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Design of a Bio-inspired Extensible Continuum Manipulator with Variable Stiffness

Journal of Bionic Engineering 2025年第1期22卷 181-194页

作者： Dongbao Sui Sikai Zhao Tianshuo Wang Yubin Liu Yanhe Zhu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

This paper presents a continuum manipulator inspired by the anatomical characteristics of the elephant ***,the manipulator mimics the conoid profile of the elephant trunk,which helps to enhance its *** design features two concentric parts:inner pneumatically actuated bellows and an outer tendon-driven helical *** tendons control the omnidirectional bending of the manipulator,while the fusion of the pneumatic bellows with the tendon-driven spring results in an antagonistic actuation mechanism that provides the manipulator with variable stiffness and *** paper presents a new design for extensible manipulator and analyzes its stiffness and motion *** results are consistent with theoretical analysis,thereby demonstrating the validity of the theoretical approach and the versatile practical mechanical properties of the continuum *** impressive extensibility and variable stiffness of the manipulator were further demonstrated by performing a pin-hole assembly task.

关键词： Bioinspired robots Continuum robots Soft robotics Variable stiffness

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PMM-Net: Single-Stage Multi-Agent Trajectory Prediction with Patching-Based Embedding and Explicit Modal Modulation

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IEEE robotics and Automation Letters 2025年第7期10卷 6664-6671页

作者： Huajian, Liu Wei, Dong Kunpeng, Fan Chao, Wang Yongzhuo, Gao Harbin Institute of Technology State Key Laboratory of Robotics and System China

Analyzing and forecasting trajectories of agents like pedestrians plays a pivotal role for embodied intelligent applications. The inherent indeterminacy of human behavior and complex social interaction among a rich variety of agents makes this task more challenging than common time-series forecasting. In this letter, we aim to explore a distinct formulation for multi-agent trajectory prediction framework. Specifically, we propose a patching-based temporal feature extraction module and a graph-based social feature extraction module, enabling effective feature extraction and cross-scenario generalization. Moreover, we reassess the role of social interaction and present a novel method based on explicit modality modulation to integrate temporal and social features, thereby constructing an efficient single-stage inference pipeline. Results on public benchmark datasets demonstrate the superior performance of our model compared with the state-of-the-art methods. The code is available at: https://***/TIB-K330/pmm-net. © 2016 IEEE.

关键词： Signal modulation

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A trajectory-level robot skill learning method based on fuzzy systems

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Science China(Information Sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Mechanism of material removal and chip formation of alumina dispersion strengthened copper in micro-milling

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Frontiers of Mechanical Engineering 2025年第1期20卷 27-43页

作者： Chang LIU Chunya WU Xiguang LI Bo HOU Jiahao WU Ruijiang SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Alumina dispersion-strengthened copper (ADSC), as a representative particle-reinforced metal matrix composite (PRMMC), exhibits superior wear resistance and high strength. However, challenges arise in their processability because of the non-uniform material properties of biphasic materials. In particular, limited research has been conducted on the reinforcement mechanism and behavior of particles during material cutting deformation of PRMMC with nanoscale particles. In this study, a cutting simulation model for ADSC was established, separating the nanoscale reinforcement particles from the matrix. This model was utilized to analyze the interactions among particles, matrix, and tool during the cutting process, providing insights into chip formation and fracture. Particles with high strength and hardness are more prone to storing stress concentrations, anchoring themselves at grain boundaries to resist grain fibration, thereby influencing the stress distribution in the cutting deformation zone. Stress concentration around the particles leads to the formation of discontinuous chips, indicating that ADSC with high-volume fractions of particle (VFP) exhibits low cutting continuity, which is consistent with the results of cutting experiments. The tool tip that is in contact with particles experiences stress concentration, thereby accelerating tool wear. Cutting ADSC with 1.1% VFP results in tool blunting, which increases the radius of cutting edge from 0.5 to 1.9 μm, accompanied with remarkable coating delamination and wear. Simulation results indicate that the minimum uncut chip thickness increases from 0.04 to 0.07 μm as VFP increases from 0.3% to 1.1%. In conjunction with scratch experiments, MUCT increases with the augmentation of VFP. Computational analysis of the specific cutting force indicates that particles contribute to the material’s size effect. The results of this study provide theoretical guidance for practical engineering machining of ADSC, indicating its g

关键词： alumina dispersion-strengthened copper particle-reinforced metal matrix composites material removal mechanism micro-milling chip formation minimum uncut chip thickness

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LSF-planner: a visual local planner for legged robots based on ground structure and feature information

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Autonomous Robots 2025年第2期49卷 1-17页

作者： Zhang, Teng Wang, Xiangji Zha, Fusheng Liu, Fucheng Harbin Institute of Technology The State Key Laboratory of Robotics and System Harbin150006 China Lanzhou University of Technology Lanzhou730050 China

Three-dimensional navigation of legged robots is crucial for field exploration and post-disaster rescue. Existing optimization-based local trajectory planners predominantly focus on obstacle avoidance, neglecting negative obstacles (e.g., pits) and varying ground features (e.g., different terrain types). Additionally, non-overlapping areas between the planned space in three-dimensional trajectory planning and the robot’s actual reachable space lead to decision-making issues between crossing and obstacle avoidance, making it challenging to differentiate between passable and hazardous areas, thus impacting navigation safety and stability. To address these limitations, we propose a novel visual local planner, LSF-Planner (Visual Local Planner for Legged Robots Based on Ground Structure and Feature Information). The LSF-Planner employs a multi-layer local perception map that integrates ground feature semantics, sensor range, and negative obstacles (e.g., voids detected by depth sensors) to construct a ground reliability representation. The Label2Grad method is introduced to convert this representation into gradient layers, incorporating a ground reliability penalty function into trajectory optimization. By incorporating constraints on the center of mass height and crossing angles, LSF-Planner effectively differentiates between traversable and hazardous areas. Experimental results show that LSF-Planner significantly outperforms existing methods in 3D trajectory planning, enhancing the navigation performance of legged robots in unstructured environments. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

关键词： Emergency services

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Active-Model-Based Precise Twist Steering for Autonomous Robotic Flexible Endoscope

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 481-491页

作者： Wang, Xiangyu Liu, Chong Fang, Yongchun Yu, Ningbo Qin, Yanding Wang, Hongpeng Han, Jianda Institute of Robotics and Automatic Information System Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

In natural orifice transluminal endoscopic surgery (NOTES), the twist steering of the flexible endoscope plays an important role in tracking the preoperative path during cavity intervention. However, the flexible endoscope's twisting motion has high nonlinearity and uncertainty, which bring challenges for accurate modeling and controller design. In this study, a novel active modeling-based improved control (AMIC) scheme is proposed, which achieves precise control of the robotic flexible endoscope's twisting motion. First, the Coleman-Hodgdon (C-H) model is modified to serve as the reference model to describe the twist steering. Then, the model error in the C-H model is introduced as an extended state. Upon this, an active modeling algorithm is developed by using the unscented Kalman filter. The proposed model estimates both the twisting angle and the model error in real time. Based on the proposed model, the AMIC strategy is developed to enhance the tracking performance of a proportional-integral-derivative (PID) controller for a reference trajectory. Finally, comparative experiments were conducted on a self-built robotic flexible endoscope under various insertion depths and tip-part configurations. Compared to the PID controller, the experimental results demonstrate that the proposed AMIC scheme achieves a 63.1% reduction in tracking error under a sinusoidal trajectory. © 2018 IEEE.

关键词： Endoscopy

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A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitation During Walking 11

A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitat...

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11th International Conference on Mechatronics and robotics Engineering, ICMRE 2025

作者： Huang, Yao Ju, Haotian Guo, Songhao Zheng, Tianjiao Zhao, Jie Zhu, Yanhe Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798331509293

For knee rehabilitation patients, it is difficult to maintain balance while walking, and completing a normal gait cycle is challenging. Therefore, we propose a lower limb exosuit tailored for the knee rehabilitation patients to assist in normal walking, and experimentally evaluated the assistance effect of the lower limb exosuit. We mimic the mechanism of the skeletal muscles near the knee joint, by contracting and relaxing the length of the flexible Bowden cable between the thigh and calf, generating assistive torque on the knee joint periodically. We use Inertial Measurement Unit (IMU) to measure lower limb motion parameters, identify gait cycle states, and calculate corresponding plantar pressure and knee joint torque for each phase. We compared surface electromyography (sEMG) signals of three muscle groups (biceps femoris (BF), quadriceps femoris (QF), and gastrocnemius (G)) under conditions of wearing and not wearing the exosuit. The experimental results show that compared to not wearing the exosuit, the mean normalized sEMG signals of the three muscle groups decreased by 4.61 %, 2.41 %, and 3.97% respectively while wearing it, the peak values decreased by 11.60%, 25.69%, and 14.99% respectively, with the quadriceps femoris receiving the highest degree of assistance. © 2025 IEEE.

关键词： Neuromuscular rehabilitation

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A Simple Control Scheme with Model Predictive Control-Based Footstep Planner and Virtual Model Control for Planar Biped Robot 16th

A Simple Control Scheme with Model Predictive Control-Based ...

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16th International Conference on Modelling, Identification and Control, ICMIC 2024

作者： Heng, Shuai Song, Chao Chen, Boyang Zhang, Yue Zang, Xizhe Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9789819617760

In this paper, our objective is to achieve stable walking for biped robots using a simple yet powerful control scheme. This control scheme consists of a planning and control framework. For the motion planner, we utilize the Linear Inverted Pendulum Model as the equations of motion for the biped. Model Predictive Control is applied to plan the Zero Moment Point (ZMP) for future steps. Trajectories for the swing foot and base are generated based on the planned ZMP. Subsequently, a straightforward and intuitive control method called Virtual Model Control is employed to calculate control torques for tracking the generated trajectories. Finally, simulations conducted on flat-foot bipedal robots in MuJoCo validate the effectiveness of the proposed control scheme in achieving stable walking and attaining the desired locomotion velocity. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Predictive control systems

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Modeling tactile perceived intensity for vibration from a coin eccentric rotating mass motor

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Science China(Technological Sciences) 2025年第2期68卷 125-135页

作者： Yun FANG Jingchen HUANG Yujun WU Jiaqi DONG Weichao GUO Xinjun SHENG State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China

Establishing the relationship between vibrotactile parameters and perceived intensity(PI)is of great significance in the regulation of desired sensations,which contribute to haptic interfaces in practical *** eccentric rotating mass(ERM)motors are routinely utilized due to their lightweight design and efficient ability to evoke strong tactile *** adjusting input voltages,ERMs can yield different stimuli,but the effects of their physical properties on PI remain ***,we developed the physical model of the ERM-skin system and optimized the parameters affecting ***,the relationship between stimulus and perception was derived based on Fechner's *** experiments were conducted on fifteen subjects(ten males and five females,aged 24.40±2.87 years)to identify the vibration parameters and corresponding PI to verify the proposed PI *** in this study were attached to phantom skin/forearm with slim adhesive tape to minimize the *** 1 performed vibration calibration with ERM attached to the skin phantom to simulate the actual ***,the relative and absolute PI of subjects on specific stimuli were acquired in Experiments 2 and *** fitting reliability of the proposed PI model was evaluated on fifteen subjects with R^(2) of 0.73±0.07 and root mean squared error(RMSE)of 1.35±***,the proposed PI model established the quantitative relationship between stimulus parameters(vibration parameters and physical parameters)and subjective PI,which provided theoretical support for ERM optimization and vibrotactile modulation.

关键词： coin ERM vibrotactile perceived intensity vibration

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High-precision trajectory calibration for robot surface machining by meta-heuristic search algorithm from local error in machining area

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International Journal of Advanced Manufacturing Technology 2025年第5期138卷 2281-2295页

作者： Bi, Guangde Lu, Lei Zhang, Lei Fan, Cheng Sun, Lining School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Industrial robots used in complex surface machining are gradually increasing because of their high flexibility and large workspace. However, due to their low geometric accuracy, their application in high-precision surface machining is hindered. In order to improve the machining accuracy, a high-precision robot trajectory calibration method for complex surface machining is proposed. In the machining process, the machining trajectory is usually only within a certain machining area. In the method, high-precision standard balls are set at the boundary of the machining area. Based on the precise position information of these standard balls, the trajectory of the robot in the machining area is calibrated. Compared with the global robot calibration method, the proposed method can calibrate the robot trajectory in the machining area through standard parts, which will improve the trajectory accuracy of the machining robot to the level of repeated positioning accuracy. In this method, a large amount of standard ball data is obtained by the in-place measuring device before the machining process. Then, based on these data, a meta-heuristic search algorithm is used to calibrate the kinematic deviation of the robot measurement and the machining system. The trajectory of the machining robot is adjusted by the kinematic deviation after calibration, and it is applied to the motion control of the machining process to improve the positioning accuracy of the machining trajectory. In the end, to verify the accuracy and practicability of the machining trajectory obtained by this method, measurement and machining experiments are carried out. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Industrial robots

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