This paper presents a non-contact magnetic frequency-boosting wind energy harvester suitable for low wind speed environments, designed to power various IoT sensors. The device comprises a driving component, a driven c...
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ISBN:
(数字)9798350380200
ISBN:
(纸本)9798350380217
This paper presents a non-contact magnetic frequency-boosting wind energy harvester suitable for low wind speed environments, designed to power various IoT sensors. The device comprises a driving component, a driven component, and a stator component. These components work together to convert low-speed rotational motion caused by wind into high-speed rotational motion, thereby achieving high-power electromagnetic energy output. Performance tests have shown that the output voltage increases with wind speed, reaching a peak voltage of 27V and a peak power of 1.6W at a wind speed of 10 m/s. The device has successfully powered LED bulbs and Bluetooth sensors, demonstrating its practicality for real-time environmental monitoring applications.
Squat gait is the most common abnormal gait in children with cerebral palsy. Gait training with lower limb rehabilitation robots can improve rehabilitation efficiency and reduce manual labor for them. A novel exoskele...
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The study of friction has long been popular with scientists. Considering the coupling characteristic of multi-input-multi-output (MIMO) system, the coupling friction model was established, which was based on Coulomb-V...
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Fast drumming presents a speed challenge to many robotic arms. To simultaneously meet the needs for speed, stroke, and force, we proposed and tested a new double-saddle dielectric elastomer actuator (DEA) as the artif...
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In the daily nursing care for people with disabilities, lifting is the most basic and common action. A robotic manipulator with differential modular joints (DMJ) is designed to accomplish this task. To better implemen...
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The automatic assembly of dual peg-in-hole often relies on the concrete CAD model, either explicitly or implicitly. However, especially in daily life, the shapes of pegs vary, and the robot cannot always obtain an acc...
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ISBN:
(数字)9798350358513
ISBN:
(纸本)9798350358520
The automatic assembly of dual peg-in-hole often relies on the concrete CAD model, either explicitly or implicitly. However, especially in daily life, the shapes of pegs vary, and the robot cannot always obtain an accurate CAD model of the peg before performing the insertion task. Therefore, inspired by the force constraint during contact, we used contact force as the completion indicator of the assembly and proposed a novel two-stage assembly strategy for unknown-shaped dual peg-in-hole. Additionally, a variable remote compliance center method is employed to decouple the contact forces of two pegs and their adjustments. Three types of unidirectional movement modes—exploration, compliance, retention—are utilized to guide the peg to contact with the hole under large initial offsets. The performance of the proposed assembly strategy was evaluated through a series of experiments using various shapes of pegs. The results show that our method effectively completes arbitrary mixed-shaped dual peg-in-hole task under large initial offsets in terms of orientation error (>20°) and position error (>30mm) acorss all test cases.
Physiological tremors of surgeons’ hands bring vibration to the tip of surgical instruments, which may severely damage the accuracy of surgical procedures and even put patients’ lives at risk. Thus robot-assisted su...
Physiological tremors of surgeons’ hands bring vibration to the tip of surgical instruments, which may severely damage the accuracy of surgical procedures and even put patients’ lives at risk. Thus robot-assisted surgery using a teleoperation system was introduced to solve this problem. Many filter algorithms were implemented into the robot-assisted surgery system to suppress the inevitable tremors, but always overlooking the traits of hand motion. An innovation/residual-based floating forgetting-factor adaptive Kalman filter (IFFAKF) is proposed to address this problem. A floating forgetting-factor is brought into the innovation/residual-based adaptive estimation algorithm to adjust the process noise covariance (Q) and measurement noise covariance (R) of the system, thus generating estimation of voluntary hand movement and suppressing the vibration at the tip of the surgical instrument caused by the physiological tremor during surgeries. The proposed filter has been contrasted with various filters in simulations and experiments. The results confirm that the proposed filter has obvious advantages in terms of time delay, estimation error, and tremor suppression performance.
The aim of the development of the chewing robots is to study the biomechanics of chewing process or produce the bolus for further research by in vitro experiments. Some chewing robots are open loop controlled and coul...
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This paper proposes an ocean wave energy harvester (WEH) with a cam-driven frequency up-conversion mechanism. It utilizes a planar pendulum structure to achieve motion response to ultra-low-frequency wave excitation a...
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ISBN:
(数字)9798350380200
ISBN:
(纸本)9798350380217
This paper proposes an ocean wave energy harvester (WEH) with a cam-driven frequency up-conversion mechanism. It utilizes a planar pendulum structure to achieve motion response to ultra-low-frequency wave excitation and then converts the mechanical energy of the pendulum into high-frequency and high-power electrical energy output through the cam-driven frequency upconversion mechanism. WEH’s superior design enables high-power output even under excitation below 1 Hz. At the excitation frequency of 0.75 Hz and resistance load of $20 \Omega$, the maximum power output can reach 461.4 mW. Due to its high output power, the WEH can be integrated into the ocean observation buoy to power the sensors, thereby enabling long-term, unattended operation of the buoy in remote offshore areas.
This paper presents an ultra-low-frequency and high-power wave energy harvester (WEH). It utilizes a vertical pendulum structure to achieve motion response to ultra-low-frequency wave excitation and then converts the ...
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ISBN:
(数字)9798350380200
ISBN:
(纸本)9798350380217
This paper presents an ultra-low-frequency and high-power wave energy harvester (WEH). It utilizes a vertical pendulum structure to achieve motion response to ultra-low-frequency wave excitation and then converts the mechanical energy of the pendulum into high-frequency and high-power electrical energy output through the MagBoost Mechanism. The design of WEH ensures stable output even under excitation conditions below 1 Hz. At the excitation frequency of 1.4 Hz and resistance load of $20 \Omega$, the maximum power output can reach 1.16 W with a power density of $0.54 \mathrm{~mW} / \mathrm{cm}^{3}$. The high energy density allows stable power supplementation for ocean observation buoy within a limited volume, thereby enabling long-term, unattended operation of the buoy in remote offshore areas.
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