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Accurate and real-time human-joint-position estimation for a patient-transfer robot using a two-level convolutional neutral network

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robotICS AND AUTONOMOUS SYSTEMS 2021年 139卷 103735-103735页

作者： Chen, Mengqian Wu, Jiang Li, Shunda Liu, Jinyue Yokota, Hideo Guo, Shijie Hebei Univ Technol State Key Lab Reliabil & Intelligence Elect Equip Hebei Key Lab Robot Percept & Human Robot Interac Sch Mech Engn Tianjin 300130 Peoples R China RIKEN 2-1 Hirosawa Wako Saitama 3510198 Japan

human-joint-position estimation is crucial for patient-transfer robots. However, high accuracy and real-time property are difficult to achieve simultaneously. To tackle the problem, we develop a new convolutional neural network (CNN), containing two levels of subnetworks, to fuse the information in color and depth images. The first-level subnetwork generates two-dimensional (2D) human joint positions from a color image by the part-affinity-fields method. The second-level subnetwork estimates 3D human-joint positions from 2D ones and corresponding depth images. Here, strong feature extraction function of the CNN may suppress the negative effect caused by invalid information in depth images. Meanwhile, all the estimations are implemented with the 2D CNNs, which may cause higher time-efficiency than 3D ones (mostly used in previous studies). To assess the validity, first we employed the CNN to estimate human joint positions, and obtained the accuracy and speed of respectively 90.3% and 210 ms (implemented with an affordable processing unit). Then we applied the CNN to a dual-arm nursing-care robot and found that the accuracy and processing speed satisfied the requirements in practical usage;these validated the effectiveness of our proposal and provided a new approach to generate 3D-human-joint positions through information fusion of color and depth images. (C) 2021 Elsevier B.V. All rights reserved.

关键词： Patient-transfer robot human-joint-position estimation Information fusion Convolution neural network

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Game scene construction for lower limb rehabilitation robot based on virtual reality 5

Game scene construction for lower limb rehabilitation robot ...

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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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Flexible, stretchable, breathable and sweatproof all-nanofiber iontronic tactile sensor for continuous and comfortable knee joint motion monitoring

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NANO ENERGY 2022年第PartA期103卷

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

Running improperly for an extended period of time will induce irreversible damage to knee joints, which can bring about excruciating pains to joggers. Wearable sensors for continual knee-monitoring are highly recom-mended. However, conventional flexible sensors built on airtight substrates are inferior in comfort when wearing for lengthy durations. Herein, a highly flexible and stretchable iontronic tactile sensor is developed on an electrospun thermoplastic polyurethane nanofiber platform. The multilayered, intertwined, nanofiber network housing numerous micro-pores/channels endows the sensor with superior air permeability, sweat inertness, thermal dissipation ability, and biocompatibility, which allows for an extended, comfortable wearing experience. Accrediting the supercapacitive sensing mechanism and porous microstructure, a performance exhibiting a high sensitivity, wide detection range, rapid response, excellent stability and repeatability can be achieved. Prag-matically, a knee-sensor prototype was developed and demonstrated running in real-time and continuously: monitoring a single point of pressure with 3 individual sensor units attached to the rim of the knee and mapping the spatial pressure distribution with an array of sensors covering the whole knee. The health status of the knee could be properly diagnosed, which would be useful for warning of potential knee injuries or to better the form of exercisers.

关键词： Flexible sensor Iontronic tactile sensor Electrospun nanofibers Breathable Sweatproof Knee joint motion monitoring

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Graphene-wrapped bimetallic nanoparticles bifunctional electrocatalyst for rechargeable Zn-air battery

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JOURNAL OF ELECTROANALYTICAL CHEMISTRY 2022年 927卷 1页

作者： Zhu, Bo Wan, Tongtao Li, Jing Meng, Chuizhou Du, Xiaohang Liu, Guihua Guan, Yuming Hebei Univ Technol Sch Mech Engn State Key Lab Reliabil & Intelligence Elect Equipm Hebei Key Lab Smart Sensing & Human Robot Interact Tianjin 300130 Peoples R China Hebei Univ Technol Sch Chem Engn & Technol Tianjin Key Lab Chem Proc Safety Tianjin 300130 Peoples R China

Developing efficient and stable bifunctional electrocatalysts towards oxygen evolution/reduction reactions (OER/ORR) is both critical and challenging for the application of zinc-air batteries (ZABs). In this work, a reduced graphene oxide-encapsulated, metal-organic framework (MOF)-derived NiCo bimetallic nanoparti-cles-based bifunctional catalyst (NiCo@rGO) was successfully prepared. The intertwining of flaky rGO and MOF derivatives results in a large specific surface area and abundant pore structure, which is favorable for exposure of active catalytic sites and ensures high electronic conductivity of the catalyst at the same time. The cooperation of cobalt and nickel nanoparticles enriches the active centers and increases the intrinsic cat-alytic activity compared with monometallic Co nanoparticles, leading to enhanced catalytic performance. Benefited from the above advantages, NiCo@rGO exhibits efficient catalytic activities with an oxygen reduc-tion half-wave potential of 0.85 V and oxygen evolution overpotential of 460 mV at 10 mA cm-2. Furthermore, the ZABs with NiCo@rGO exhibits a open-circuit voltage of 1.49 V, a peak power density of as high as 110.45 mW cm-2 and excellent stability over 180 h. This contribution paves a practical avenue to construct bimetal-rGO composites for high-performance ZABs.

关键词： Zinc -air battery NiCo nanoparticles Reduced graphene oxide Bifunctional electrocatalyst

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label-Free sensing of Cell Viability Using a Low-Cost Impedance Cytometry Device

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MICROMACHINES 2023年第2期14卷 407-407页

作者： Yang, Bowen Wang, Chao Liang, Xinyi Li, Jinchao Li, Shanshan Wu, Jie Jayne Su, Tanbin Li, Junwei Hebei Univ Technol Sch Mech Engn Hebei Key Lab Smart Sensing & Human Robot Interact Tianjin 300130 Peoples R China Hebei Univ Technol Inst Biophys Sch Hlth Sci & Biomed Engn Tianjin 300401 Peoples R China Hebei Univ Technol State Key Lab Reliabil & Intelligence Elect Equipm Tianjin 300132 Peoples R China Univ Tennessee Dept Elect Engn & Comp Sci Knoxville TN 37919 USA

Cell viability is an essential physiological status for drug screening. While cell staining is a conventional cell viability analysis method, dye staining is usually cytotoxic. Alternatively, impedance cytometry provides a straightforward and label-free sensing approach for the assessment of cell viability. A key element of impedance cytometry is its sensing electrodes. Most state-of-the-art electrodes are made of expensive metals, microfabricated by lithography, with a typical size of ten microns. In this work, we proposed a low-cost microfluidic impedance cytometry device with 100-micron wide indium tin oxide (ITO) electrodes to achieve a comparable performance to the 10-micron wide Au electrodes. The effectiveness was experimentally verified as 7 mu m beads can be distinguished from 10 mu m beads. To the best of our knowledge, this is the lowest geometry ratio of the target to the sensing unit in the impedance cytometry technology. Furthermore, a cell viability test was performed on MCF-7 cells. The proposed double differential impedance cytometry device has successfully differentiated the living and dead MCF-7 cells with a throughput of similar to 1000 cells/s. The label-free and low-cost, high-throughput impedance cytometry could benefit drug screening, fundamental biological research and other biomedical applications.

关键词： microfluidic impedance cytometry low-cost ITO electrodes cell viability analysis label-free sensing sensitive electrodes

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A laser-scribed wearable strain sensing system powered by an integrated rechargeable thin-film zinc-air battery for a long-time continuous healthcare monitoring

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NANO ENERGY 2022年第0期101卷

作者： Chen, Xue Hou, Zhanrui Li, Guoxian Yu, Wei Xue, Ye Niu, Guangyu Xin, Mingyang Yang, Li Meng, Chuizhou Guo, Shijie Hebei Univ Technol Sch Elect Engn State Key Lab Reliabil & Intelligence Elect Equip Key Lab Bioelectromagnet & Neuroengn Hebei Prov Tianjin 300130 Peoples R China Hebei Univ Technol Sch Mech Engn State Key Lab Reliabil & Intelligence Elect Equip Hebei Key Lab Smart Sensing & Human Robot Interac Tianjin 300401 Peoples R China Hebei Univ Technol Sch Hlth Sci & Biomed Engn State Key Lab Reliabil & Intelligence Elect Equip Tianjin 300130 Peoples R China Hebei Univ Technol Dept Architecture & Art Tianjin 300130 Peoples R China

Wearable sensors with long cruising times without the need for an external wire-connected power supply are urgently required for a continuous physiological signal monitoring. Herein, we report the design and fabrication of a wearable all-in-one sensing system that integrates a sensitive strain sensor and a rechargeable zinc-air battery on the same laser-induced graphene (LIG) platform. The sensing electrode of the strain sensor, the catalytic air electrode of the zinc-air battery and the interconnection lines between the two are simultaneously fabricated through the same laser-scribing process on polyimide (PI) followed by pattern transfer to a flexible and stretchable polydimethylsiloxane (PDMS) substrate. In the sensor, the conductive porous LIG exhibits a high gauge factor (similar to 2710.95), a wide detection range (similar to 40%), and a well cyclic loading-unloading stability (>20,000 cycles). In the zinc-air battery, Co3O4 nanoparticles are in-situ laser-sintered on LIG to form an excellent electrode/electrolyte/air three-phased interfacing structure for a high catalytic performance, and a moisturized tetraethyl ammonium hydroxide (TEAOH)-KOH/polyvinyl alcohol (PVA) gel electrolyte tightly binds the Co3O4/LIG air electrode and zinc foil electrode together into an integrate thin-film energy device, which provides a high open-circuit voltage (similar to 1.39 V) and a high specific capacity (712 mAh g(-1) at 0.2 mA cm(-2)). For a proof-of-concept, an intelligent wristband based on the sensing system was fabricated and worn on the wearer's wrist for a long-time continuous pulse monitoring of up to 10 h. The health state of the wearer can be depicted upon the acquired pulse waveforms. The developed LIG-based sensing system with a high internal powering capability will be promising in wearable sensing applications.

关键词： Laser-induced graphene (LIG) All-in-one integrated system Flexible strain sensor Rechargeable zinc-air battery Gel polymer electrolyte

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Virtual Multiplexing Chamber-Based Digital PCR for Camel Milk Authentication Applications

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MICROMACHINES 2023年第8期14卷 1619-1619页

作者： Li, Jinchao Cheng, Jingmeng Li, Shanshan Wu, Jie Jayne Li, Junwei Hebei Univ Technol Sch Mech Engn Hebei Key Lab Smart Sensing & Human Robot Interact Tianjin 300130 Peoples R China Hebei Univ Technol State Key Lab Reliabil & Intelligence Elect Equip Tianjin 300130 Peoples R China Univ Tennessee Dept Elect Engn & Comp Sci Knoxville TN 37996 USA Hebei Univ Technol Inst Biophys Sch Hlth Sci & Biomed Engn Tianjin 300401 Peoples R China

In this work, we proposed a chamber-based digital PCR (cdPCR) microfluidic device that is compatible with fluorescence imaging systems for milk adulteration detection. The device enables the digitalization of PCR reagents, which are loaded into microchambers, and subsequent thermocycling for DNA amplification. Then, fluorescence images of the microchambers are captured and analyzed to obtain the total number of positive chambers, which is used to calculate the copy numbers of the target DNA, enabling accurate quantitative detections to determine intentional milk adulteration from accidental contaminations. The validation of this device is performed by camel milk authentication. We performed 25,600-chamber virtual multiplexing cdPCR tests using 40 x 40 chamber devices for the detection of DNA templates extracted from pure or mixed milk with different dilutions. Then, the cdPCR chip was used to authenticate blind milk samples, demonstrating its efficacy in real biotechnical applications.

关键词： microfluidics digital polymerase chain reaction camel authentication

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Biomimetic breathable nanofiber electronic skins with temperature-controlled self-adhesive and directional moisture-wicking properties for bifunctional pressure and non-contact sensing

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NANO ENERGY 2024年第PartA期128卷

作者： Wang, Guoqing Duan, Jingle Sun, Guifen Wang, Peng Meng, Chuizhou Duan, Derong Zhang, Longxiao Kan, Hao Li, Yang Univ Jinan Sch Informat Sci & Engn Shandong Prov Key Lab Network Based Intelligent Co Jinan 250022 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 Univ Jinan Sch Mech Engn Jinan 250022 Peoples R China Shandong Univ Sch Integrated Circuits Jinan 250101 Peoples R China

Electronic skin has fast developed in recent years for its promising application in wearable sensing. Multifunction of breathability, self-adhesion, sweat release and diverse sensing is highly required but has not been achieved on a single device. Herein, inspired by natural human skin, we develop a breathable and self-adhesive electronic skin based on an all-nanofiber platform with unique directional moisture-wicking properties and bifunctional pressure and non-contact sensing capability. The multifunctional device is integrated with four functional parts self-adhesive gel, moisture-wicking structure, pressure sensing layer and non-contact detection layer. Benefits from structural design and advanced sensing principles, the sensor not only demonstrates high pressure-sensing sensitivity of 23 kPa-1 and ultrawide non-contact detection range of 2 m but also exhibits excellent breathability of 53.9 mm s-1 and fast moisture-wicking ability. Interestingly, the sensor can be tightly attached to human skin at skin temperature and be easily peeled off at elevated temperatures by using the temperature-controlled reversible phase-transition gel. Towards practical wearable sensing applications, different movements can be identified with 97.3 % accuracy by using the four-layer Multi-Layer Perceptron neural network. This work will boost the development of next-generation multifunctional electronic skins with both wearing comfortability and diverse sensing capability.

关键词： Electrospun nanofiber Non -contact sensor Pressure sensor Directional moisture wicking Electronic skin

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Soft-Contact Acoustic Microgripper Based on a Controllable Gas-Liquid Interface for Biomicromanipulations

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SMALL 2021年第49期17卷 2104579-2104579页

作者： Zhou, Yidi Liu, Jixiao Yan, Junjia Guo, Shijie Li, Tiejun Hebei Univ Technol State Key Lab Reliabil & Intelligence Elect Equip Tianjin 300132 Peoples R China Hebei Univ Technol Hebei Key Lab Smart Sensing & Human Robot Interac Tianjin 300132 Peoples R China Hebei Univ Technol Sch Mech Engn Tianjin 300132 Peoples R China

The manipulation of microscale bioentities is desired in many biological and biomedical applications. However, the potential unobservable damage to bioparticles due to rigid contact has always been a source of concern. Herein, a soft-contact acoustic microgripper to handle microparticles to improve the interaction safety is introduced. The system takes advantage of the acoustic-enhanced adhesion of flexible gas-liquid interfaces to capture-release, transport, and rotate the target, such as microbeads (20-65 mu m) and zebrafish embryos (from 950 mu m to 1.4 mm). The gas-liquid interface generated at the tip of a microcapillary can be precisely controlled by a pneumatic pressure source. The gas-liquid interface oscillation excited by acoustic energy imposes coupled radiation force and drag force on the microparticles, enabling multidimensional movements. Experiments with the microbeads are conducted to evaluate the claimed function and quantify the key parameters that influence the manipulation result. Additionally, 250 zebrafish embryos are captured, transported, and rotated. The hatching rate of the 250 manipulated embryos is approximately 98% similar to that of the nonmanipulated group, which proves the noninvasiveness of the method. The derived theories and experimental data indicate that the developed soft-contact microgripper is functional and beneficial for biological and medical applications.

关键词： acoustic tweezers acoustofluidics biomicromanipulation cell transportation and rotation gas-liquid interface

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A gait skeleton model extraction method based on the fusion between vision and tactility

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VISUAL COMPUTER 2019年第12期35卷 1713-1723页

作者： Dai, Shijie Wang, Rui Zhang, Huibo Hebei Univ Technol Sch Mech Engn Tianjin Peoples R China Hebei Univ Technol Hebei Key Lab Robot Percept & Human Robot Interac Tianjin Peoples R China

In the traditional gait skeleton model, the fixed length proportions among different bones cause the loss of model personality, and the shoulder and hip points that are blocked by the body are difficult to be extracted. For those problems, a method based on the spatial and temporal fusion between vision and tactility is proposed, by which a equal proportion 3D gait skeleton model can be restructured in the camera coordinate system accurately through a single-frame image. In the geometric analysis process, some logical assumptions are proposed according to human anatomy and the laws of human movement, and an effective method is proposed for the extraction of thigh slope. The experimental result shows that the consistent equal proportion models, in which single bone length error is eventually controlled within +/- 5mm, can be extracted in different position under the premise of rapidity with the aid of this method. The extracted shoulder and hip points also meet the real human body skeleton structure, which lays the foundation for the integrity and rationality of the entire skeletal model.

关键词： 3D gait skeleton model Spatial and temporal fusion Shoulder and hip points Equal proportion restructure

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