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37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

作者： Niu, Yan Shi, Liwei Guo, Shuxiang Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781665465366

The urgent need for marine resources exploration and development has gradually changed the focus of research in the field of robots. The research about robots working across multimedia is more important, including the amphibious robots. In this paper, a Natatores-like robot is designed, which has the characteristics of high environmental adaptability, concealment, propulsion efficiency and energy utilization. In order to study and verify the mechanical strength of the critical components of the robot when walking on land, the static and modal simulation analysis of the leg root, shank, and webbed foot of the leg design is carried out. The results show that the static strength and static stiffness of the leg root and shank meet the requirements, and the webbed foot needs to be optimized to make it have less deformation when loaded. None of them has danger of resonance with the motor. © 2022 IEEE.

关键词： Modal analysis

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A sEMG-based Muscle-Compensation-Error Elimination Module for The Home-based Bilateral Rehabilitation system

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IEEE Robotics and Automation Letters 2025年第7期10卷 6696-6703页

作者： Wang, Hanze Guo, Shuxiang Li, He Ding, Mingchao Southern University of Science and Technology Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China Beijing Institute of Technology Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing100081 China Beijing Institute of Technology Department of Peripheral Vascular Intervention Aerospace Center Hospital School of Life Science Beijing100081 China

Home-based bilateral training using exoskeletons is considered an effective rehabilitation method to restore the normal motion function of stroke patients' limbs. However, due to the imbalance of limb muscle strength, muscle compensation of the functional upper limb will cause surface electromyography (sEMG) signal fluctuations. The signal fluctuations will lead to prediction errors, thereby affecting the effect of bilateral rehabilitation. To eliminate the prediction error caused by muscle compensation, a novel rehabilitation module for a home-based bilateral rehabilitation robotic system is proposed in this paper. This sEMG-driven rehabilitation module, which incorporates the channel splitting and transferable frequency domain, first identifies the type of muscle compensation mixed in continuous movement and then eliminates the error caused by muscle compensation. Online experiments were conducted to evaluate the system in tracking accuracy and muscle-compensation-error elimination, which showed the proposed rehabilitation system with rehabilitation module achieved fast adaption to the patient's compensatory movement as well as improving the effect of robot-assisted bilateral training. © 2016 IEEE.

关键词： Human rehabilitation equipment

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Mixing Dynamics and Synthesis Performance of Staggered Herringbone Micromixer for Limit Size Lipid Nanoparticles

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Journal of Beijing Institute of technology 2022年第3期31卷 293-301页

作者： Shuai Zhang Yunlong Fan Chenmu Xue Yuanzhan Yang Xiaoqiong Li Xiaodong Chen Yulin Deng School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Institute of Engineering Medicine Beijing Institute of TechnologyBeijing 100081China School of Life Science Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information TechnologyBeijing 100081China

Staggered herringbone micromixer has shown good efficiency of mixing and performance of synthesizing *** bring a detailed understanding of the mixing dynamics and syn-thesis performance of this kind of micromixer,this paper carries out a high-fidelity numerical simu-lation and a parametrial experimental study on a well-established design.A passive tracer is induced in the numerical simulation to analyze mixing dynamics induced by the staggered herring-bone *** effects are identified to reveal the underlying mechanisms,including folding,stretching,and *** the authors’knowledge,the splitting effect is identified for the first time by the isosurface of the passive tracer,to show the high efficiency of the staggered herring-bone *** micromixer is then used to synthesize lipid nanoparticles by mixing a mixture of lipid and poly(lactic-co-glycolic acid)(PLGA)solutions with deionized *** a wide mass ratio of lipid and PLGA solutions,nanoparticles with good monodispersity are synthesized to reflect the good compatibility of the micromixer and the *** addition,an optimized mass ratio is identified from the parametrical experiment.

关键词： mixing dynamics staggered herringbone micromixer folding stretching splitting

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Centrifugal microfluidic chip for multi-step fluid control at low rotational speed 4

Centrifugal microfluidic chip for multi-step fluid control a...

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4th International Conference on Biomedicine and Bioinformatics engineering, ICBBE 2024

作者： Lu, Shuyu Yang, Yuanzhan Cui, Siqi Li, Anyi Li, Xiaoqiong School of Medical Technology Beijing Institute of Technology 5 South Zhongguancun Street Haidian District Beijing100081 China Beijing Key Laboratory for Separation and Analysis in Biomedicine and Pharmaceuticals Beijing Institute of Technology 5 South Zhongguancun Street Haidian District Beijing100081 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology 5 South Zhongguancun Street Haidian District Beijing100081 China

ISBN: (纸本)9781510682443

Centrifugal microfluidic chips have excellent automation potential. Various detection technologies have been integrated into centrifugal microfluidic chips. To realize multi-step reaction processes, centrifugal microfluidic chips require the integration of several valves. Valve systems using only capillary valves may lead to excessively high rotational speeds. This is undesirable for manufacturing portable, low-power centrifugal microfluidic chip mating devices. Through valve mating and chamber layout, a valve system with low rotational speed characteristics was designed to overcome the dependence of centrifugal microfluidic chips on high rotational speed. The system includes 2 hydrophobic valves, 2 siphon valves and a Coriolis force structure. This study simulated the parametrically designed valve and Coriolis force structure by COMSOL and obtained the liquid control effect as expected. Using fluid simulation, the development cycle of the centrifugal microfluidic chip was shortened, saving time and expense. Through experiments, this study proved that our centrifugal microfluidic chip can accomplish 4-step reaction and 7-step pipetting control of 5 reagents. It has consistency and stability for the distribution of products. © 2024 SPIE.

关键词： Microfluidic chips

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Design and Characteristic Evaluation of a Novel Clamping Mechanism for Amphibious Spherical Bionic Robots 20

Design and Characteristic Evaluation of a Novel Clamping Mec...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Gu, Chengchao Guo, Shuxiang Liu, Meng Yin, He Li, Ao Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

The motion function and control of amphibious robots is a hot topic at present. The multi-function of robot is the development trend of robot. In this paper, based on the existing prototype bionic robot in the laboratory, the structure of the robot's mechanical leg is updated, and the underwater grasping function is successfully added. The new mechanical leg integrates a mechanical claw device, which makes use of the geometric characteristics of the parallelogram to shrink the mechanical claw, maximizes the use of the limited space below the robot, and greatly extends the effective length of the grasping end of the mechanical claw. At the same time, through static stress analysis and motion simulation, the designed structure was evaluated and analyzed, and the appropriate servo specifications and structure size were obtained, which verified that the current designed structure can complete the grasping task of 3kg objects. Finally, 3D printing technology was used to complete the production of the first version of the new mechanical leg, and the functional verification experiment of grasping objects of two different sizes was completed by using the steering gear control. © 2023 IEEE.

关键词： Machine design

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A Preliminary Study of Vibration Feedback for Robot-assisted Endovascular Surgery 20

A Preliminary Study of Vibration Feedback for Robot-assisted...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Li, Xinming Guo, Shuxiang Graduate School of Engineering Kagawa University Hayashi-cho Takamatsu761-0396 Japan Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China School of Life Science Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Haidian District Beijing100081 China

ISBN: (纸本)9798350320831

The study of haptic perception is significant and general for robot-assisted endovascular surgery. During actual surgical procedure, feedback information has advantages in monitoring the insertion process, providing direct instruction for surgeons, and improving operation safety. In this work, a new implementation of haptic perception named vibration feedback is concepted and proposed based on micro vibration motor. Related working principles and kinetic analysis of vibration feedback are descripted based on three kinds of vibration patterns. Two kinds of experiments are conducted to determine suitable parameters of duty cycle for vibration feedback and test the using performance in human model. Experimental results indicate that the proposed vibration feedback is feasible and helpful to offer a haptic perception. Moreover, benefiting from the micro size of vibration motor, this study also has potential value for some research fields like small wearable device, micro haptic feedback, multi-level feedback perception for robotic systems. © 2023 IEEE.

关键词： Vibration analysis

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Premilitary Performance Evaluation of Model-mediated Telerehabilitation system with Task Stiffness Estimation 20

Premilitary Performance Evaluation of Model-mediated Telereh...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Yang, Ziyi Guo, Shuxiang Kagawa University Graduate School of Engineering Hayashi-cho Takamatsu761-0396 Japan Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Haidian District Beijing100081 China

ISBN: (纸本)9798350320831

For the telerehabilitation robotic system, the stable and transparent remote therapist-patient interaction under the internet communication latency remains an open challenge. In this paper, we proposed a model-mediated telerehabilitation system to avoid the delayed force feedback on the therapist side. Moreover, a variable stiffness robot is employed in the proposed telerehabilitation system to improve the patient-robot interaction on the slave side. On the slave side, a performance-based variable stiffness interactive assistance control law was utilized and the task stiffness estimation method is designed for master-side interaction model updating. On the master side, the master subsystem was implemented by a haptic device with visual and force feedback. The overall telerehabilitation was realized by the TCP/IP internet communication method. From the premilitary experimental results, the therapist subject could conduct the therapy with the aid of visual and force feedback, and the patient subject could complete the training task with their active efforts. © 2023 IEEE.

关键词： Stiffness

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Research on Target Encirclement Strategy of Amphibious Spherical Robots in 3D Underwater Environments 20

Research on Target Encirclement Strategy of Amphibious Spher...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Yang, Dan Shi, Liwei Guo, Shuxiang Feng, Shilong Beijing Institute of Technology School of Medical Technology Beijing100081 China Beijing Institute of Technology School of Life Science Beijing100081 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology Ministry of Industry and Information Technology Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

The cooperative trapping of multiple amphibious robots in a 3D underwater environment is a comprehensive research topic that mainly includes the generation of dynamic alliances for trapping and path planning. To address this problem, this paper first proposes a 'trap point occupancy strategy' to realize the generation of dynamic alliances among multiple robots during the trapping process. Secondly, based on this, an improved gray wolf algorithm is proposed in this paper to implement robot target guidance and adaptive obstacle avoidance functions, used for the path planning of the robot's arrival at the trapping point during the trapping process, thus completing the entire trapping task. Then, this paper conducts simulation experiments in a 3D underwater environment with static obstacles, and the results confirm that the proposed cooperative trapping algorithm has high efficiency and robustness. Finally, the innovations and all the work in the article are summarized, and prospects are put forward. © 2023 IEEE.

关键词： Motion planning

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YOLOv7-Based Land and Underwater Target Detection and Recognition 20

YOLOv7-Based Land and Underwater Target Detection and Recogn...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Li, Jieren Shi, Liwei Guo, Shuxiang Beijing Institute of Technology School of Medical Technology Beijing100081 China Beijing Institute of Technology School of Life Science Beijing100081 China Ministry of Industry and Information Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

There is a growing demand for marine resource development. Bionic amphibious robots can replace humans to conduct land and underwater exploration, which has important research significance. Deep learning has developed rapidly in recent years, and many kinds of target detection algorithms have emerged. We select one two-stage target detection algorithm Faster R-CNN, three single-stage target detection algorithms SSD, Centernet, and YOLOv7. We use each of these four algorithms to train the VOC2007 dataset in a deep learning environment. After the training is completed, these four models are evaluated and predicted separately. We find an algorithm that is most suitable for the amphibious robot applicationYOLOv7. Finally, we use the YOLOv7 model to detect the underwater dataset, and the results prove that the model is promising for detecting small underwater targets. © 2023 IEEE.

关键词： Deep learning

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Fatigue Analysis of Leg Structure of a Natatores-Like Amphibious Robot 20

Fatigue Analysis of Leg Structure of a Natatores-Like Amphib...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Niu, Yan Shi, Liwei Guo, Shuxiang Beijing Institute of Technology School of Medical Technology Beijing100081 China Beijing Institute of Technology School of Life Science Beijing100081 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology Ministry of Industry and Information Technology Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

With the increasing demand for ocean exploration and development, the research about the amphibious robot is of great significance. In this paper, a natatores-like amphibious robot was designed by using the driving method of paddling by webbed foot. This mode has the advantages of high propulsion efficiency, good mobility and good stability. Due to the characteristics of this propulsion mode, the leg structure of the robot is often applied with periodic loads. And therefore it is necessary to verify the mechanical performance of the leg structure. The elastoplastic finite element model of the leg structure of the robot was modelled, and the fatigue analysis of the model under the walking gait were carried out. The results showed that the fatigue failure of the thigh and the shank would not occur within the design life, which met the design requirements. The analysis results can provide reference for the material selection and structural optimization design of leg in the subsequent work. © 2023 IEEE.

关键词： Robots

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