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A Wearable Mechanical Pressure-Electrophysiological Bimodal Sensing System for Rehabilitation Electromechanical Device

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A Wearable Mechanical Pressure-Electrophysiological Bimodal ...

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

作者： Peng Wang Jixiao Liu Dianpeng Qi Shijie Guo School of Mechanical Engineering Hebei University of Technology China Hebei Key Laboratory of Smart Sensing and Human-Robot Interaction Hebei University of Technology Tianjin School of Chemical Engineering Harbin Institute of Technology Harbin

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

With the aging of society, there has been an increase in the number of elderly individuals with limb movement disorders. Active rehabilitation training using limb rehabilitation electromechanical devices that incorporate multimodal sensing and monitoring functions can significantly contribute to the recovery of limb motor functions. This report introduces a wearable mechanical pressure-electrophysiological monitoring bimodal sensing system specifically designed for human limb rehabilitation devices. By utilizing just four electrodes (SE, CE/DE, GND, REF), this system enables simultaneous and co-located measurement of surface electromyographic (sEMG), pressure, and mechanomyography (MMG) signals. These signals can be utilized to analyze muscle tension, stiffness, and tremor information. At last, this sensing system was used to assess muscle contraction force and localized muscle fatigue. The time and frequency domain characteristics of physiological signals during exercise were thoroughly investigated. The wearable mechanical pressure-electrophysiological bimodal sensing system can provide valuable data references for rehabilitation robots or human limb rehabilitation device, which is of great significance in the diagnosis of muscular diseases and rehabilitation treatment.

关键词： Training Limbs Electromechanical devices Force Muscles robot sensing systems Sensors Pressure measurement Biomedical monitoring Monitoring

Conformational Design and Kinematic Analysis of a Reconfigurable Ankle Rehabilitation robot

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Conformational Design and Kinematic Analysis of a Reconfigur...

ASME/IFToMM International Conference on Reconfigurable Mechanisms and robots, ReMAR

作者： Jun Wei Haidong Ni Jianjun Zhang Hebei Key Laboratory of Robot Perception and Human-Machine Fusion School of Mechanical Engineering Hebei University of Technology Tianjin PR China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education Tianiin China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

The ankle joint bears the most weight of the human joint, every year there are many people suffer from different types and degrees of ankle injuries, and their rehabilitation needs are diversified, in order to carry out targeted rehabilitation for ankle injuries, a reconfigurable ankle rehabilitation robot with seven modes is designed. Firstly, the skeletal structure of the human ankle joint as well as the form of movement were determined. Based on the physiological structure, size and movement mode of the human ankle joint, the reconfigurable ankle rehabilitation robot was configured and designed, and a parallel mechanism with seven rehabilitation modes was proposed, and the overall layout of the mechanism is introduced, and then the design of each branch chain of the mechanism is elaborated, and the switching between modes is introduced, and the degrees of freedom and the nature of motion of the mechanism are analyzed in each mode. Finally, the degree of freedom analysis was carried out based on the spiral theory; finally, the kinematic inverse solution of the mechanism in each mode was solved and verified by simulation, and the results showed that this reconfigurable ankle rehabilitation mechanism meets the demand of ankle rehabilitation.

关键词： Ankle Spirals Layout Government Kinematics Switches Assistive robots

Type Synthesis of Parallel Mechanisms with Configurable-Structural Platforms 1

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24th IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2024

作者： Shi, Anyu Wei, Jun Liu, Chenglei Lv, Weilin Zhang, Jianjun School of Mechanical Engineering Hebei University of Technology Tianjin300401 China Hebei Provincial Key Laboratory of Robot Perception and Human Machine Fusion Tianjin300401 China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education Tianjin300401 China

ISBN: (数字)9789819614677

ISBN: (纸本)9789819614660

In this paper, a concept of parallel mechanisms with configurable–structural platforms (CSPs) based on configurable platforms (CP) is proposed. When the self-deformable motion of the configurable platform is constrained by chains, the CP degenerates into the structural platform (SP). The self-deformation motion of CP changes the axis arrangement of the kinematic joints at the end of each chain, and the transformation between the CP and the SP can be realized by combining the constraint change of the chains. Based on the finite displacement screw matrix, virtual kinematic joint motion is used to describe the self-deforming axis motion of Bennett linkage CPs. Then the motion of virtual rigid body is described by Lie group theory. Finally, a type synthesis method of parallel mechanisms with CSPs is established based on Lie group theory. Parallel mechanisms with CSPs can use CPs to grasp, position and cooperate with other functions, and also can use SPs to work as traditional parallel mechanisms. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Lie groups

Rechargeable Self-Powered Pressure Sensor Based on Zn-Ion Battery with High Sensitivity and Broad-Range Response

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SSRN 2024年

作者： Hu, Yong-Peng Liu, Kai-Yang Bai, Ruo-Ning Liu, Da-Zhuang Yu, Wei Meng, Chui-Zhou Li, Guo-Xian Guo, Shi-Jie Hebei Key Laboratory of Smart Sensing and Human-Robot Interaction Engineering Research Center The Ministry of Education for Intelligent Rehabilitation Equipment and Detection Technologies School of Mechanical Engineering Hebei University of Technology No. 5340 Xiping Road Beichen District Tianjin300401 China

Flexible pressure sensors find broad applications in electronic skin, human-computer interaction, and health monitoring. However, developing self-powered flexible sensors capable of detecting both dynamic and static pressures with high sensitivity and a wide detection range remains a significant challenge. Here, we report the design and fabrication of a new rechargeable Zn-ion battery-type flexible self-powered pressure sensor (RZIB-FPS). In the device, the anode of a flexible Zn-ion battery is designed into a sandwich configuration with a porous isolation layer in between a conductive layer decorated with polymethylmethacrylate microspheres and a flexible Zn electrode. The self-powered pressure sensing mechanism relies on the variation in output voltage resulting from the resistance change of the anode when subjected to external pressure. This RZIB-FPS exhibits an open-circuit voltage of 1.46 V, an energy density of 392 µWh cm−2, a high sensitivity (up to 42.6 mV kPa−1), a wide pressure detection range (up to 330 kPa), and excellent cycling stability (up to 12,000 cycles). Furthermore, the proposed all-in-one device design demonstrates excellent charge-discharge performance, manifesting its high integration level and potential for sensor miniaturization. This study introduces a new strategy for developing high-performance sensors for future self-powered smart wearable electronics. © 2024, The Authors. All rights reserved.

关键词： Pressure sensors

All-Printed 3d Solid-State Rechargeable Zinc-Air Micro-Batteries

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SSRN 2022年

作者： Liu, Gengsheng Ma, Zhaolei Li, Guoxian Yu, Wei Wang, Peng Meng, Chuizhou Guo, Shijie State Key Laboratory for Reliability and Intelligence of Electrical Equipment Hebei Key Laboratory of Smart Sensing and Human-Robot Interaction School of Mechanical Engineering Hebei University of Technology Tianjin300401 China

Lightweight, compact, integrated and miniaturized energy devices are under high pursuit for portable and wearable electronics. However, improving the energy density per area still remains a long-standing challenge. Herein, we report the design and fabrication of a solid-state zinc-air micro-battery (ZAmB) by a facile 3D direct printing technique. The interdigital electrodes, gel electrolyte and encapsulation frame are all printed with customized design, with composition of the printing inks optimized to obtain the best battery performance. Multiple layers of interdigital electrodes are sequentially printed with a fine overlapping to achieve an ultrahigh thickness of 2.5 mm for a remarkably increased specific areal energy of up to 45.6 mWh cm−2. To meet different powering requirement for output voltage and current, battery modules consisting of individual ZAmBs connected in series or parallel or combination of the two are printed with a facile integration to external loads. Powering of LEDs, digital watch, mini rotary motor and even charging of a smartphone by the printed ZAmB modules are successfully demonstrated. The versatile 3D direct printing technique enables the fabricated ZAmBs with adjustable form factor and integration capability with other electronics, paving the way of exploring new energy systems with diverse structures and extended functionalities. © 2022, The Authors. All rights reserved.

关键词： 3D printers

A Highly Sensitive Stretchable Constraint Fiber Mat Sensor with Tailored Near-Zero Poisson's Ratio for Very Early Stage of Battery Over Charge/Overdischarge Monitoring

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SSRN 2024年

作者： Liu, Guoqing Zhang, Yingying Li, Bo Guo, Shijie Yuan, Wenjing Meng, Chuizhou School of Materials Science & Engineering Tianjin Key Laboratory of Materials Laminating Fabrication and Interface Control Technology Hebei University of Technology Tianjin300130 China State Key Laboratory for Reliability and Intelligence of Electrical Equipment Engineering Research Center of Ministry of Education for Intelligent Rehabilitation Device and Detection Technology Hebei Key Laboratory of Smart Sensing and Human-Robot Interaction School of Mechanical Engineering Hebei University of Technology Tianjin300401 China

Battery state monitoring is crucial for safe operation and efficient management of lithium-ion battery (LIB) systems, but early stage of timely and accurate diagnosis remains challenging. Herein, we propose to utilize a highly sensitive stretchable strain sensor to in-situ monitor the slight strain variation of cells during charge and discharge, through which the state of the battery can be accurately reflected. The high sensing capability is realized by tailoring the Poisson’s ratio of low-modulus conductive fiber mats through a facile constraint manner. The non-uniform strain distribution together with the near-zero Poisson’s ratio synergistically result in superior sensing performance, including ultralow strain detection limit (0.006%), high strain sensitivity particularly under small strains (gauge factor of 116.1 between 0–2% strain), and high strain resolution under large deformations. When being practically utilized for LIB monitoring, the constraint fiber mat sensor can produce instant resistance response reflecting the cell capacity, and offer timely warning signal once the cell is overcharged or overdischarged. The developed stretchable strain sensor possesses comprehensive advantages of low modulus, tailorable small size, easy integration and conformality to cells, and little temperature interference, which would serve as a promising candidate for future battery state analysis and safety monitoring. © 2024, The Authors. All rights reserved.

关键词： Lithium-ion batteries

Ultrathin and Highly-Stable Rubber Electrodes Based on Island-Bridge Multi-Filler Conductive Network for Multilayer-Stacked Dielectric Elastomer Artificial Muscles

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SSRN 2024年

作者： Yu, Wei Chen, Wenqiang Yuan, Wenjing Li, Guoxian Meng, Chuizhou Guo, Shijie State Key Laboratory for Reliability and Intelligence of Electrical Equipment Engineering Research Center of Ministry of Education for Intelligent Rehabilitation Device and Detection Technology Hebei Key Laboratory of Smart Sensing and Human-Robot Interaction School of Mechanical Engineering Hebei University of Technology Tianjin300401 China School of Materials Science & Engineering Tianjin Key Laboratory of Materials Laminating Fabrication and Interface Control Technology Hebei University of Technology Tianjin300130 China

Dielectric elastomer actuators (DEAs) have shown great promise in applications ranging from millimeter-sized haptic feedback to centimeter-scaled soft robots. However, past progress has been focused on the soft dielectric elastomers, and little attention has been paid to the compliant electrodes. Being stable to maintain conductive while enduring repeated large deformations and compliant to avoid stiffness increasing for the dielectric elastomer remains challenging. Moreover, the fabrication of multilayer DEAs is complex, hindering the practicality. Herein, an ultrathin (~500 nm) and highly stable acrylate rubber electrode based on unique island-bridge multi-filler conductive network is developed with outstanding electrical conductivity of 2.7 S cm-1, excellent stretchability of over 1200%, and superior cycling stability of 500,000 cycles at 30% uniaxial strain. An efficient stacking method based on conductive and dielectric layer co-stretching (CDCS) approach is proposed for assembling multilayer-stacked DEAs. The 5-layer DEA reaches a large actuation strain of >17% for lifting a heavy 1-kg load and can serve as biceps muscle to drive an artificial lower arm by a maximum rotation angle of 8°, demonstrating its potential in actuating humanoid robot in an essentially soft way. This conductive rubber electrode and CDCS method are promising for developing soft robotics and muscle-like actuators. © 2024, The Authors. All rights reserved.

关键词： Electrodes

An Integrated Bifunctional Pressure‒Temperature Sensing System Fabricated on a Breathable Nanofiber and Powered by Rechargeable Zinc–Air Battery for Long‑Term Comfortable Health Care Monitoring

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Advanced Fiber Materials 2024年第4期6卷 1037-1052页

作者： Peng Wang Gengsheng Liu Guifen Sun Chuizhou Meng Guozhen Shen Yang Li School of Mechanical Engineering University of JinanJinan 250022China State Key Laboratory for Reliability and Intelligence of Electrical Equipment Engineering Research Center of Ministry of Education for Intelligent Rehabilitation Device and Detection TechnologyHebei Key Laboratory of Smart Sensing and Human‑Robot InteractionSchool of Mechanical EngineeringHebei University of TechnologyTianjin 300401China School of Integrated Circuits and Electronics Beijing Institute of TechnologyBeijing 100081China Shandong Provincial Key Laboratory of Network Based Intelligent Computing School of Information Science and EngineeringUniversity of JinanJinan 250022China School of Microelectronics Shandong UniversityJinan 250101China

Bulky external power supplies largely limit the continuous long-term application and miniaturization development of smart sensing ***,we fabricate a flexible and wearable integrated sensing system on an electrospun all-nanofiber *** three parts of the sensing system are all obtained by a facile ink-based direct writing *** resistive pressure sensor is realized by decorating MXene sheets on TPU ***,the resistive temperature sensor is prepared by compositing MXene sheets into poly(3,4-ethylenedioxythiophene):poly(styrene sulfonate)(PEDOT:PSS).The thin-film zinc–air battery(ZAB)includes an interdigital zinc–air electrode that is bonded with a gel polymer *** can supply a high open-circuit voltage of 1.39 V and a large areal capacity of 18.2 mAh cm^(-2) for stable and reliable power-supplying sensing parts *** to the hydrophobic nature of TPU and open-ended micropores in the TPU nanofiber,the sensing system is waterproof,self-cleaning,and air and moisture *** application,the above-mentioned functional components are seamlessly integrated into an intelligent electronic wristband,which is comfortably worn on a human wrist to monitor pulse and body temperature in real time with continuous operation of up to 4 *** the novel design and remarkable performance,the proposed integrated all-nanofiber sensing system presents a promising solution for developing advanced multifunctional wearable electronics.

关键词： Pressure‒temperature sensor Rechargeable zinc–air battery Electrospun nanofibers Permeable electronic Integrated sensing system

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

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A Hand Motion Recognition System Combining Wearable Sensing ...

IEEE International Conference on Mechatronics and Automation

作者： Dapeng Wang Yupeng Fu Bo Yang Teng Liu Chuizhou Meng Shijie Guo State Key Laboratory of Reliability and Intelligence of Electrical Equipment Hebei University of Technology P. R. China Engineering Research Center of Ministry of Education for Intelligent Rehabilitation Device and Detection Technology Hebei University of Technology P. R. China Hebei Key Laboratory of Smart Sensing and Human-Robot Interaction Hebei University of Technology P. R. China School of Mechanical Engineering Hebei University of Technology P. R. China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

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： human computer interaction Wrist Sign language Accuracy Software algorithms Software Sensors