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IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 678-686页

作者： Lin, Chengyu Cheng, Kong Hoi Pan, Wei Sun, Jinxin Gou, Guotao Fu, Junyun Leng, Yuquan Fu, Chenglong Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Shenzhen518055 China Guilin University of Electronic Technology Guangxi Human Physiological Information Non Invasive Detection Engineering Technology Research Center School of Life and Environmental Sciences Guilin541004 China

Grasping is a critical motor skill essential for daily activities, but it is often compromised in individuals with neural impairments. Functional Electrical Stimulation (FES) has emerged as a promising intervention, utilizing electrical pulses to stimulate muscles and thereby restore impaired motor functions. However, existing closed-loop FES systems depend on pre-calibrated angles or forces specific to individual objects, which limits their practicality in dynamic, real-world environments with varying object properties. This paper presents a novel closed-loop FES (CLFES) system with visual feedback, designed to dynamically adjust stimulation parameters based on real-time interaction states without requiring object-specific calibration. The system employs a finite state machine to manage sequential grasp-release tasks and integrates a visual perception module for slip detection and intent recognition. The system was tested with two individuals with disabilities on five common household objects. Experimental results demonstrate significant improvements, including a 42.6% increase in success rate and a 45.9% reduction in task completion time compared to tasks performed without the system. These results underscore the system's potential to improve daily task performance for individuals with neural impairments. © 2018 IEEE.

关键词： Visual servoing

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Mechanical Properties Inside Origami-Inspired Structures: An Overview

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Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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Design and Analysis of a Compact and Foldable Master Device Based on Binocular Near-Infrared Optical Navigation Technology for Minimally Invasive Surgery Robots

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 514-527页

作者： Pan, Lizhi Jiang, Xu Ma, Zhikang Guan, Bo Yi, Bo Zhao, Jianchang Tianjin University Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical Engineering Institute of Medical Robotics and Intelligent Systems Tianjin300350 China The Third Xiangya Hospital of Central South University Disease Professional Committee of Chinese Medical Doctor Association Surgeon Branch of Hunan Medical Doctor Association Hunan Provincial Key Laboratory of Surgical Robotics Hunan Changsha410013 China Tsinghua University School of Aeronautics and Astronautics Beijing100084 China

The traditional minimally invasive surgical (MIS) robots generally have bulk leader manipulators with relatively fixed working positions, which limits their further utilization in special scenarios, such as remote surgeries. This study proposes a compact and foldable leader device based on passive binocular near-infrared (NIR) optical navigation technology for MIS robots, which does not need mechanical arm linkage constraints and provides a larger range of position and orientation tracking, enabling the surgeons to perform continuous leader-follower manipulations more steadily. Moreover, the polyhedral and foldable structure of the optical leader device further reduces the spatial footprint of the MIS robot. A prototype of the optical leader devices was constructed with a weight of 186 g. Its performance was then evaluated through testing, and the maximum average absolute error in position and orientation tracking was 0.90 mm and 0.45°, respectively. Additionally, the prototype exhibits acceptable stability and a wide range of position and orientation tracking. The leader device features a compact, foldable structure with enhanced portability and excellent position and orientation tracking capabilities, facilitating precise surgical maneuvers of surgeons in scenarios of remote surgeries. © 2018 IEEE.

关键词： Knee prostheses

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Evolution Design Methodology of the Metamorphic Mechanisms Inspired by Gene Deduction

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Journal of Mechanical Design 2025年第8期147卷 083302页

作者： Zhang, Yang Xu, Peng Li, Bing Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong School of Robotics and Advanced Manufacture Harbin Institute of Technology Shenzhen 518052 China

This article proposes an evolutionary design method for metamorphic mechanisms inspired by gene deduction. First, the correlations between biological evolution and mechanical evolution, biological systems and mechanical systems, and genes and mechanisms are revealed. There are many similarities between biology and mechanism. Biological principles can be applied to the study and design of the mechanisms to adapt well to tasks and environments. The correlation between genetic operation and mechanical design is developed. The selection operator, recombination operator, and mutation operator of the mechanisms are deduced by inspiring genes. To verify the rationality of these operators, they are used to construct 5R (revolute joints) overconstrained closed-loop linkage, 6R metamorphic closed-loop linkage, 7R deployable closed-loop linkage, and 2RP (prismatic joint) RR metamorphic parallel mechanism (MPM). The mobilities of these mechanisms are analyzed via the atlas method. Finally, the evolutionary design method of MPMs is introduced and used to design the mechanisms with 2R1T (two rotation one translation) and 1R2T modes, which verify the effectiveness of the method. The proposed evolutionary design method provides a new theoretical tool for the design of metamorphic single-loop and parallel mechanisms.

关键词： bio-inspired design Chain Design methodology evolution design Design Parallel mechanisms Kinematics metamorphic mechanisms single-loop/parallel mechanisms Kinematic chains gene deduction atlas method Biology Bifurcation

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Complete Gait Phase Recognition Based on Muscle Synergy Using PSO-CNN-LSTM Algorithm

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IEEE Sensors Journal 2025年第10期25卷 16775-16786页

作者： Zhang, Kewen Li, Xiaoling Chen, Xin Yu, Longjie Jin, Yinan Fan, Bingfei Du, Mingyu Bao, Guanjun Wu, Xinyu Cai, Shibo Zhejiang University of Technology College of Mechanical Engineering Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of Education and Zhejiang Province Hangzhou310023 China Zhejiang University of Technology College of Mechanical Engineering Hangzhou310023 China ZJUT Yinhu Research Institute of Innovation and Entrepreneurship Zhejiang University of Technology Fuyang Hangzhou310023 China Shenzhen Institutes of Advanced Technology Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Shenzhen518055 China

Accurately recognizing gait phases, by applying proper instrumentation and measurement, is significant in walking rehabilitation training for patients with impaired mobility. In this study, seven phases of complete stand-walk–stand cycle as well as continuous daily walking were recognized based on muscle synergy and particle swarm optimization (PSO)-convolutional neural network (CNN)-long short-term memory (LSTM) model. First, the complete stand-walk–stand walking cycle was divided into starting phase, terminal swing phase, loading response phase, mid-stance phase, terminal stance phase, initial swing phase, and stopping phase, based on the features of surface electromyography (sEMG) collected by portable sEMG acquisition system and measured motion data of lower limb. Second, a muscle weight matrix and an activation sequence matrix were calculated by using nonnegative matrix factorization (NMF). Finally, a PSO-CNN-LSTM network was designed to recognize the complete stand-walk–stand cycle by applying the abovementioned matrices as input. Fourteen subjects volunteered to perform linear walking experiments under procedure to verify the feasibility of the proposed approach by comparing results with other classifiers and features. Experimental results show that the proposed approach was capable of achieving an average recognition accuracy of up to 85.384%. This work will offer a promising gait recognition method for rehabilitation robots to achieve natural and flexible human-robot interaction. © 2001-2012 IEEE.

关键词： Non-negative matrix factorization

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Electric Vehicle Routing Problem with Capacitated Charging Stations and Dynamic Electricity Prices

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IEEE Internet of Things Journal 2025年

作者： He, Zhiye Tian, Yuning Miao, Haoyu Yao, Canqi Yang, Zaiyue Shenzhen Key Laboratory of Control Theory and Intelligent Systems Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities School of System Design and Intelligent Manufacturing Shenzhen518055 China The Hong Kong Polytechnic University Department of Logistics and Maritime Studies Hong Kong Hong Kong

With rapid electrification of transportation systems in recent years, the electric vehicle routing problem (EVRP) has received increasing attention. In order to serve a set of valuable transportation tasks using a fleet of electric vehicles, EVRP intends to jointly determine their routes and the charging schedules, with the aim of optimizing service reward and charging cost under state of charge (SOC) constraints of battery. EVRP is a difficult nonlinear integer program, and due to its intrinsic NP-hardness early EVRP studies often oversimplify the charging process and assume unlimited capacity of charging stations and constant electricity price. The contribution of this paper lies in twofold. First, to better characterize the practical charging process, this paper introduces a new graph model that can take the charging station capacity and dynamic electricity price into full consideration. Second, we design a series of transformation techniques, including reformulation SOC dynamics, Lagrangian relaxation, exact linear programming relaxation, etc, which eventually convert the original EVRP into an approximate linear program. Extensive simulations across 14 instances demonstrate that, the proposed approach is capable of solving large-scale instances over 500 nodes, and is 100 times faster than traditional analytic methods while achieving very close optimality. While comparing with the popular heuristic method ALNS (Adaptive Large Neighborhood Search), our method is several times faster and obtains much better optimality. © 2014 IEEE.

关键词： Charging stations

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SAF: Local Shape-aware Face-based Garment Collision Handling via Neural SDFs

SAF: Local Shape-aware Face-based Garment Collision Handling...

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2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Tang, Minzhe Yuan, Ruisheng Kou, Dongliang Sun, Mingyang Zhang, Lihua Academy for Engineering and Technology Fudan University Shanghai China Institute of Metaverse & Intelligent Medicine Fudan University Shanghai China Jilin Provincial Key Laboratory of Intelligence Science and Engineering Changchun China Engineering Research Center of AI and Robotics Ministry of Education Shanghai China AI and Unmanned Systems Engineering Research Center of Jilin Province Changchun China

ISBN: (纸本)9798350368741

Learning-based garment prediction presents an appealing alternative to physics-based methods owing to its high efficiency. However, the predicted garments can exhibit noticeable penetrations into the body. Many collision-handling methods operate in the point domain, which has an inherent limitation in addressing the penetration issues with the mesh faces. In light of this, we propose a local Shape-Aware, Face-based collision handling approach (SAF) that can be applied to garment prediction networks to achieve real-time collision handling. Considering the nature of garments, we design a compact formulation to model the continuity of the garment surface, and utilize neural Signed Distance Fields (SDFs) to accomplish penetration resolution. Recognizing the significant impact of the body's local shape on collision handling, we further propose using the angles between SDF gradients to characterize the sharpness of the body. Our approach can compensate for the inaccuracy of neural SDFs and preserve local smoothness and details. Extensive experiments demonstrate the outstanding performance and generalizability of our method. © 2025 IEEE.

关键词： collision handling computer graphics deep learning garment simulation

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A Gaze-Guided Human Locomotion Intention Recognition and Volitional Control Method for Knee-Ankle Prostheses

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IEEE Transactions on Cognitive and Developmental systems 2025年

作者： Chen, Xinxing Chen, Zhaokai Wang, Yuxuan Yin, Shucong Chen, Chuheng Huang, Jian Fu, Chenglong Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Hubei Key Laboratory of Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Wuhan430074 China Southern University of Science and Technology Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen518055 China Shanghai Jiaotong University Shanghai China

This paper presents a novel gaze-guided volitional control method for knee-ankle prostheses, designed to enhance the precision and intuitiveness of prosthetic control in complex locomotion tasks. The method utilizes an eye-tracking system coupled with an RGBD camera to estimate 3D gaze points, which are then used to construct a gaze attention map. This map serves as the basis for predicting human locomotion intentions, enabling the prosthesis to accurately step on the intended foot placement. Experimental validation was conducted with both a healthy subject and an amputee subject, focusing on level-ground walking and stair ascent tasks. The results demonstrated that the prosthesis could achieve precise foot placement, with a mean error of 1.22 cm ± 3.14 cm for the healthy subject and 3.40 cm ± 0.66 cm for the amputee subject during level-ground walking. In stair ascent tasks, the system successfully adapted to various gait patterns, with the prosthetic joint angles closely matching natural human movements. The proposed method also effectively reduced the root mean square error (RMSE) of 3D gaze estimation to 2.70 cm, 2.63 cm, and 1.97 cm along the x, y, and z axes, respectively. These findings indicate that the gaze-guided volitional control method not only enhances the functionality of knee-ankle prostheses but also offers a more intuitive interface for users, aligning prosthetic actions with the user’s visual focus and intentions. © 2016 IEEE.

关键词： Knee prostheses

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Comprehensive Performance Optimization of a Novel Anthropomorphic Dexterous Hand

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IEEE robotics and Automation Letters 2025年第7期10卷 6816-6823页

作者： Yifan Ma Weiwei Shang Fei Zhang Shunxiang Pang Shuqing Dai Zhengkun Yi Guotao Li Shuang Cong Department of Automation University of Science and Technology of China Hefei China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China

Grasp and in-hand manipulation of dexterous hands are essential for daily operational tasks. In this study, an optimized design method for a novel anthropomorphic dexterous hand is proposed, which improves the comprehensive performance of grasp and manipulability of the dexterous hand. The constraints of multi-fingered contact force and kinematics are established with full consideration of the applicability to the objects of different sizes and the shape characteristics of finger contact surface. The performance index of in-hand manipulation ability is proposed, and the optimization problem is constructed through the technique for order preference by similarity to ideal solution (TOPSIS) to achieve multi-objective optimization of precision grasp and in-hand manipulation. Finally, simulation and experiment verify the feasibility of our prototype and optimization method. The results show that the in-hand translation space and in-hand rotation range are increased by 20% and 8.5%, respectively. Our dexterous hand has excellent abilities of multi-fingered interaction and in-hand manipulation, which can perform 33 grasp gestures and two/three-fingered in-hand manipulation. This study provides a valuable reference for the design of dexterous hands with anthropomorphic functions.

关键词： Thumb Hands Kinematics Grasping Force Performance analysis IP networks Electronics packaging Cables Accuracy

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Enhanced corrosion resistance of laser powder bed fusion 316L stainless steel by modifying the microstructure through heat treatment

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Journal of Materials Research and Technology 2025年 36卷 7158-7171页

作者： Cuiling Zhao Yuchao Bai Qi Yan Bing Li Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots Harbin Institute of Technology Shenzhen 518055 China Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Harbin Institute of Technology Shenzhen 518055 China School of Robotics and Advanced Manufacture Harbin Institute of Technology Shenzhen 518055 China Department of Mechanical Engineering College of Design and Engineering National University of Singapore Singapore 117575 Singapore

This study aims to investigate the microstructural evolution of laser powder bed fusion (LPBF) 316L stainless steel during heat treatment and its effect on corrosion resistance through microstructural characterization and corrosion testing. The results show that the as-built LPBF samples featured melt pool boundaries, cellular structures, a few nano-sized manganese silicate particles and irregular grains with strong fiber texture <101>, which are retained after heat treatment at 450 °C. With temperature increase to 850 °C, a σ phase rich in Cr, Mo, and S elements was formed. Subsequently, after heat treatment at 1100 °C, melt boundary disappears and large square grains similar to the cast counterparts appear. Electrochemical tests demonstrate that the corrosion resistance of LPBF samples surpasses the cast samples heat treated at 1100 °C. In addition, annealing at or below 1100 °C will reduce the corrosion resistance of LPBF samples due to the formation of hazardous precipitates. However, after heat treatment at 1300 °C, the best corrosion resistance was obtained due to the diffusion of Cr, Mo and S elements into the matrix and homogeneous microstructure. This study provides a method for effectively improving the corrosion resistance of LPBF 316L stainless steel and understanding the corresponding corrosion mechanism.

关键词： Laser powder bed fusion Corrosion behaviour Heat treatment 316L stainless steel Microstructure

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