检索结果-内蒙古大学图书馆

SSRN 2022年

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

Running in a wrong way for years will cause progressive damage to the knee joints, which brings about a lot of pains to exercisers. Wearable sensors for continuously monitoring the knee condition are highly required. However, conventional flexible sensors built on solid substrates are inferior in comfortability during long time wearing. Herein, a highly flexible and stretchable iontronic tactile sensor based on an electrospun thermoplastic polyurethane nanofiber platform is developed. Thanks to the supercapacitive sensing mechanism and porous microstructure, high sensitivity, wide detection range, fast response and well stability and repeatability are achieved. The multilayer interlaced nanofiber network containing numerous micro-pores and micro-channels endows the sensor with air permeability, sweat inertness, thermal conductivity and biocompatibility, which ensures a comfort wearing for a long time. Practical wearable sensing of the knee motion during running in a real-time and continuous manner is demonstrated, including the monitoring of single point pressure by 3 individual sensor units on the rim of the knee and mapping of the spatial pressure distribution by a sensor array on the whole knee region. The health status of the knee can be timely judged, which is useful in warning the knee injury to achieve a correct fitness for exercisers. © 2022, The Authors. All rights reserved.

关键词： Joints (anatomy)

The Analysis of Muscle-Synergy Similarity between Walking and Pedaling Based on Variational Mode Decomposition and Non-Negative Matrix Factorization

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The Analysis of Muscle-Synergy Similarity between Walking an...

IEEE International Conference on Engineering, Technology and Innovation

作者： Wangyang Ge Jinhua She Shijie Guo Feng Wang Juan Zhao Seiichi Kawata School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Engineering Tokyo University of Technology Hachioji Tokyo Japan Engineering Research Center of the Ministry of Education for Intelligent Rehabilitation Equipment and Detection Technologies Hebei Key Laboratory of Robot Sensing and Human-Robot Interaction Tianjin China School of Mechanical Engineering Hebei University of Technology Tianjin China

ISBN: (数字)9798350362435

ISBN: (纸本)9798350362442

Pedaling lower-limb rehabilitation robots are widely used in various stages of lower-limb rehabilitation because of their high safety and low requirements for patients' lower-limb strength. Researchers found that the activation sequence of the surface electromyographic (sEMG) signals of the muscles of the lower limb during pedaling is very similar to that of walking, which makes it possible to simulate the muscle force generation during walking by changing the pedal load during pedaling training. However, most pedaling lower-limb rehabilitation robots use constant loads, and it is of great importance to study the relationship between load and muscle synergy and to design load phase angle trajectories with higher muscle synergy consistency in the walking-pedaling motion to optimize the training effect of pedal-type rehabilitation robots. In this paper, we used variational mode decomposition (VMD) and nonnegative matrix factorization (NMF) to extract the muscle synergy features in each band of sEMG during walking and pedaling and to study the similarity of pedaling and walking and the influence of pedal load on muscle synergy consistency.

关键词： Legged locomotion Training Technological innovation Time series analysis Muscles Assistive robots Feature extraction Trajectory Safety Matrix decomposition

A Novel Construction Method for 1-Dof Multi-Loop Kirigami Mechanisms

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SSRN 2024年

作者： Lv, Weilin Nie, Wansui Wei, Jun Zhang, Jianjun Meng, Chuizhou Liu, Teng Sui, Jin Guo, Shijie Engineering Research Center The Ministry of Education for Intelligent Rehabilitation Equipment and Detection Technologies Hebei University of Technology Tianjin300401 China Hebei Provincial Key Laboratory of Robot Perception and Human-Machine Fusion Hebei University of Technology Tianjin300401 China School of Mechanical Engineering Hebei University of Technology Tianjin300401 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

Kirigami has been utilized in designing deployable mechanisms for various engineering applications. This paper presents a novel construction method for one-degree-of-freedom (1-DOF) multi-loop kirigami mechanisms whose folding motions are kinematically equivalent to their original degree-4 rigid origami. Firstly, we introduce a family of single-loop kirigami (SLK) as the main loop of 1-DOF multi-loop kirigami. Secondly, the coupling-constraint properties of multi-DOF SLKs are clarified, and the structural characteristics of the 1-DOF multi-loop kirigami are defined, based on which, the construction method for the 1-DOF multi-loop kirigami is proposed. Thirdly, the representative models are selected and their kinematics are presented to demonstrate their capability to achieve folding motion equivalent to their origami prototypes, thus verifying the validity of our proposed methodology. Fourthly, the non-constraint condition of the 1-DOF multi-loop kirigami is presented. Finally, we propose extended configurations of 1-DOF multi-loop kirigami and provide the forward and inverse design methods for constructing kirigami meshes. The proposed methodology facilitates the design of large-scale deployable structures. © 2024, The Authors. All rights reserved.

关键词： Degrees of freedom (mechanics)

Natural human Skin‑Inspired Wearable and Breathable Nanofiber‑based Sensors with Excellent Thermal Management Functionality

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Advanced Fiber Materials 2024年第6期6卷 1955-1968页

作者： Peng Wang Xiaodan Li Guifen Sun Guoqing Wang Qing Han Chuizhou Meng Zhonghe Wei Yang Li School of Mechanical Engineering University of JinanJinan 250022China School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116China 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 Shandong Provincial Key Laboratory of Network‑Based Intelligent Computing School of Information Science and EngineeringUniversity of JinanJinan 250022China Network Information Center Department of Computer ScienceQilu University of Technology(Shandong Academy of Sciences)Jinan 250353China School of Integrated Circuits Shandong UniversityJinan 250101China

Wearable sensors have been rapidly developed for application in various human monitoring ***,the wearing comfort and thermal properties of these devices have been largely ignored,and these characteristics urgently need to be ***,we develop a wearable and breathable nanofiber-based sensor with excellent thermal management functionality based on passive heat preservation and active Joule heating *** multifunctional device consists of a micropatterned carbon nanotube(CNT)/thermoplastic polyurethane(TPU)nanofiber electrode,a microporous ionic aerogel electrolyte and a microstructured Ag/TPU nanofiber *** to the presence of a supercapacitive sensing mechanism and the appli-cation of microstructuration,the sensor shows excellent sensing performance,with a sensitivity of 24.62 ***,due to the overall porous structure and hydrophobicity of TPU,the sensor shows good breathability(62 mm/s)and water repellency,with a water contact angle of 151.2°.In addition,effective passive heat preservation is achieved by combining CNTs with high solar absorption rates(85%)as the top layer facing the outside,aerogel with a low thermal conductivity(0.063 W m-1 k-1)as the middle layer for thermal insulation,and Ag with a high infrared reflectance rate as the bottom layer facing the *** warming,this material yields a higher temperature than ***,the active Joule heat-ing effect is realized by applying current through the bottom resistive electrode,which can quickly increase the temperature to supply controlled warming on *** proposed wearable and breathable sensor with tunable thermal properties is promising for monitoring and heat therapy applications in cold environments.

关键词： Wearable sensor Breathable Personal thermal management Electrospun nanofibers Joule heating

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

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

IEEE International Conference on robotics and Biomimetics

作者： Zihou Xia Jixiao Liu 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

ISBN: (纸本)9781665405362

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 RFID 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°, 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°, 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： Radio frequency Biological system modeling Clothing Medical services Interference Feature extraction Standards

Research on temperature field of non-uniform heat source model in surface grinding by cup wheel

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Advances in Manufacturing 2019年第3期7卷 326-342页

作者： Shi-Jie Dai Xiao-Qiang Li Hui-Bo Zhang State Key Laboratory of Reliability and Intelligence of Electrical Equipment Hebei University of TechnologyTianjin 300130People's Republic of China School of Mechanical Engineering Hebei University of TechnologyTianjin 300130People's Republic of China Hebei Key Laboratory of Robot Perception and Human-Robot Interaction Tianjin 300130People's Republic of China

To address the problems of thermal damage to a workpiece surface caused by the instantaneous high temperature during grinding and the difficulty in monitoring temperature in real time,the temperature field in the case of composite surface grinding by a cup wheel is *** order to predict the grinding temperature,considering material removal and grinding force distribution,a nonuniform heat source model with different function distributions in the circumferential and radial directions in the cylindrical coordinate system is first proposed;then,the analytical model is deduced and the numerical model of the temperature field is established based on the heat source *** validation experiments for grinding temperature field are carried out using a high-definition infrared thermal imager and an artificial *** to the temperature field based on the uniform heat source model,the results based on the non-uniform heat source model are in better agreement with the actual temperature field,and the temperature prediction error is reduced from approximately 23% to 6%.Thus,the present study provides a more accurate theoretical basis for preventing bums in cup wheel surface grinding.

关键词： Non-uniform heat source Temperature filed Surface grinding Cup wheel

On the Study of Configuration and Kinematics of a 3-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation

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Research Square

Research Square 2021年

作者： Zhang, Jianjun Yang, Shuai Liu, Chenglei Wang, Xiaohui Guo, Shijie School of Mechanical Engineering Hebei University of Technology Tianjin300401 China Hebei Province Key Laboratory of Robot Perception and Human-Machine Fusion Tianjin300130 China

The kinematic equivalent model of the existing ankle rehabilitation robot is inconsistent with the anatomy structure of the human ankle, which will influence the rehabilitation effect. Therefore, this paper equivalent the human ankle to the UR model and proposes a novel 3-DOF generalized spherical parallel mechanism for ankle rehabilitation. The parallel mechanism has two spherical centers corresponding to the rotation center of the tibiotalar joint and subtalar joint. Via screw theory, the mobility of the parallel mechanism is analyzed, which meets the requirement of the human ankle. Its inverse kinematics is presented and singularities are identified based on the Jacobian matrix. The workspaces of the parallel mechanism are obtained by the search method and compared with the motion range of the human ankle, which shows that the parallel mechanism could meet the motion demand of ankle rehabilitation. In addition, on the basis of the motion/force transmissibility, the performance atlases are plotted in the parameter optimal design space and the optimum region is obtained according to the demands of practical application. The results show that the parallel mechanism can meet the motion requirements of ankle rehabilitation and have excellent kinematic performance in its rehabilitation range, which provides a theoretical basis for the prototype design and experiment verification. © 2021, CC BY.

关键词： Inverse problems

Grassmann Line Geometry Based Configuration Synthesis of Equivalent Uu Parallel Mechanisms with Two Virtual Center-of-Motion

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SSRN 2022年

作者： Wei, Jun Yu, Bin Liu, Chenglei Song, Jingke Zhang, Jianjun School of Mechanical Engineering Hebei University of Technology Tianjin300401 China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center Ministry of Education Tianjin300130 China Key Laboratory of Robot Perception and Human–Machine Fusion Hebei Province Tianjin300130 China

This paper investigates a class of equivalent UU parallel mechanisms with two virtual center-of-motions (VCMs) in terms of the Grassmann line geometry principle, which its configuration synthesis is carried out by using geometric characteristics of the equivalent UU model. First, the equivalent UU model is proposed concerning the analysis of ankle rehabilitation and the ankle UU model, which three geometric characteristics and four classes of motion and constraint characteristics of the equivalent UU model are given. Second, the motion principle of equivalent UU parallel mechanism is proposed with respects to the characteristics of motion and constraint, which provides a theoretical method for configurable synthesis. Third, a series of constraint limbs satisfying the motion and constraint characteristics of equivalent UU parallel mechanism are synthesized by using the constraint screw synthesis method in terms of the screw theory and Grassmann line geometry principle. Finally, the concept of multiset is introduced into mechanism synthesis, and a series of equivalent UU parallel mechanisms are synthesized based on the method of constraint screw multiset. © 2022, The Authors. All rights reserved.

关键词： Screws

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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SSRN 2022年

作者： Chen, Xue Hou, Zhanrui Li, Guoxian Yu, Wei Xue, Ye Niu, Guangyu Xin, Mingyang Yang, Li Meng, Chuizhou Guo, Shijie State Key Laboratory of Reliability and Intelligence of Electrical Equipment Key Laboratory of Bioelectromagnetics and Neuroengineering of Hebei Province School of Electrical Engineering Hebei University of Technology Tianjin300130 China 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 State Key Laboratory of Reliability and Intelligence of Electrical Equipment School of Health Sciences and Biomedical Engineering Hebei University of Technology Tianjin300130 China Department of Architecture and Art Hebei University of Technology Tianjin300130 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 (~27028.1), a wide detection range (~40%) and a well cyclic loading-unloading stability (>20000 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 (~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. © 2022, The Authors. All rights reserved.

关键词： Graphene

Organization and understanding of a tactile information dataset tacact during physical human-robot interactions

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arXiv

arXiv 2021年

作者： Wang, Peng Liu, Jixiao Hou, Funing Chen, Dicai Xia, Zihou Guo, Shijie school of Mechanical Engineering Hebei University of Technology China School of Academy for Engineering&Technology Fudan University China Hebei Key Laboratory of Smart Sensing and Human-Robot Interaction Hebei University of Technology Tianjin300132 China

Advanced service robots require superior tactile intelligence to guarantee human-contact safety and to provide essential supplements to visual and auditory information for human-robot interaction, especially when a robot is in physical contact with a human. Tactile intelligence is an essential capability of perception and recognition from tactile information, based on the learning from a large amount of tactile data and the understanding of the physical meaning behind the data. This report introduces a recently collected and organized dataset "TacAct" that encloses real-time pressure distribution when a human subject touches the arms of a nursing-care robot. The dataset consists of information from 50 subjects who performed a total of 24,000 touch actions. Furthermore, the details of the dataset are described, the data are preliminarily analyzed, and the validity of the collected information is tested through a convolutional neural network LeNet-5 classifying different types of touch actions. We believe that the TacAct dataset would be more than beneficial for the community of human interactive robots to understand the tactile profile under various circumstances. Copyright © 2021, The Authors. All rights reserved.

关键词： human robot interaction