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Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

Frontiers of Mechanical Engineering 2022年第3期17卷 75-89页

作者： Yue ZHENG Xiangxin LI Lan TIAN Guanglin LI CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology(SIAT)Chinese Academy of Sciences(CAS)Shenzhen518055China Shenzhen College of Advanced Technology University of Chinese Academy of SciencesShenzhen518055China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for SocietyShenzhen518055China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055China

The loss of hand functions in upper limb amputees severely restricts their mobility in daily *** a humanoid prosthetic hand would be an effective way of restoring lost hand *** a prosthetic hand design,replicating the natural and dexterous grasping functions with a few actuators remains a big *** this study,a function-oriented optimization design(FOD)method is proposed for the design of a tendon-driven humanoid prosthetic *** optimization function of different functional conditions of full-phalanx contact,total contact force,and force isotropy was constructed based on the kinetostatic model of a prosthetic finger for the evaluation of grasping *** a genetic algorithm,the optimal geometric parameters of the prosthetic finger could be determined for specific functional *** results reveal that the structure of the prosthetic finger is significantly different when designed for different functional requirements and grasping target sizes.A prosthetic finger was fabricated and tested with grasping *** mean absolute percentage error between the theoretical value and the experimental result is less than 10%,demonstrating that the kinetostatic model of the prosthetic finger is effective and makes the FOD method *** study suggests that the FOD method enables the systematic evaluation of grasping performance for prosthetic hands in the design stage,which could improve the design efficiency and help prosthetic hands meet the design requirements.

关键词： function-oriented tendon driven prosthetic hand optimization humanoid underactuated

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Direct observation of the distribution of impurity in phosphorous/boron co-doped Si nanocrystals

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Chinese Physics B 2023年第12期32卷 454-458页

作者：李东珂韩俊楠孙腾陈佳明 Etienne Talbot Rémi Demoulin 陈王华皮孝东徐骏陈坤基 School of Electronic Science and Engineering National Laboratory of Solid State MicrostructuresCollaborative Innovation Center of Advanced MicrostructuresJiangsu Provincial Key Laboratory of Advanced Photonic and Electronic MaterialsNanjing UniversityNanjing 210000China ZJU-Hangzhou Global Scientific and Technological Innovation Center School of Materials Science and EngineeringZhejiang UniversityHangzhou 311200China Univ Rouen Normandie INSA Rouen NormandieCNRSGPM UMR 6634F-76000 RouenFrance School of Physical Science and Technology Ningbo UniversityNingbo 315211China

Doping in Si nanocrystals is an interesting topic and directly studying the distribution of dopants in phosphorous/boron co-doping is an important issue facing the scientific *** this study,atom probe tomography is performed to study the structures and distribution of impurity in phosphorous/boron co-doped Si nanocrystals/SiO_(2) *** with phosphorous singly doped Si nanocrystals,it is interesting to find that the concentration of phosphorous in co-doped samples can be significantly *** simulation suggests that phosphorous-boron pairs are formed in co-doped Si nanocrystals with the lowest formation energy,which also reduces the formation energy of phosphorous in Si *** results indicate that co-doping can promote the entry of phosphorous impurities into the near-surface and inner sites of Si nanocrystals,which provides an interesting way to regulate the electronic and optical properties of Si nanocrystals such as the observed enhancement of conductivity and sub-band light emission.

关键词： Si nanocrystals phosphorous and boron co-doping impurity distribution

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Boosting flexible electronics with integration of two-dimensional materials

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InfoMat 2024年第7期6卷 1-50页

作者： Chongyang Hou Shuye Zhang Rui Liu Thomas Gemming Alicja Bachmatiuk Hongbin Zhao Hao Jia Shirong Huang Weijia Zhou Jian-Bin Xu Jinbo Pang Mark HRümmeli Jinshun Bi Hong Liu Gianaurelio Cuniberti Institute for Advanced Interdisciplinary Research(iAIR) University of JinanJinanthe People’s Republic of China State Key Laboratory of Advanced Welding and Joining Harbin Institute of TechnologyHarbinthe People’s Republic of China State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information TechnologyChinese Academy of SciencesShanghaithe People’s Republic of China Institute for Materials Chemistry Leibniz Institute for Solid State and Materials Research Dresden(IFW Dresden)DresdenGermany Lukasiewicz Research Network PORT Polish Center for Technology DevelopmentWroclawPoland State Key Laboratory of Advanced Materials for Smart Sensing GRINM Group Co.LtdBeijingthe People’s Republic of China Institute for Materials Science and Max Bergmann Center of Biomaterials TUD Dresden University of TechnologyDresdenGermany Department of Electronic Engineering The Chinese University of Hong KongHong Kong SARthe People’s Republic of China Institute of Environmental Technology VSB-Technical University of OstravaOstravaCzech Republic College of Energy Soochow Institute for Energy and Materials InnovationsSoochow UniversitySuzhouthe People’s Republic of China Key Laboratory of Advanced Carbon Materials and Wearable Energy Technologies of Jiangsu Province Soochow UniversitySuzhouthe People’s Republic of China Centre of Polymer and Carbon Materials Polish Academy of SciencesZabrzePoland School of Integrated Circuits University of Chinese Academy of SciencesBeijingthe People’s Republic of China Institute of Microelectronics of Tianjin Binhai New Area Tianjinthe People’s Republic of China Institute of Microelectronics Chinese Academy of SciencesBeijingthe People’s Republic of China State Key Laboratory of Crystal Materials Center of Bio and Micro/Nano Functional MaterialsShandong UniversityJinanthe People’s Republic of China

Flexible electronics has emerged as a continuously growing field of ***-dimensional(2D)materials often act as conductors and electrodes in elec-tronic devices,holding significant promise in the design of high-performance,flexible *** studies have focused on harnessing the potential of these materials for the development of such ***,to date,the incorporation of 2D materials in flexible electronics has rarely been summa-rized or ***,there is an urgent need to develop compre-hensive reviews for rapid updates on this evolving *** review covers progress in complex material architectures based on 2D materials,including interfaces,heterostructures,and 2D/polymer ***-ally,it explores flexible and wearable energy storage and conversion,display and touch technologies,and biomedical applications,together with integrated design *** the pursuit of high-performance and high-sensitivity instruments remains a primary objective,the integrated design of flexible electronics with 2D materials also warrants *** combin-ing multiple functionalities into a singular device,augmented by machine learning and algorithms,we can potentially surpass the performance of existing wearable ***,we briefly discuss the future trajectory of this burgeoning *** review discusses the recent advancements in flex-ible sensors made from 2D materials and their applications in integrated archi-tecture and device design.

关键词： 2D materials biomedical healthcare energy storage and conversion flexible electronics heterostructures sensors

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Numerical Study on Motion Responses of Two Parallel Ships During Underway Replenishment by the Semi-Analytical HOTP Method

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China Ocean Engineering 2022年第2期36卷 233-246页

作者： YANG Yun-tao ZHU Ren-chuan MA Chao GAO Hui School of Naval Architecture and Civil Engineering Jiangsu University of Science and TechnologyZhangjiagang 215600China State Key Laboratory of Ocean Engineering Collaborative Innovation Center for Advanced Ship and Deep-Sea ExplorationSchool of Naval ArchitectureOcean and Civil EngineeringShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of High Performance Ship Technology(Wuhan University of Technology) Ministry of EducationWuhan 430063China School of Naval Architecture Ocean and Energy Power EngineeringWuhan University of TechnologyWuhan 430063China

Motion responses of two ships advancing parallel in waves with hydrodynamic interactions are investigated in this paper. Within the framework of the frequency-domain potential flow theory, a semi-analytical higher-order translating-pulsating source(HOTP) method is presented to solve the problems of coupled radiation and diffraction potential. The method employs nine-node bi-quadratic curvilinear elements to discretize the boundary integral equations(BIEs) constructed over the mean wetted surface of the two ship hulls. In order to eliminate the numerical oscillation, analytical quadrature formulas are derived and adopted to evaluate the integrals related to the Froudedependent part of the Green’s function along the horizontal direction in the BIEs. Based on the method, a numerical program is originally coded. Through the calculations of hydrodynamic responses of single ships, the numerical implementation is proved successful. Then the validated program is applied in the investigations on the hydrodynamic interactions of two identical Wigley Ⅲ hulls and the underway replenishment of a frigate and a supply ship in waves with and without stagger, respectively. The comparison between the present computed results with experimental data and numerical solutions of other methods shows that the semi-analytical HOTP method is of higher accuracy than the pulsating source Green’s function method with speed correction and better stability than the traditional HOTP method based on Gauss quadrature. In addition, for two ships with obviously different dimensions,the influence of hydrodynamic interactions on the smaller ship is found to be more noticeable than that on the larger ship, which leads to the differences between the motions of frigate with and without the presence of supply ship.

关键词： semi-analytical HOTP method two parallel ships underway replenishment coupled motions

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Self-assembled CoOOH on TiO_(2) for enhanced photoelectrochemical water oxidation

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Journal of Energy Chemistry 2021年第9期30卷 512-521页

作者： Xiangrong Ren Yujin Ji Yiyue Zhai Ningyi Yuan Jianning Ding Youyong Li Junqing Yan Shengzhong Frank Liu Key Laboratory of Applied Surface and Colloid Chemistry Ministry of EducationShaanxi Key Laboratory for Advanced Energy DevicesShaanxi Engineering Lab for Advanced Energy TechnologySchool of Materials Science and EngineeringShaanxi Normal UniversityXi’an 710119ShaanxiChina Institute of Functional Nano&Soft Materials(FUNSOM) Jiangsu Key Laboratory for Carbon-Based Functional Materials&DevicesSoochow UniversitySuzhou 215123JiangsuChina iChEM Dalian Institute of Chemical PhysicsUniversity of Chinese Academy of SciencesChinese Academy of SciencesDalian 116023LiaoningChina School of Materials Science and Engineering Jiangsu Collaborative Innovation Center of Photovoltaic Science and EngineeringJiangsu Cultivation Base for State Key Laboratory of Photovoltaic Science and TechnologyChangzhou UniversityChangzhou 213164JiangsuChina

Providing efficient charge transfer through the interface between the semiconductor and co-catalyst is greatly desired in photoelectrocatalytic (PEC) energy ***,we excogitate a novel and facile means,via electrochemical activation,to successfully load the amorphous CoOOH layer architecture onto the surface of TiO_(2).Intriguingly,the as-obtained 6%CoOOH-TiO_(2)photoelectrode manifests optimal PEC performance with a high photocurrent density of 1.3 mA/cm~2,3.5 times higher than that of pristine TiO_(2).Electrochemical impedance spectroscopy (EIS),Tafel analysis and cyclic voltammetry (CV) methods show that the carrier transfer barrier within the electrode and the transition of Co^(3+)OOH to Co^(4+)OOH have the dominating effects on the PEC *** calculation reveals that the interface between the CoOOH and TiO_(2)improves the homogeneity of effective d-orbital electronic-transfer ability among Co *** research sheds light on the water oxidation reaction and the design of more favorable PEC cocatalysts.

关键词： Amorphous Co-catalyst Water oxidation Mechanism TiO_(2)

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Efficient spectral regulation in Ce:Lu_(3)(Al,Cr)_(5)O_(12) and Ce:Lu_(3)(Al,Cr)_(5)O_(12)/Ce:Y_(3)Al_(5)O_(12) transparent ceramics with high color rendering index for high-power white LEDs/LDs

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Journal of advanced Ceramics 2021年第5期10卷 1107-1118页

作者： Tianyuan ZHOU Chen HOU Le ZHANG Yuelong MA Jian KANG Tao LI Rui WANG Jin HUANG Junwei LI Haidong REN Zhenxiao FU Farida ASELIM Ming LI Hao CHEN Jiangsu Key Laboratory of Advanced Laser Materials and Devices School of Physics and Electronics EngineeringJiangsu Normal UniversityXuzhou 221116China School of Mechanical Engineering Jiangsu UniversityZhenjiang 212013China Jiangsu Xiyi Advanced Materials Research Institute of Industrial Technology Xuzhou 221400China Department of Physics and Astronomy Bowling Green State UniversityBowling Green 43403USA State Key Laboratory of Advanced Materials and Electronic Components Guangdong Fenghua Advanced Technology Holding Co.Ltd.Zhaoqing 526020China Department of Mechanical Materials and ManufacturingUniversity of NottinghamNottingham NG14BUUK

Realizing a high color rendering index(CRI)in Ce:LuAG transparent ceramics(TCs)with desired thermal stability is essential to their applications in white LEDs/LDs as color *** this study,based on the scheme of configuring the red component by Cr^(3+) doping,an efficient spectral regulation was realized in Ce,Cr:LuAG TCs.A unilateral shift phenomenon could be observed in both photoluminescence(PL)and photoluminescence excitation(PLE)spectra of *** constructing TC-based white LED/LD devices in a remote excitation mode,luminescence properties of Ce,Cr:LuAG TCs were systematically *** CRI values of Ce:LuAG TC based white LEDs could be increased by a magnitude of 46.2%.Particularly,by combining the as fabricated Ce,Cr:LuAG TCs with a 0.5 at% Ce:YAG TC,surprising CRI values of 88 and 85.5 were obtained in TC based white LEDs and LDs,***,Ce,Cr:LuAG TC is a highly promising color convertor for high-power white LEDs/LDs applied in general lighting and displaying.

关键词： Ce,Cr:LuAG TC spectral regulation energy transfer color rendering index(CRI) white LEDs/LDs

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SEL1L preserves CD8^(+) T-cell survival and homeostasis by fine-tuning PERK signaling and the IL-15 receptor-mediated mTORC1 axis

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Cellular & Molecular Immunology 2023年第10期20卷 1232-1250页

作者： Yafeng Gao Wenhui Li Zhenghao Wang Cangang Zhang Yaping He Xiaowei Liu Kexin Tang Weiguo Zhang Qiaoming Long Yong Liu Jinping Zhang Baojun Zhang Lianjun Zhang National Key Laboratory of Immunity and Inflammation Suzhou Institute of Systems MedicineChinese Academy of Medical Sciences&Peking Union Medical CollegeSuzhou215123JiangsuChina Key Laboratory of Synthetic Biology Regulatory Elements Suzhou Institute of Systems MedicineChinese Academy of Medical Sciences&Peking Union Medical CollegeSuzhou215123JiangsuChina School of Life Science and Technology China Pharmaceutical UniversityNanjing211198JiangsuChina Department of Pathogenic Microbiology and Immunology School of Basic Medical SciencesXi’an Jiaotong UniversityXi’anShaanxiChina Institute of Infection and Immunity Translational Medicine InstituteXi’an Jiaotong University Health Science CenterXi’anShaanxiChina Key Laboratory of Environment and Genes Related to Diseases Xi’an Jiaotong UniversityXi’anShaanxiChina Xi’an Key Laboratory of Immune Related Diseases Xi’anShaanxiChina Department of Radiotherapy and Oncology The Second Affiliated Hospital of Soochow UniversitySuzhouChina Department of Endocrinology The Second Affiliated Hospital of Soochow UniversitySuzhouChina Jiangsu Key Laboratory of Neuropsychiatric Diseases and Cam-Su Mouse Genomic Resources Center Medical College of Soochow UniversitySuzhouJiangsuChina Hubei Key Laboratory of Cell Homeostasis College of Life SciencesTaiKang Center for Life and Medical SciencesThe Institute for Advanced StudiesFrontier Science Center for Immunology and MetabolismWuhan UniversityWuhanChina Institute of Biology and Medical Sciences(IBMS) Soochow UniversitySuzhou215123JiangsuChina

SEL1L-mediated endoplasmic reticulum-associated degradation(ERAD)plays critical roles in controlling protein homeostasis by degrading misfolded or terminal unfolded ***,it remains unclear how SEL1L regulates peripheral T-cell survival and ***,we found that SEL1L deficiency led to a greatly reduced frequency and number of mature T cells,which was further validated by adoptive transfer experiments or bone marrow chimera experiments,accompanied by the induction of multiple forms of cell ***,SEL1L deficiency selectively disrupted naïve CD8+T-cell homeostasis,as indicated by the severe loss of the naïve T-cell subset but an increase in the memory T-cell *** also found that SEL1L deficiency fueled mTORC1/c-MYC activation and induced a metabolic shift,which was largely attributable to enhanced expression of the IL-15 receptorαandβ***,single-cell transcriptomic profiling and biochemical analyses further revealed that Sel1l−/−CD8+T cells harbored excessive ER stress,particularly aberrant activation of the PERK-ATF4-CHOP-Bim pathway,which was alleviated by supplementing IL-7 or ***,PERK inhibition greatly resolved the survival defects of Sel1l−/−CD8+T *** addition,IRE1αdeficiency decreased mTORC1 signaling in Sel1l−/−naïve CD8+T cells by downregulating the IL-15 receptorα***,these observations suggest that the ERAD adaptor molecule SEL1L acts as an important checkpoint for preserving the survival and homeostasis of peripheral T cells by regulating the PERK signaling cascade and IL-15 receptor-mediated mTORC1 axis.

关键词： T-cell homeostasis Endoplasmic reticulum-associated degradation ER stress response PERK IRE1a

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A Prosthetic Hand System with Human-Like Grasping by Combining EMG and Visual Information

A Prosthetic Hand System with Human-Like Grasping by Combini...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Yue Zheng Xinxing Chen Lan Tian Xiangxin Li Haoshi Zhang Xugang Jiang Guanglin Li Chenglong Fu Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences (CAS) China

ISBN: (数字)9798350391916

ISBN: (纸本)9798350391923

This paper proposed a novel prosthetic hand system integrated with a designed hybrid control method for achieving human-like grasping. The system design has been elaborated, including the mechanism design of a humanoid prosthetic hand equipped with multimodal sensing capabilities, a multi-channel EMG collector, a sensory feedback device, and a real-time central processing unit. A hybrid control method that combines electromyogram (EMG) and visual information was proposed to recognize the control intention of the system user. Preliminary verification of grasping experiments had been conducted, which proved the effectiveness of the prosthetic hand system and the hybrid control method. The development of this system aims to enhance the control performance and perceptual interaction capabilities of prosthetic hands while addressing limitations encountered in traditional myoelectric prosthetic hands. Besides, it could serve as a validation platform for assessing the control performance of diverse algorithms applied in practical applications.

关键词： Visualization Mechatronics Multimodal sensors Machine vision Mechanism design Grasping Electromyography Real-time systems Prosthetic hand System analysis and design

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Brain Rhythmic Activity and Hemodynamic Response During Wrist Extension Induced by Functional Electrical Stimulation 17

Brain Rhythmic Activity and Hemodynamic Response During Wris...

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17th International Convention on Rehabilitation Engineering and Assistive technology, i-CREATe 2024

作者： Mao, He Peng, Yinghu Zheng, Yue Li, Guanglin Li, Hai Xu, Yongan Fang, Peng Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Engineering Laboratory of Neural Rehabilitation Technology Shenzhen518055 China Southern University of Science and Technology Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen518055 China Southern Medical University Neurorehabilitation Laboratory Department of Rehabilitation Medicine Shenzhen Hospital Shenzhen518101 China Second Affiliated Hospital Institute of Emergency Medicine Zhejiang University School of Medicine Department of Emergency Medicine Hangzhou310009 China

ISBN: (纸本)9798350355154

Functional electrical stimulation (FES) is an effective therapy for motor function restoration after stroke. To investigate brain activation during FES-induced wrist extension, electroencephalogram (EEG) and functional near-infrared spectroscopy (fNIRS) were simultaneously measured for 6 healthy subjects. We found an increase in oxygenated hemoglobin (HbO) concentration, which was accompanied by a decrease in deoxygenated hemoglobin (HbR) concentration in bilateral sensorimotor cortex (SMC) during movement. We also found event-related desynchronization (ERD) of alpha and beta EEG rhythms during movement and event-related synchronization (ERS) after the cessation of the movement. Neurovascular coupling (NC) was evaluated by the correlation coefficient (cc) between alpha ERD and HbO, and a higher cc value was found on the contralateral hemisphere. These findings demonstrate the potential application of EEG-fNIRS for quantifying NC during FES therapy. © 2024 IEEE.

关键词： Electroencephalography

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Synthesis and characterization of iron clusters with an icosahedral [Fe@Fe12]16+ Core

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National Science Review 2024年第4期11卷 123-129页

作者： Gan Xu Yun-Shu Cui Xue-Lian Jiang Cong-Qiao Xu Jun Li Xu-Dong Chen Jiangsu Collaborative Innovation Center of Biomedical Functional Materials and Jiangsu Key Laboratory of New Power Batteries School of Chemistry and Materials Science Nanjing Normal University Department of Chemistry and Guangdong Provincial Key Laboratory of Catalytic Chemistry Southern University of Science and Technology Department of Chemistry and Engineering Research Center of Advanced Rare-Earth Materials of Ministry of Education Tsinghua University State Key Laboratory of Coordination Chemistry Nanjing University

Iron-metal clusters are crucial in a variety of critical biological and material systems,including metalloenzymes,catalysts,and magnetic storage ***,a synthetic high-nuclear iron cluster has been absent due to the extreme difficulty in stabilizing species with direct iron-iron *** this work,we have synthesized,crystallized,and characterized a（Tp*）4W4S12(Fe@Fe12) cluster(Tp*=tris（3,5-dimethyl-1-pyrazolyl）borate（1-）),which features a rare trideca-nuclear,icosahedral[Fe@Fe12] cluster core with direct multicenter iron-iron bonding between the interstitial iron（Fei） and peripheral irons（Fep）,as well as Fep…Fepferromagnetic *** chemistry studies reveal that the stability of the cluster arises from the 18-electron shell-closing of the [Fe@Fe12]16+core,assisted by its bonding interactions with the peripheral tridentate [（Tp*）WS3]4-ligands which possess both S→Fe donation and spin-polarized Fe-Wσ *** ground-state electron spin is theoretically predicted to be S=32/2 for the *** existence of low oxidation-state（OS～+1.23） iron in this compound may find interesting applications in magnetic storage,spintronics,redox chemistry,and cluster catalysis.

关键词： Fe13 cluster iron-sulfur cluster low-valence iron iron−iron bond high spin complex

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