 Peoples R China

Micro fabrication of tapered glass capillaries with on-demand geometry is one of the essential issues to make specific devices for electrophysiological experiments, microfluidics, pharmaceutics. Capitalizing on chemical etching and mechanical polishing, we have developed a reliable microfabrication method to make tapered glass capillaries with on-demand size. The tip ending diameter reaches from several microns to hundreds of microns within one hour fabrication time, which can meet the requirement for microfabrication of microfluidic devices. To demonstrate the performance of the hybrid microfabrication method, the effect of etching time, and etchant concentrations are proposed. Furthermore, the surface quality of fabricated device is demonstrated to show the advantages of our microfabrication method. Then two typical applications such as the soft manipulation of zebrafish embryo and the production of emulsion droplets are performed. This hybrid microfabrication method of chemical etching combined with mechanical polishing shows great advantages to obtain on-demand size of tapered glass capillaries, and these features make it highly promising for microfabrication of glass capillary devices. [2021-0229]

关键词： Glass Chemicals Etching Microfabrication Hafnium Fabrication Corrosion Micro fabrication microfluidics tapered glass capillary chemical etching mechanical polishing

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Model-free prescribed performance fixed-time control for wearable exoskeletons

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APPLIED MATHEMATICAL MODELLING 2021年 90卷 61-77页

作者： Sun, Jianjun Wang, Jie Yang, Peng Guo, Shijie Hebei Univ Technol Sch Artificial Intelligence Tianjin 300130 Peoples R China Hebei Univ Technol Engn Ctr Intelligent Rehabil & Detect Technol Minist Educ Tianjin 300130 Peoples R China Hebei Key Lab Robot Sensing & Human Robot Interac Tianjin 300130 Peoples R China

In this paper, a model-free fixed-time control strategy with prescribed performance is pro-posed for the wearable exoskeleton angle tracking control. Firstly, an ultra-local model is employed to formulate the plant dynamic relation between control input and output. Then, an intelligent-proportional-derivative controller is designed based on the time delay estimation technique. To improve the tracking precision, a prescribed performance sliding mode controller is designed and a uniform robust exact disturbance observer is employed to compensate the controller. Besides, based on the universal barrier Lyapunov function, the stability is analyzed for the closed-loop system and the prescribed performance is proved. Finally, a 5 degree-of-freedom wearable exoskeleton virtual prototype is developed in SOLIDWORKS and transferred to MATlab/SimMechanics as the controlled object of visualization simulation, simulation results show the effectiveness of the proposed control strategy. (c) 2020 Elsevier Inc. All rights reserved.

关键词： Wearable exoskeleton Model-free control Fixed-time control Prescribed performance

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Biomechanical and Physiological Evaluation of Biologically-Inspired Hip Assistance With Belt-Type Soft Exosuits

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IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING 2022年 30卷 2802-2814页

作者： Chen, Qiang Guo, Shijie Wang, Jing Wang, Jiaxin Zhang, Dan Jin, Shanhai Hebei Univ Technol Sch Mech Engn State Key Lab Reliabil & Intelligence Elect Equip Hebei Key Lab Robot Sensing & Human Robot Interac Tianjin 300401 Peoples R China Tianjin Univ Sport Key Lab Exercise Physiol & Sports Med Tianjin 301617 Peoples R China Hebei Univ Technol Sch Mech Engn Tianjin 300401 Peoples R China York Univ Dept Mech Engn Toronto ON M3J 1P3 Canada Yanbian Univ Sch Engn Yanji 133002 Peoples R China

Hip-assisted soft exosuits have been reported for their effect on reducing the metabolic power of human walking. Currently, most studies focus on uni-directional assistance (HF: hip flexion, or HE: hip extension). This paper investigates the effect of bi-directional assistance (HFE: hip flexion and extension) on the biomechanics and physiology of the wearer for understanding the potential benefits in synergistic effect of multi-muscle assistance. A belt-type soft exosuit was developed to provide the bi-directional assistance for augmenting walking. The assistance strategy was presented by imitating the contraction mechanisms of hip flexor and extensor muscles in walking. Tests on 8 healthy subjects were conducted and the results were compared with traditional uni-directional assistance. Metabolic powers, muscle activities, kinematics, and kinetics were measured and analyzed. Results showed that HFE assistance reduced the metabolic power by 7% and 12.4% relative to no exosuit and assistance turned off, respectively, larger than the sum of HF and HE. Furthermore, HFE reduced more total joint positive biological work and the activity of more related muscles, and at the same time increased upward and downward accelerations of body mass center, promoting walking energy exchange. These findings demonstrate that bi-directional assistance by combining hip flexion and extension has a significant synergistic effect on augmenting human walking as well as a benefit of increasing biological efficiency.

关键词： Hip Legged locomotion Muscles Actuators Belts Force Hafnium Soft exosuit hip assistance muscle contraction metabolic power synergistic effect

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