A five-fingered,multi-sensory and biomimetic hand is *** cambered palm is specially designed by utilizing the knowledge of *** position of each finger is arranged according to human hand *** finger with three phalange...
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A five-fingered,multi-sensory and biomimetic hand is *** cambered palm is specially designed by utilizing the knowledge of *** position of each finger is arranged according to human hand *** finger with three phalanges could fulfill flexion-extension movement *** the fingers are designed using coupling link *** location of the thumb is designed by maximizing interaction area between the thumb and other *** opposite thumb could grasp along a cone surface,while maintaining its *** hardware architecture is divided into control system and human-machine interaction *** mechanical parts,sensors and motion control systems are integrated in the hand *** addition,a skin-like glove is designed,which makes the hand more *** to our primary experimental results,the hand can accomplish several grasp modes by applying an intuitive surface electromyography control *** success rate of 10 modes is up to 90%.
Due to the lightweight and compliance, fabric-based pneumatic exosuits are promising in the assistance and rehabilitation of elbow impairments. However, existing elbow exosuits generally suffer from remarkable mechani...
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Due to the lightweight and compliance, fabric-based pneumatic exosuits are promising in the assistance and rehabilitation of elbow impairments. However, existing elbow exosuits generally suffer from remarkable mechanical resistance on the flexion of the elbow, thus limiting the output force, range of motion(ROM), and comfortability. To address these challenges, we develop a fabric-based soft elbow exosuit with an adaptive mechanism and composite bellows in this work. With the elbow kinesiology considered, the adaptive mechanism is fabricated by sewing the interface of the exosuit into spring-like triangle pleats, following the profile of the elbow to elongate or contract when the elbow flexes or extends. The composite bellows are implemented by further sealing a single blade of bellows into two branches to enhance the output force. Based on these structural features, we characterize the mechanical performance of different soft elbow exosuits: exosuit with normal bellows-NB, exosuit with adaptive mechanism and normal bellows-AMNB, exosuit with adaptive mechanism and composite bellows-AMCB. Experimental results demonstrate that by comparing with NB, the mechanical resistance of AMNB and AMCB decreases by 80.6% and 78.6%, respectively;on the other hand, the output torque of AMNB and AMCB increases to 120.3% and 207.0%, respectively, at50 k Pa when the joint angle is 120°. By wearing these exosuits on a wooden arm model(1.25 kg), we further verify that AMCB can cover a full ROM of 0°–130° at the elbow with 500 g weight. Finally, the application on a health volunteer with AMCB shows that when the volunteer flexes the elbow to lift a weight of 500 g, the s EMG activity of the biceps and triceps is markedly reduced.
A double-tracked robot is designed from mechanical and control perspectives,which consists of two segments connected with a swing joint. As the angle between the two segments of the robot platform can be changed,the r...
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A double-tracked robot is designed from mechanical and control perspectives,which consists of two segments connected with a swing joint. As the angle between the two segments of the robot platform can be changed,the robot can move like a four-tracked robot on many terrains. The center of gravity（ CG） kinematics model is established,which plays an important role in the process of traveling over obstacles and climbing up stairs. Using this model,the CG change situation and the maximal height of the climbable obstacle are obtained. Then the relationship between the robot pitch angle and the height of the obstacle is established. Finally,a reasonable system structure for the robot is designed and its kinematics analysis for obstacle-surmounting capability is conducted through experiments.
Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic *** challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion,w...
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Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic *** challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion,which highlights the requirement for online planning based on current states to cope with uncertainty and *** article proposes a real-time planning and control framework integrating motion planning and whole-body *** the framework,the designed motion planner allows a wider body rotation range and fast reactive behaviors based on the 3-D single rigid body *** addition,the combination of a Bézier curve based trajectory interpolator and a heuristic-based foothold planner helps generate continuous and smooth foot *** developed whole-body controller uses hierarchical quadratic optimization coupled with the full system dynamics,which ensures tasks are prioritized based on importance and joint commands are physically *** performance of the framework is successfully validated in experiments with a torque-controlled quadrupedal robot for generating dynamic motions.
CO2 laser rapid ablation mitigation(RAM)of fused silica has been used in high-power laser systems owing to its advantages of high efficiency,and ease of implementing batch and automated *** order to study the effect o...
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CO2 laser rapid ablation mitigation(RAM)of fused silica has been used in high-power laser systems owing to its advantages of high efficiency,and ease of implementing batch and automated *** order to study the effect of repaired morphology of RAM on laser modulation and to improve laser damage threshold of optics,an finite element method(FEM)mathematical model of 351 nm laser irradiating fused silica optics is developed based on Maxwell electromagnetic field equations,to explore the 3D near-field light intensity distribution inside optics with repaired site on its *** influences of the cone angle and the size of the repaired site on incident laser modulation are studied as *** results have shown that for the repaired site with a cone angle of 73.3°,the light intensity distribution has obvious three-dimensional *** relative light intensity on z-section has a circularly distribution,and the radius of the annular intensification zone increases with the decrease of *** the distribution of maximum relative light intensity on y-section is parabolical with the increase of *** the cone angle of the repaired site decreases,the effect of the repaired surface on light modulation becomes stronger,leading to a weak resistance to laser ***,the large size repaired site would also reduce the laser damage ***,a repaired site with a larger cone angle and smaller size is preferred in practical CO2 laser repairing of surface *** work will provide theoretical guidance for the design of repaired surface topography,as well as the improvement of RAM process.
In this study, the authors present the role playing learning scheme for a mobile robot to navigate socially with its human companion in populated environments. Neural networks （NNs） are constructed to parameterise a...
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In this study, the authors present the role playing learning scheme for a mobile robot to navigate socially with its human companion in populated environments. Neural networks （NNs） are constructed to parameterise a stochastic policy that directly maps sensory data collected by the robot to its velocity outputs, while respecting a set of social norms. An efficient simulative learning environment is built with maps and pedestrians trajectories collected from a number of real-world crowd data sets. In each learning iteration, a robot equipped with the NN policy is created virtually in the learning environment to play itself as a companied pedestrian and navigate towards a goal in a socially concomitant manner. Thus, this process is called role playing learning, which is formulated under a reinforcement learning framework. The NN policy is optimised end-to-end using trust region policy optimisation, with consideration of the imperfectness of robot＇s sensor measurements. Simulative and experimental results are provided to demonstrate the efficacy and superiority of the proposed method.
The topic of this special issue deals with a subject matter that has been receiving immense attention from various research communities, and not only within the signal processing community. Discusses research and deve...
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The topic of this special issue deals with a subject matter that has been receiving immense attention from various research communities, and not only within the signal processing community. Discusses research and development in the area of the adaption and learning over complex network systems. Extensive research efforts on information processing over graphs exist within other fields such as statistics, computer science, optimization, control, economics, machine learning, biological sciences, and social sciences. Different fields tend to emphasize different aspects and challenges; nevertheless, opportunities for mutual cooperation are abundantly clear, and the role that signal processing plays in this domain is of fundamental importance.
Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a ...
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Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in *** designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,*** experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 ***,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.
Traditional rigid-body in-pipe robots usually have complex and heavy structures with limited flexibility and *** soft in-pipe robots have great improvements in flexibility,they still have manufacturing difficulties du...
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Traditional rigid-body in-pipe robots usually have complex and heavy structures with limited flexibility and *** soft in-pipe robots have great improvements in flexibility,they still have manufacturing difficulties due to their reliance on high-performance soft *** structure is a kind of self-stressed spatial structure consisting discrete rigid struts connected by a continuous net of tensional flexible strings,which combines the advantages of both rigid structures and soft *** applying tensegrity structures into robotics,this paper proposes a novel worm-like tensegrity robot for moving inside ***,a robot module capable of body deformation is designed based on the concept of tensegrity and its deformation performance is ***,the optimal parameters of the module are obtained based on the tensegrity *** deformation ability of the tensegrity module is tested ***,the worm-like tensegrity robot that can crawl inside pipes is developed by connecting three modules in *** performance and load capacity are tested on the prototype of the worm-like tensegrity robot by experiments of moving in horizontal pipe,vertical pipe,and elbow *** results demonstrate the effectiveness of the proposed design and suggest that the robot has high compliance,mobility,and adaptability although with simple structure and low cost.
This paper introduces the new design of a Micro Inertial Measurement Unit(-IMU)-based sensor mote for wireless body sensor network(BSN).The-IMU unit consists of a three-axis accelerometer,a three-axis gyroscope MPU605...
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ISBN:
(纸本)9789881563842
This paper introduces the new design of a Micro Inertial Measurement Unit(-IMU)-based sensor mote for wireless body sensor network(BSN).The-IMU unit consists of a three-axis accelerometer,a three-axis gyroscope MPU6050,and a three-axis electronic compass *** MCU uses a CC2530 which integrates an 8051 core and 2.4GHz *** hardware design and Z-Stack-based software architecture of the sensor mote are discussed in details.A MATLAB program is used to collect experimental data for *** system shows several advantages in high integration,compact volume,and accurate sensing capability,which is critical for wearable inertial measurement and body capture.
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