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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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Damping parameters measurement and preisach modeling of extra vehicular activity glove based on exoskeleton mechanism

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Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University 2008年第7期42卷 891-894+899页

作者： Fang, Honggen Shi, Shicai Liu, Hong Li, Tanqiu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany Institute of Space Medicine and Medical Engineering Beijing 100094 China

By combination of parallelogram link and gear, a new type of exoskeleton mechanism is developed. As placed on the back of extra vehicular activity (EVA) glove in an external way, this mechanism is able to drive the EVA glove finger to extent or flex like human finger grasp *** force sensor located at the tip of exoskeleton mechanism measures the EVA glove damping force during flexion or extension. The force reaches even to 10 N and the hysteresis of the force approaches to 31%.To predict the force which corresponds to an angular displacement of EVA glove and simulate the human factors performance metrics of extra vehicular activity, an unified Preisach numerical calculating strategy is presented by recording the number of vertices of the interface line in discrete Preisach plane and getting a series of first order reversal curves. A distance-weighted interpolation is chosen to evaluate at the points belonging to the Preisach plane except the discrete grid points. The proposed method is validated by the experiments.

关键词： Damping

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EMG Based Rehabilitation Gesture Recognition Using DAE-CNN-LSTM Hybrid Model

EMG Based Rehabilitation Gesture Recognition Using DAE-CNN-L...

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2024 International Convention on Rehabilitation engineering and Assistive Technology and World Rehabilitation Robot Convention, i-CREATE and WRRC 2024

作者： Cao, Wujing Guo, Xinqiang Zou, Yupeng Zhang, Shuo Luo, Mingxiang Kobsiriphat, Worawarit Wu, Xinyu Yin, Meng Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518005 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems China School of Mechanical Engineering China University of Petroleum China National Metal and Materials Technology Center Thailand

ISBN: (纸本)9798350355123

Stroke, as one of the leading causes of long-term disability globally, often results in motor impairments, particularly in the hands, significantly affecting patients' daily activities and causing profound psychological trauma. Rehabilitation gesture recognition, as one of the key means of active rehabilitation medicine, holds significant potential in stroke rehabilitation, providing real-time feedback on patient progress and enabling personalized interventions to meet individual needs. Traditional gesture recognition methods face numerous challenges when dealing with stroke patient data, such as noise, motion blur, and individual differences. To address these challenges, this paper proposes a novel approach for stroke patient gesture recognition using deep learning models. We adopt a strategy combining denoising autoencoder (DAE), convolutional neural network (CNN), and long short-term memory (LSTM) to enhance the accurate recognition of hand movements in stroke patients. Specifically, DAE is utilized for denoising EMG signals, extracting features, and reducing noise to improve the signal's noise resistance. CNN is employed for spatial feature extraction, while LSTM captures temporal dependencies in gesture sequences. By integrating these three deep learning models, our aim is to enhance the accuracy and robustness of rehabilitation gesture recognition. We validate the proposed method's effectiveness on an EMG dataset from seven subjects through experiments and compare it with traditional machine learning and individual CNN and LSTM algorithms. Experimental results demonstrate significant performance improvements of our hybrid model in rehabilitation gesture recognition tasks, indicating promising application prospects and practical significance. © 2024 IEEE.

关键词： Convolutional neural networks

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Automatic bone drilling in orthopedic surgery. parameter tuning of an active force control

Automatic bone drilling in orthopedic surgery. parameter tun...

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2013 3rd International Conference on Mechatronics and Applied Mechanics, ICMAM 2013

作者： Boiadjiev, Tony Zagurski, Kazimir Boiadjiev, George Delchev, Kamen Kastelov, Rumen Institute of System Engineering and Robotics-BAS Sofia Bulgaria Institute of Information and Communication Technologies-BAS Sofia Bulgaria Analytical Mechanics Department Sofia University Bulgaria Institute of Mechanics-BAS Sofia Bulgaria Emergency Medical Institute 'Pirogov' Orthopaedic-BAS Sofia Bulgaria

ISBN: (纸本)9783038350309

This paper deals with an active force control for automatic bone drilling. Orthopedic surgery often requires precise bone drilling for screws to be implanted. The hole quality in drilling process strongly depends on the applied thrust force (resistance force). In particular, a relatively large thrust force, applied in hand-drilling process, could cause a bone trauma (thermo necrosis or bone damage). To solve this problem we apply an active force control in order to achieve constant and safety drilling thrust force. Moreover, we propose an algorithm for parameter tuning of the considered control system. © (2014) Trans Tech Publications, Switzerland.

关键词： Bone

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Cable Length Estimation for a Hyper-Redundant Robot Based on Cable Hole Clearance Calculation 19

Cable Length Estimation for a Hyper-Redundant Robot Based on...

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19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Li, Ziqing Deng, Jiangqin Zheng, Yang Liu, Chao Gu, Guoying Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China

ISBN: (纸本)9798350320695

For the cable-driven hyper-redundant robot, most of the current drive cable length estimation methods consider that the cable always passes through the center of the hole, and do not consider the effect of cable-hole clearance, resulting in a large motion error. In this paper, we propose a cable length estimating method by considering cable-hole clearance. Based on the simplified space model of the cable hole, it uses the recursive algorithm to obtain the approximate solution of the actual drive cable length. The algorithm can meet the requirements of real-time control while ensuring calculation accuracy. The correctness of the approximate solution is verified by using the interior point penalty function method. Taking a 24DoF hyper-redundant manipulator with joint angle closed-loop control as an example, the effectiveness of the proposed method is proved by comparing the theoretical calculation results with the actual drive cable length. © 2023 IEEE.

关键词： Real time control

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Development of In-Vivo Rabbit Model of Human Finger Skin Injuries for Determining Safety Criteria for Human-Robot Contact 23

Development of In-Vivo Rabbit Model of Human Finger Skin Inj...

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23rd International Conference on Control, Automation and systems, ICCAS 2023

作者： Fujikawa, Tatsuo Okai, Kazumi Yamada, Yoji Rajaei, Nader Nishimoto, Tetsuya College of Engineering Nihon University Koriyama963-8642 Japan Nagoya University Department of Mechanical System Engineering Nagoya464-8608 Japan Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich80992 Germany

ISBN: (纸本)9788993215274

An in-vivo rabbit model was developed to enable experiments for deciding the safety criteria for skin injuries in human-robot contact. The skin of the human finger was considered as a part vulnerable to harm during human-robot collaboration. The forearms and lower legs of rabbits were selected for substituting the human fingers. Computerized tomography imaging of the rabbit subjects and magnetic resonance imaging of human fingers were performed. Based on the captured images, the caudal part of the rabbit forearm and the lateral part of the rabbit lower leg were confirmed to have dimensions similar to the lateral part and the dorsal part of the human finger, respectively. Test equipment was developed to induce dynamic contacts between the rabbit parts and impactors at a velocity of 250 mm/s with a contact duration shorter than 100 ms. The dynamic pinching of fingers was represented by experiments using a wedge-shaped impactor with a rounded ridge to contact the skin and a flat-ended cylindrical impactor with a diameter of 10 mm. The skin opening and the bruising caused by the contact were investigated after the experiments. The model was confirmed to be applicable to the experiments for deciding the safety criteria. © 2023 ICROS.

关键词： Risk assessment

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Optimal cost actuator/sensor placement for large scale linear time-invariant systems: A structured systems approach

Optimal cost actuator/sensor placement for large scale linea...

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2013 12th European Control Conference, ECC 2013

作者： Pequito, Sergio Kar, Soummya Aguiar, A. Pedro Dept. of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213 United States Institute for System and Robotics Instituto Superior Técnico Technical University of Lisbon Lisbon Portugal

ISBN: (纸本)9783033039629

We address the problem of minimal cost actuator/ sensor placement for large scale linear time invariant (LTI) systems that ensures structural controllability/observability. In particular, for the dedicated actuator placement problem (i.e., each actuator can control only one state variable or dynamic component), we propose a design methodology that provides the optimal placement with minimal cost (with respect to a given placement cost functional), under the requirement that the system be structurally controllable. In addition of obtaining the global solution of the optimization problem, the methodology is shown to be implemented by an algorithm with polynomial complexity (in the number of state variables), making it suitable for large scale systems. By duality, the solution readily extends to the structural design of the corresponding sensor placement under cost constraints. © 2013 EUCA.

关键词： Linear time-invariant system

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An Aerial Non-contact Detection system For Quayside Crane Using A Hexacopter

An Aerial Non-contact Detection System For Quayside Crane Us...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Zhang, Yehui Wang, Zhaoying Dong, Wei Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Shanghai Jiao Tong University Robotics Institute School of Mechanical Engineering Shanghai200240 China

ISBN: (纸本)9798350327182

In recent years, aerial robots have been widely used and developed in high-altitude defect detection in academia and business. To solve the detection problem of beams at quayside cranes, reduce the cost of staffing in the traditional manual detection process and improve detection safety, a non-contact detection system using a hexacopter is designed. This article analyzes the task requirements of flaw detection for quayside cranes and the workflow. The Unmanned Aerial Vehicle (UAV) system is equipped with a non-contact detective transmitter, a non-contact detective imaging plate and other task detection equipment to detect the crack of quayside crane beams. The system is based on multi-sensor modules. Besides, the system is designed as light as possible to increase the flight endurance of the UAV. On this basis, the system takes the UAV as the carrier and carries the detection equipment to the location which needs detection. At the same time, people on the ground can control the non-contact detective transmitter and imaging plate to move to the defect area through remote radio control, then can obtain the internal crack. The reliability and effectiveness of the whole system are verified by performing an actual detection experiment with a crane model. © 2023 IEEE.

关键词： Antennas

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Magnetic Continuum Robot for Intelligent Manipulation in Medical Applications

SmartBot

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SmartBot 2025年

作者： Yuanbiao Ma Xuanyu An Qijun Yang Mingxue Cai Zhiqiang Tang Jinke Chang Veronica Iacovacci Tiantian Xu Li Zhang Qianqian Wang Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments School of Mechanical Engineering Southeast University Nanjing China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Mechanical Engineering National University of Singapore Queenstown Singapore Department of Engineering Science University of Oxford Oxford UK Department of Surgical Biotechnology Division of Surgery & Interventional Science Centre for Biomaterials in Surgical Reconstruction and Regeneration University College London London UK BioRobotics Institute Scuola Superiore Sant’Anna Pisa Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Chow Yuk Ho Technology Center for Innovative Medicine The Chinese University of Hong Kong Hong Kong China Multi-Scale Medical Robotics Center Hong Kong Science Park Hong Kong China

Magnetic continuum robots (MCRs) have garnered substantial attention as a new class of flexible robotic systems capable of navigating complex and confined spaces with remarkable dexterity. By combining continuous, deformable structures with remotely applied magnetic fields, MCRs achieve contactless, remote manipulation, making them well-suited for medical applications. This review introduces recent advances in MCR research, focusing on design principles, structural configurations, and control strategies. Various MCR designs and structures, including those integrated with permanent magnets, magnetic matter, ferromagnetic sphere, and micro coil, are discussed. Furthermore, different magnetic actuation platforms are introduced, and the level of MCR automation is classified based on control strategies. Key intelligent manipulation capabilities of MCRs, including navigation, delivery, printing, grasping, imaging, and sensing are explored. Finally, future development priorities and directions are identified to provide insights for advancing intelligent robotic systems.

关键词： intelligent manipulation magnetic actuation magnetic continuum robot medical application

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A simulation framework for ultrasound-guided minimally invasive robotic breast surgery

A simulation framework for ultrasound-guided minimally invas...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Zhang, Le Ye, Yanchen Niu, Baoshan Xiong, Genliang Yang, Dapeng State Key Laboratory of Robotics and System Harbin Institute of Technology Yikuang Street NanGang District HeilongJiang Harbin China School of Mechanical and Automotive Engineering Shanghai University of Engineering Science Longteng Rd 333 Shanghai201620 China

ISBN: (纸本)9781665481090

Surgical simulation plays an essential role for surgeons to familiarize themselves with surgical procedures and improve the success rate of surgery. In this paper, a flexible and easy-extendable intervention surgery simulation framework was presented, which can perform virtual simulation training and realize synchronous interaction between the real and virtual environment. In particular for breast surgery, the simulation framework was exemplified for an ultrasound-guided minimally invasive robotic breast surgery. The framework used Visual Studio®(Microsoft, USA) and Chai3D open graphics library to realize the virtual surgery environment, and integrated the anti-collision warning of the robotic arms and teleoperation communication support. A layered deformation model of breast was established based on the Mass-Spring Model to simulate the real-time deformation of breast during puncture surgery. In addition, due to the hyperelasticity and great deformation characteristics of breast soft tissue, we further used an improved meshless Radial Point Interpolation Method to improve the simulation accuracy of breast soft tissue deformation model. Finally, experiments on robot pressing a rectangular parallelepiped breast phantom were carried out to verify the simulation accuracy of the deformation model. © 2022 IEEE.

关键词： Tissue

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