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IEEE International Conference on robotics and Biomimetics

作者： Jun Wu Shaowei Fan Fenglei Ni Hong Liu State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

A space-saving end-effector is designed for small scale manipulator in this paper. The end-effector is equipped with capture and actuation transmission capabilities. Two subsystems are highly integrated systems of mechanics, electronics and sensors. A trefoil shaped capture system is developed for closed envelop. The worm shaft and worm wheels are adopted for the self-locking property, and they are used in a unique manner. Straight path generation of linkage is proposed in the transmission system. The multisensory system and hardware architecture provide the foundation for control strategies. The effectiveness of the end-effector is verified by simulation and the capturing tolerance is obtained.

关键词： Sensors Grippers Couplings Torque Assembly Manipulators Shafts

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Cartesian Space Synchronous Impedance control of Two 7-DOF Robot Arm Manipulators

Cartesian Space Synchronous Impedance Control of Two 7-DOF R...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Minghe Jin Zijian Zhang Fenglei Ni Hong Liu State Key Laboratory of Robotics and systems Harbin Institute of Technology Harbin Heilongjiang 510001 China

ISBN: (纸本)9781479969357

In the paper, a new method named Cartesian Space Synchronous Impedance control (CSSIC) has been developed. The method combines the synchronous control and the impedance control together which can not only be used in the position control but can also realize the purpose of force control of the system with multi-manipulators. Therefore, if there are multi-manipulators grasping the same object, it can ensure the object will not fall and not be destroyed. The mathematical validation process and the stability proof of the method have been given. Besides, an experiment setup which has two 7-DOF robot arms has been established to testify the method. The testing result shows that the dual arm system, under disturbance, can ensure stable grasping of the object with the CSSIC method.

关键词： Equations Robot kinematics Mathematical model Impedance Manipulators Aerospace electronics

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sEMG-based single-joint active training with iLeg—A horizontal exoskeleton for lower limb rehabilitation

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Lecture Notes in Computer Science

作者： Hu, Jin Hou, Zeng-Guang Peng, Liang Peng, Long Gu, Nong State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Centre for Intelligent Systems Research Deakin University 75 Pigdons Road Waurn PondsVIC3216 Australia

ISBN: (纸本)9783319126425

In this paper, surface electromyography (sEMG) from muscles of the lower limb is acquired and processed to estimate the singlejoint voluntary motion intention, based on which, two single-joint active training strategies are proposed with iLeg, a horizontal exoskeleton for lower limb rehabilitation newly developed at our laboratory. In damping active training, the joint angular velocity is proportionally controlled by the voluntary effort derived from sEMG, performing as an ideal damper, while spring active training aims to create a spring-like environment where the joint angular displacement from the constant reference is proportionally controlled by the voluntary effort. Experiments are conducted with iLeg and one healthy male subject to validate the feasibility of the two single-joint active training strategies. © Springer International Publishing Switzerland 2014.

关键词： Exoskeleton (robotics)

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Recovering the controllability of Complex Networks

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IFAC Proceedings Volumes 2014年第3期47卷 10894-10901页

作者： Jin Ding Yong-Zai Lu Jian Chu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University 310027 Hangzhou P.R.China

The studies on the controllability of complex networks popularly existing in natural, social and man-made engineered systems have been a critical and attractive subject for both academic and practical communities. To design and maintain a networked system under control, it is vital to explore the mechanism and relationship between the network layout and its controllability. For a fully-controlled complex system, potential malicious attacks and/or random failures will lead to the damage of its internal structure, such as the breakdown of certain control nodes or the loss of the links between state nodes. In this paper, we first introduce the concept of degree of controllability to quantify the control level of the networks. And for the networks whose degree of controllability is not full, we propose two novel optimal recovering strategies, OAN (short for optimal adding-node) strategy and OAE (short for optimal adding-edge) strategy, to repair their controllability. The results of experiments conducted on the various real and model networks demonstrate the effectiveness of these two strategies and the better performance compared to their randomized counterparts, RAN (short for randomized adding-node) strategy and RAE (short for randomized adding-edge) strategy.

关键词： degree of controllability optimal adding-node recovering strategy optimal adding-edge recovering strategy network controllability complex networks

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Research on the control strategy of SEM based micro/nano tele-operation system

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2014年第11期35卷 2448-2457页

作者： Zhou, Jie Rong, Weibin Xu, Jinpeng Sun, Lining State Key laboratory Robotics and System Harbin Institute of Technology Harbin150080 China School of Electrical and Control Engineering Heilongjiang University of Science and Technology Harbin150022 China

In order to improve the tele-presence and stability of a scanning electron microscopy (SEM) based micro/nano tele-operation system, a sliding mode based impedance control scheme was proposed. Such a scheme features that impedance control strategy was applied to master to fulfill compliant control and sliding mode based impedance control strategy was adopted to slave to solve the parameter uncertainty problem. Tracking differentiator technology was integrated to the master/slave control strategy to obtain the derivative control signal of the micro/nano teleoperation system. Under the circumstance of low band and large gain of force feedback (105), the stability condition of micro/nano teleoperation system was derived from Liewellyn criterion. The good robustness and accurate force tele-presence of the proposed sliding mode control approach were verified by simulation and experimental results. The maximum displacement error is less than 0.5 μm during the location tracking process. The operator can precisely perceive 1 μN contact force from the slave. ©, 2014, Science Press. All right reserved.

关键词： Sliding mode control

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Hand motion recognition based on pressure distribution maps and LS-SVM

Hand motion recognition based on pressure distribution maps ...

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International Conference on Mechatronics and control (ICMC)

作者： Nan Li Shourong Wei Minfeng Wei Bo Liu Hong Huo Li Jiang National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing Aerospace Automatic Control Institute Beijing China State Key Laboratory of Robotics and system Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479925391

This paper presents a novel hand motion recognition method to achieve the volitional control of a multi-DOF prosthetic hand. Based on the principle that the pressure distributions on the surface of forearm caused by the muscular activities are different when different hand motions are performed, a human-machine interface (HMI) composed of 32 force sensitive resistor (FSR) sensors, measurement unit and recognition unit is designed to measure and classify the pressure distribution maps (PDM) of 9 typical hand motions. The least-squares support vector machine (LS-SVM) is adopted as the pattern recognition algorithm to classify the selected movement modes. The multi-subject experiment results show that the method can identify each motion with high accuracy.

关键词： Accuracy Sensor arrays Prosthetic hand Thumb Support vector machines

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Welcome to IEEE/CAA Journal of Automatica Sinica

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 I页

作者： Wang, Fei-Yue State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

Welcome to the first issue of IEEE/CAA Journal of Automatica Sinica. The Chinese version of IEEE/CAA Journal of Automatica Sinica, the first academic journal on automation in China, called Acta Automatica Sinica, was founded in 1963. It is now well established and well run with an outstanding reputation. This new journal, IEEE/CAA Journal of Automatica Sinica, is sponsored by Chinese Association of Automation (CAA), Institute of Automation of the Chinese Academy of Sciences (CASIA), and IEEE. The journal publishes high-quality papers on original theoretical and experiment research and development in the area of automation science and engineering. The coverage of IEEE/CAA Journal of Automatica Sinica includes but is not limited to: Automatic control; Artificial intelligence and intelligent control; systems theory and engineering; Pattern recognition and intelligent systems; Automation engineering and applications; Information processing and information systems; Network based automation; robotics; Computer-aided technologies for automation systems; Sensing and measurement; and Navigation, guidance, and control.

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Dynamics modeling and identification of the human-robot interface based on a lower limb rehabilitation robot

Dynamics modeling and identification of the human-robot inte...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Weiqun Wang Zeng-Guang Hou Lina Tong Yixiong Chen Liang Peng Min Tan State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

A lower limb rehabilitation robot, namely iLeg, has been developed recently. Since active exercises have been proven to be effective for neurorehabilitation and motor recovery, they are suggested to be implemented on iLeg. To this goal, patients' motion intention should be recognized. Therefore, a method based on the dynamic model of the human-robot interface (HRI) is designed to recognize the human motion intention. This paper is devoted to modeling and identifying the dynamics of the HRI. Firstly, the dynamic model of the HRI is designed by combining the dynamic models of the human leg and iLeg, where the human leg dynamic model (HLDM) is mainly concerned. By considering the motion trajectories during the rehabilitation exercises provided by iLeg, the human leg can be taken as a manipulator with two degrees of freedom; meanwhile, the joint angles and torques of the human leg can be measured indirectly by using the position and torque sensors mounted on the joints of iLeg. As a result, an 8-parameter HLDM can be designed by using the Lagrangian method. Then, the dynamic model of the HRI is identified by respectively and independently identifying the undetermined dynamic parameters of iLeg and the HLDM, where the dynamic parameters of the HLDM are mainly considered. Finally, the feasibility of the dynamic model of the HRI is validated by experiments.

关键词： Joints Dynamics Torque Hip Torque measurement Mathematical model Sensors

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Lumen segmentation and visualization of abdominal aorta using geodesic active contours for intravascular surgical simulation

Lumen segmentation and visualization of abdominal aorta usin...

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IEEE International Conference on robotics and Biomimetics

作者： Fan Yang Zeng-Guang Hou Shao-Hua Mi Gui-Bin Bian Xiao-Liang Xie State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479973989

Percutaneous transluminal coronary angioplasty (PTCA) has been proved to be a standard solution to most cardiovascular diseases (CVDs). The surgical simulator provides the trainees a new vehicle to learn this skill much more conveniently and effectively. The blood vessel model is at the core of the virtual environment. In this paper, a robust and semi-automatic approach to segment the abdominal aorta from the computed tomography angiography (CTA) is developed. The proposed approach employs the geodesic active contours method as the main component. The edge potential map is generated by applying nonlinear mapping function. The initial contours are evolved by applyging the fast marching method. The surface information representing the vessel is extracted by the marching cubes method. This approach has been proved successful for the construction of 3-D surface model of the aorta based on the CTA series.

关键词： Image edge detection Level set Biomedical imaging Active contours Mathematical model Image segmentation Computational modeling

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