检索结果-内蒙古大学图书馆

Chinese Automation Congress (CAC)

作者： Yu Zhang Zhuo Wang Chunjie Chen Tao Fang Ruimei Sun Yanjie Li School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Shenzhen China ShenZhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China BeiJing Aerospace Wanyuan Science Technology Co. Ltd. Beijing China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

The soft exoskeleton is a wearable robot which is functioned to improve the capacity of human walking or loading. The metabolic of human is increase with the additional load, one integrated design method is used to reduce this effect in this paper. Meanwhile, in order to enhance the convenience and decrease the disturbance to wearer, the wireless module is used to replace the signal line. The nonlinear characteristics and uncertainty of flexible material make the control of soft exoskeleton system be a challenge, a switching controller is proposed to deal with this problem in this paper. It consists of Iterative learning control (ILC) based stable controller and admittance control based unstable controller, functioned with wearers walking stable and not. An experiment of force tracking is conducted to verify the controller performance in this paper, and the result demonstrate that the tracking is well after 20 iteration. In order to evaluate the performance of assistance of soft exoskeleton, five health adult male take part in metabolic experiment By compare the metabolic rate between the wear soft exoskeleton and not wear, the metabolic rate are decrease 7.33%, 14.56% and 10.45% with the walking speed of 3km/h, 5km/h and 7km/h, which are corresponding absolute values decrease of 0.46W/kg, 1.60W/kg and 1.21W/kg respectively.

关键词： AC motors Mechanical cables Wireless communication Pulleys Microprocessors Micromechanical devices Germanium

来源：评论

学校读者我要写书评

暂无评论

Corrigendum to “SIAT-WEXv2: A Wearable Exoskeleton for Reducing Lumbar Load during Lifting Tasks”

引用

Complexity 2021年第1期2021卷

作者： Xinyu Ji Dashuai Wang Pengfei Li Liangsheng Zheng Jianquan Sun Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen *** CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Shenzhen *** Wuhan University of Technology Wuhan *** Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China

来源：评论

学校读者我要写书评

暂无评论

Automatic Cell Assembly by Two-fingered Microhand

Automatic Cell Assembly by Two-fingered Microhand

引用

2019 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Junnan Chen Xiaoming Liu Shengnan Dong Pengyun Li Xiaoqing Tang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CHINA Department of Systems Innovation Graduate school of Engineering Science Osaka University Toyonaka Osaka Japan Global Alliance Lab The University of Electro-Communications Tokyo Japan

We have successfully achieved manipulation and assembly of microbeads having the size of 100μm diameter by hemispherical end-effectors with high stability and accuracy. The motivation of achieving assembly of actual cells lies in the great significance of it in tissue regeneration and cell analysis. Firstly, the most difficult problem we need to solve is the releasing problem caused by adhesion force. The viscosity on cell surface is much larger than the microbeads which makes cell releasing challenging. Secondly, the cell can generate its deformation, then contact area with end-effector will change during grasping process. This may influence the adhesion force and also bring problem to releasing. Thirdly, cell is much smaller, around 15μm in diameter, so we need to fabricate smaller end-effector to achieve successful manipulation and ensure the stability in the meantime. In this paper, we realize the manipulation by decreasing the adhesion forces and apply vibration to release a cell stably. We found the appropriate scale size for the end-effector is around 10μm diameter. It can not only grasp a 15μm cell but also bring little interference to the environment. As a demonstration of the proposed manipulation method, the repeated experiments were conducted to explore the dependence of adhesion force on the grasping distance, which can be helpful in the improvement of successful rate. Finally, we achieved automatic cell assembly using Hela cells.

关键词：

来源：评论

学校读者我要写书评

暂无评论

An insulation diagnosis method for battery pack based on battery model

An insulation diagnosis method for battery pack based on bat...

引用

2019能源动力与机械工程研讨会

作者： Yanhui Zhang Qingpeng Chen Xiao Liu Zhile Yang Shifeng Guo Wei Feng Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences

The collision and components aging of electric vehicles may lead to dramatic decrease of insulation performance in the complex application environment,which will reduce the insulation between battery pack and chassis,and will affect the performance of on-board equipment and electronic control unit,resulting in heat accumulation effect of leakage circuit and even vehicle ***,it is critical to develop a real-time,accurate and reliable detection device to monitor the insulation resistance of the high-voltage system of electric vehicles,which is beneficial to the normal operation of electrical equipment,the safe operation of vehicles and the personal safety of *** this work,an online estimation method of insulation resistance based on battery model is proposed.

关键词： An insulation diagnosis method for battery pack based on battery model

来源：评论

学校读者我要写书评

暂无评论

Corrigendum to An electromagnetically actuated magneto-nanozyme synergetic therapy platform for destruction and elimination of biofilm [Chem Eng J 431 (2022) 133971]

引用

Chemical Engineering Journal 2023年 454卷

作者： Xinxin Ma Longchen Wang Peng Wang Zihao Liu Junnian Hao Jianrong Wu Guangyu Chu Moran Huang Lamar O. Mair Chenyang Huang Tiantian Xu Tao Ying Xiuzhen Tang Yunfeng Chen Xiaojun Cai Yuanyi Zheng Department of Ultrasound in Medicine Shanghai Jiao Tong University Affiliated Sixth People's Hospital No. 600 Yishan Road Shanghai 200233 PR China Department of Infectious Diseases Shanghai Jiao Tong University Affiliated Sixth People's Hospital No. 600 Yishan Road Shanghai 200233 PR China Department of Orthopedic Surgery Shanghai Jiao Tong University Affiliated Sixth People's Hospital No. 600 Yishan Road Shanghai 200233 PR China Weinberg Medical Physics 12156 Parklawn Dr Rockville MD 20852 USA Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 PR China

来源：评论

学校读者我要写书评

暂无评论

Manipulation of Lotus-root Fiber Based Soft Helical Microswimmers Using Rotating Gradient Field

Manipulation of Lotus-root Fiber Based Soft Helical Microswi...

引用

International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Meng Su Tiantian Xu Jia Liu Laliphat Manamanchaiyaporn Yanming Guan Zhiming Hao Xinyu Wu University of Chinese Academy of Sciences Beijing China Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen China

Untethered and wirelessly-controlled microrobots have many applications in the field of biomedicine. Therefore, many laboratories and scientists have invested more scientific research into magnetic microrobots which can make more contributions to medical care. Many magnetic field devices and microrobots are manufactured. In the development of micro-robots, helical microrobots have been well developed. Rigid-body robots account for the majority of these, but they may cause damage to human organs during treatment. However, soft and deformable robots can relieve more medical restrictions. In general, helical microrobots are driven by uniform fields which have their own limitations while the gradient magnetic field can relieve more restrictions and have more functions. This paper presents a flexible deformable helical swimmer controlled in a rotating gradient magnetic field. Helical swimmers are covered with magnetic nano-particles and the helical structure is derived from the inner fiber structure of the lotus root. The soft helical swimmers are controlled to swim several special trajectories in the rotating gradient magnetic field and we analyze the frequency and other factors for velocity or other effects.

关键词： Coils Magnetic hysteresis Robots Magnetic cores Soft magnetic materials Electromagnetics Torque

来源：评论

学校读者我要写书评

暂无评论

Gait Phase Classification Based on sEMG Signals Using Long Short-Term Memory for Lower Limb Exoskeleton Robot

引用

IOP Conference Series: Materials Science and Engineering 2020年第1期853卷

作者： Ye Yuan Ziming Guo Can Wang Shengcai Duan Lufeng Zhang Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergic Systems Shenzhen Institutes of Advanced Technology Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing College of Electronic and Information Engineering Southwest University.

In this work, we present a Long Short-Term Memory Model (LSTMM) for gait phase classification based on sEMG signals to control the lower limb exoskeleton robot which can recognize 2 phases (Stand and Swing) of leg phases between the foot and ground. This model only needs four sEMG signals to control the lower limb exoskeleton robot helping the hemiplegia patient walking. Compared with the existing methods, the proposed model not only avoids the complex sensor systems but also enhances the accuracy of gait phase classification. The experimental results first verify the availability of sEMG data acquisition system on the lower limb exoskeleton robot made by the Shenzhen Institutes of Advanced Technologies (SIAT) by quantify the system with gold standard optoelectronic system Vicon, then show that the proposed LSTMM is significantly higher on prediction accuracy and has better robustness for gait phase classification to control the lower limb exoskeleton robot with different speeds. Finally, the maximum accuracy of LSTMM on the gait phase classification is 97.89%.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Robotic Gripper Arm system with Effective Working Envelope

Robotic Gripper Arm System with Effective Working Envelope

引用

International Conference on intelligent Computing and Control systems

作者： Virendra Patidar Apoorva Mishra Ritu Tiwari Robotics & Intelligent System Design Lab ABV-Indian Institute of Information Technology & Management Gwalior India Soft Computing and Expert System Lab ABV-Indian Institute of Information Technology & Management Gwalior India

ISBN: (纸本)9781538628430;9781538628423

Robotic hand-arm is used in many areas ranging from household to commercial purposes. In the last decade, there has been a rapid growth in the applications of the robotic arm with gripper involving exploration of an area and then performing a specified task. Currently different varieties of robotic arms are available for commercial use with their respective technical applications. This paper provides a new technical insight into the area of robotic arm. The proposed work makes improvements over the existing methods by designing a robotic arm with 7 DOF (Degree of Freedom), and then starts working at arm envelope, space and increasing its efficiency. Finally, we add grip, hold and place capability using different algorithms and simulation. The proposed approach involving a robotic arm with 7 DOF outperforms the traditional methods of designing a robotic arm.

关键词： Robotic arm Gripper Axis Degree of freedom (DOF)

来源：评论

学校读者我要写书评

暂无评论

Comparision of different control algorithms for a knee exoskeleton

Comparision of different control algorithms for a knee exosk...

引用

International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Yuhao Luo Can Wang Zheng Wang Yue Ma Xinyu Wu Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology

Though the rapidly development in exoskeleton robot area, there are still some challenges, such as the safe and friendly human-machine interaction. In this paper, we proposed a novel knee exoskeleton driven by Series Elastic Actuator (SEA) which is a compliant actuator has the characteristic low output impedance, low friction, high quality force control and back-drivability. As for walking assistance, the force control is vital. Here, we mainly apply two control method to achieve the robust force control, one is the feedback control with enhanced disturbance observer, another is the Integral Sliding Mode Control (ISM). We test both the stability and force tracking performance of the two controller. The result showed that both algorithms can achieve the satisfactory performance and the ISM algorithm obtained the slightly better result.

关键词： Exoskeletons Robots Springs Force control Man-machine systems Actuators Impedance

来源：评论

学校读者我要写书评

暂无评论

A novel skeleton-based action recognition method via cuboid rearranging

A novel skeleton-based action recognition method via cuboid ...

引用

2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Zhu, Kaijun Wang, Ruxin Cheng, Jun Tao, Dapeng FIST LAB Yunnan University Kunming Yunnan650091 China Shenzhen Union Vision Innovation Technology Co Ltd. China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen518055 China Chinese University of Hong Kong Hong Kong999077 Hong Kong

ISBN: (纸本)9781538680698

Depth sensors such as Microsoft Kinect v2 have promoted the active research of human action recognition in recent years. While a great progress has been witnessed, most of existing skeleton-based approaches neglect the fact that only parts of the human body move in an action, and they fail to consider the ordinal positions of the body joints. In this paper, we are motivated by the fact that the category of an action is determined by local movements of body joints, and propose an attended cuboid model for skeleton-based action recognition. Specifically, a cuboid arranging strategy is developed to organize the pairwise displacement vectors among all body joints, where a cuboid representation of actions is obtained. Such a representation is well structured and allows the deep CNN models to analyze an action in a concentrated way. Moreover, an attention mechanism is exploited in the deep model, such that the most relevant features can be extracted. Extensive experiments on three popular datasets demonstrate the effectiveness of our method compared with the state-of-the-arts. © 2018 IEEE.

关键词： Musculoskeletal system

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：