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Designing Unpowered Shoulder Complex Exoskeleton via Contralateral Drive for Self-rehabilitation of Post-stroke Hemiparesis

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Journal of Bionic Engineering 2023年第3期20卷 992-1007页

作者： Ning Li Tie Yang Yang Yang Wenyuan Chen Peng Yu Chuang Zhang Ning Xi Ying Zhao Wenxue Wang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China University of Chinese Academy of Sciences Beijing100049China Emerging Technologies Institute Department of Industrial and Manufacturing Systems EngineeringUniversity of Hong KongPokfulamHong Kong999077China Department of General Surgery Shengjing Hospital of China Medical UniversityShenyang110004China

Rehabilitation using exoskeleton robots can effectively remediate dysfunction and restore post-stroke survivors’ physical ability. However, low kinematic compatibility and poor self-participation of post-stroke patients in rehabilitation restrict the outcomes of exoskeleton-based therapy. The study presents an Unpowered Shoulder Complex Exoskeleton (USCE), consisting of Shoulder Girdle Mechanism (SGM), Ball-and-Socket Joint Mechanism (BSM), Gravity Compensating Mechanism (GCM) and Adjustable Alignment Design (AAD), to achieve self-rehabilitation of shoulder via energy transfer from the healthy upper limb to the affected counterpart of post-stroke hemiplegic patients. The SGM and AAD are designed to improve the kinematic compatibility by compensating for displacements of the glenohumeral joint with the adaptable size of USCE for different wearers. The BSM and GCM can transfer the body movement and energy from the healthy half of the body to the affected side without external energy input and enhance the self-participation with sick posture correction. The experimental results show that the USCE can provide high kinematic compatibility with 90.9% movement similarity between human and exoskeleton. Meanwhile, the motion ability of a post-stroke patient’s affected limb can be increased through energy transfer. It is expected that USCE can improve outcomes of home-based self-rehabilitation.

关键词： Unpowered exoskeleton Health-paralysis combination Energy transfer Self-rehabilitation Shoulder mechanism design

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Leveraging large language models for comprehensive locomotion control in humanoid robots design

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Biomimetic Intelligence & robotics 2024年第4期4卷 48-63页

作者： Shilong Sun Chiyao Li Zida Zhao Haodong Huang Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China Guangdong Provincial Key Laboratory of Inteligent Morphing Mechanisms and Adaptive Robotics Shenzhen 518055China Key University Laboratory of Mechanism&Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen 518055China

This paper investigates the utilization of large language models(LLMs)for the comprehensive control of humanoid robot *** reinforcement learning(RL)approaches for robot locomotion are resource-intensive and rely heavily on manually designed reward *** address these challenges,we propose a method that employs LLMs as the primary designer to handle key aspects of locomotion control,such as trajectory planning,inverse kinematics solving,and reward function *** using user-provided prompts,LLMs generate and optimize code,reducing the need for manual *** approach was validated through simulations in Unity,demonstrating that LLMs can achieve human-level performance in humanoid robot *** results indicate that LLMs can simplify and enhance the development of advanced locomotion control systems for humanoid robots.

关键词： Humanoid robots Large language models Locomotion control Reinforcement learning

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Development of Method of Generating a Reference Movement Speed of a Group of UAVs

Development of Method of Generating a Reference Movement Spe...

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2024 International Conference on Ocean Studies, ICOS 2024

作者： Gubankov, Anton Gornostaev, Igor Institute of Automation and Control Processes FEB RAS M.D. Ageev Institute of Marine Technology Problems Admiral G.I. Nevelskoy Maritime State University Robotics Laboratory Laboratory of Intelligent Information Systems for Marine Robots Laboratory of Marine Unmanned Aviation and Marine Aviation Systems Vladivostok Russia Institute of Automation and Control Processes FEB RAS M.D. Ageev Institute of Marine Technology Problems Admiral G.I. Nevelskoy Maritime State University Robotics Laboratory Laboratory of Robotic Systems Laboratory of Marine Unmanned Aviation and Marine Aviation Systems Vladivostok Russia

ISBN: (纸本)9798331532307

The article presents the results of the development of a method for the automatic formation of reference speeds for autonomous unmanned aerial vehicles of multirotor type, performing specified missions (such as monitoring of the sea and coastal territory in order to track populations of rare and endangered species, as well as evaluating the potential volumes of biological resources) singly or as part of a group (in formation). At the same time, the trajectories of these aircraft are set by smooth spatial curves - parametric splines of the third order, which makes it easy to adjust the specified trajectories during the mission. In order to maintain a high speed of movement of vehicles along trajectories with high accuracy of movement and saving formation, it is proposed to adjust the specified speed directly during the mission in such a way that the thrusters can ensure their required movements, taking into account the restrictions on the thrust vectors. At the same time, a simplified model of the dynamics of a quadcopter was used to calculate the values of reference speeds, taking into account the influence of wind force, environmental resistance, gravity and the total thrust vector of the propellers. The systems synthesized on the basis of this method can be implemented even on low-power onboard computing devices of unmanned aerial vehicles. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Smart Manufacturing Integration of Heterogeneous Information systems via OPC UA. A Case Study

Smart Manufacturing Integration of Heterogeneous Information...

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2024 International Conference Automatics and Informatics, ICAI 2024

作者： Vasilev, Plamen Boneva, Ani Ivanova, Veronika Tsvetanov, Tsetso University of Chemical Technology and Metallurgy Department of Industrial Automation Sofia Bulgaria Institute of Information and Communication Technologies Bulgarian Academy of Sciences Department of Communication and Computer Systems Sofia Bulgaria Institute of Robotics Bulgaria Academy of Sciences Department of Robotized and Mechatronics Intelligent Systems Sofia Bulgaria

ISBN: (纸本)9798350353907

Modern automation, digitalization, virtualization, and intelligent production impose new criteria and approaches to process management. The operation and performance of any system and device depend on how it is managed. The article describes Smart Manufacturing Integration of Heterogeneous Information systems via OPC UA. The main goal is the development of heterogeneous information systems with real applications, with which reliable and up-to-date information can be exchanged between systems of different hierarchical levels. The goal was achieved with the following steps i) building the research infrastructure ii) analyzing the information compatibility and challenges in integrating systems from different hierarchical levels, and iii) implementing the integration by means of the OPC-UA standard communication protocol. The setup has been tested under laboratory conditions. The obtained results are shown. © 2024 IEEE.

关键词： Smart manufacturing

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A Battery Control Strategy for Sequential Utilization of Energy Storage systems in Power Batteries 7

A Battery Control Strategy for Sequential Utilization of Ene...

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7th IEEE Advanced Information Technology, Electronic and automation Control Conference, IAEAC 2024

作者： Li, Bowen Cui, Shijie Zhu, Lizhong Shenyang Ligong University College of Automation and Electrical Engineering Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350339161

With the widespread adoption of energy storage systems utilizing power batteries, battery lifespan degradation has become a primary constraint on system performance. To address this issue, this study proposes a lifespan-optimized battery control strategy. Firstly, a battery lifespan calculation model for the energy storage system is established, taking into detailed consideration key parameters such as battery State of Charge (SOC). Secondly, a control strategy based on SOC for charging and discharging is designed, aiming to minimize battery lifespan consumption to the greatest extent possible. Finally, experimental results demonstrate that the proposed control strategy significantly improves the lifespan of the energy storage system compared to existing strategies. This research provides an effective means of control for the long-term stable operation of power battery systems. © 2024 IEEE.

关键词： Charging (batteries)

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A hierarchical energy sharing strategy for multi-communities with heterogeneous prosumers

A hierarchical energy sharing strategy for multi-communities...

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2024 China automation Congress, CAC 2024

作者： Yang, Yan Chen, Fan Hu, Mian Wu, Huaiyu Chen, Yang Engineering Research Center for Metallurgical Automation and Measurement Technology Ministry of Education Wuhan University of Science and Technology 430081 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology 430081 China

ISBN: (纸本)9798350368604

Inter-community energy sharing is of positive significance in the energy transacion market, which can effectively reduce the cost of purchasing energy from the utility grid and improve the local consumption of renewable energy. In this study, a hierarchical energy sharing framework for multi-communities with heterogeneous prosumers is proposed. Each community consists of different types of prosumers, that is, photovoltaic (PV) prosumers, wind turbine (WT) prosumers and aggregate electric vehicle (EV) prosumers. A hierarchical energy sharing strategy based on Stackelberg game is proposed. In the inner cooperation stage, the total cost minimization model of operator cluster is established. In the outer non-cooperative stage, the Stackelberg game model between each operator and heterogeneous prosumers in each community is established, and the robust optimization method is adopted to solve the time-varying uncertainty problem of renewable energy generations. A hierarchical iterative algorithm is designed to solve the Stackelberg game equilibrium strategy, which maximizes each prosumer’s income and minimizes the operators’ total cost. The simulation results show that the proposed multi-community hierarchical energy sharing strategy can not only reduce the impact of load fluctuation on the utility grid, but also improve the income of prosumers. © 2024 IEEE.

关键词： Distributed energy

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Feature Space Augmentation and Old Class Space Preservation for Class Incremental Learning 42

Feature Space Augmentation and Old Class Space Preservation ...

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42nd Chinese Control Conference, CCC 2023

作者： Zeng, Ming Li, Siying Liu, Jiazhe Li, Yuanhao Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin University Tianjin300072 China

ISBN: (纸本)9789887581543

The ability of continuously learning new knowledge without forgetting old ones is crucial to adapt to an ever-changing world. This scenario becomes more challenging when the previous data are not available. Current class incremental learning (CIL) approaches tend to incorporate new classes with backward compatibility, i.e., maintaining discriminability of old ones. By contrast, we focus on the extensibility and compatibility for future new classes in the early stage. Our proposed method achieves this by augmenting feature space. In detail, a large number of pseudo-new classes are generated via real example mixture and then train the initial spatially augmented model using pseudo-new classes and the base classes. Besides, considering the fact that it is impossible to maintain backward compatibility with only one prototype for each old class, the updated model also needs to preserve old class space in incremental stages. We employ a certain perturbation to the old class prototypes to effectively avoid old class space from being over-squeezed by the samples of new classes. The experiments on CIFAR-100 and ImageNet-Subset (100 classes) demonstrate that our method substantially reduces the overlap of old and new classes, outperforming state-of-the-art various baselines. © 2023 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Catastrophic forgetting Class incremental learning Feature space augmentation Old class space preservation Pseudo-new classes

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Motion Capture and Gait Analysis of Ants with Leg Injuries 42

Motion Capture and Gait Analysis of Ants with Leg Injuries

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42nd Chinese Control Conference, CCC 2023

作者： Zeng, Ming Li, Yuanhao Meng, Chang Zhong, Shutong Wang, Zhijing Zhao, Feng Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin300072 China

ISBN: (纸本)9789887581543

Many insects in nature, such as ants, recover quickly after sustaining leg injuries. If this capability could be imparted to multi-legged robots, it would drastically enhance their ability to resist destruction and adapt to the environment. In this paper, the Camponotus Japonicus is used as the research object, and its locomotive patterns are studied under different leg-loss conditions. To facilitate this, a high-speed acquisition system, with a dual-view (bottom view and side view) setup, is designed to analyze the ant's linear gaits. Subsequently, the pivotal gait characteristics of the injured ants are extracted by keyframe annotation technology, including the gait phase diagram, duty factor, angle before support, angle before swing, and leg swing range. Lastly, according to the obtained gait characteristics, the general and specific laws of gait adjustment in the absence of one or two legs are systematically analyzed, which provides the basis for parametric settings and strategy optimization of robotic injured gait self-adjustment. © 2023 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Gait analysis

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Gas distribution mapping based on integrating system with mobile robot and sensor network 41

Gas distribution mapping based on integrating system with mo...

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第41届中国控制会议

作者： Zhirui Xu Lei Cheng Daiwei Tang Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The monitoring of industrial environmental gas quality becomes an increasingly important topic due to its significant impact on the health of the producers and the safety of the production ***,there are two main approaches to this task:first,using mobile robots equipped with sensors to patrol and monitor the environment,the prediction accuracy of this method is relatively poor;second,using a sensor network distributed in the environment for a long term monitoring,however this method lefts spatial relations and non-detection areas *** solve the above problems,this paper proposes a method combining the spatial map constructed by the mobile robot with fixed monitoring *** this method,the concentration of gas is collected by a fixed gas sensor and predicted by a deep neural *** the same time,a mobile robot equipped with lidar and a gas sensor is used to model the spatial construction of the environment as well as verify the *** embedding the predicted concentration map with the spatial map,a gas concentration map with high accuracy and spatial information is *** using anhydrous ethanol odor sources in a closed and windless room showed high prediction accuracy(98%) with this method.

关键词： Gas distribution mapping Deep neural networks spatial-temporal distribution simultaneous Localization and Mapping(SLAM)

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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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