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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Yili Fu Qinchao Zhang Fuhai Zhang Zengkang Gan The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

Stroke is very common and always leads to severe hand impairment. Traditional robotic systems have been introduced to assist therapy for a long time and already achieved certain effect. However, with further development of therapy strategies in the last few years, higher request to the rehabilitation robot has been put forward. Thus, we are developing a novel hand rehabilitation robot named HIT-glove to provide patient-cooperative therapy for hand-impaired poststroke patients. In this paper, the mechanical design of the actuated hand exoskeleton is detailed and the control strategy for patient-cooperative therapy is introduced. The actuated hand exoskeleton, which can be applied to hands in different sizes and shapes, is able to bilaterally actuate every joint of the fingers. The patient-cooperative control strategy, based on the sensing system and an interactive interface, is well designed to let the patient actively participate into the therapy. Besides, to get a better effect of functional rehabilitation of the hand, our robot is expected to provide the following two categories of therapy: motor function exercise for joints and movement coordination training for fingers.

关键词： stroke hand rehabilitation exoskeleton robotic therapy

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A 3D Stick-Slip Nanopositioner for Nanomanipulation

A 3D Stick-Slip Nanopositioner for Nanomanipulation

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Weibin Rong Shizhong Zhang Miao Yu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

A compact nanopositioner which consists of three stick-slip inertial stages was designed and built particularly for nanomanipulation inside a scanning electron microscope (SEM). Considering linear dynamics of PZT and nonlinear friction between slider and rod, a comprehensive model representation of the stick-slip stage was presented and verified by being compared with experimental results. Resolution to 10nm has been achieved and the ability to lift up to 70g has been demonstrated. Some manipulations of nanowires were performed in assistant of the nanopositioner we developed, including picking up and bending single ones. Both results of experiments and manipulations demonstrated the excellent performance of the nanopositioner.

关键词： Nanopositioner stick-slip friction modeling nanomanipulation.

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A New Self-Reconfigurable Modular Robotic system UBot: Multi-mode locomotion and Self-reconfiguration

A New Self-Reconfigurable Modular Robotic System UBot: Multi...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Yanhe Zhu Jie Zhao Shufeng Tang Xindan Cui State Key Laboratory of Robotics and System Science Garden of HITNO.2Street YiKuangDistrict NanGa Room 203 Building C1State Key Laboratory of Robotics and SystemScience Garden of HITNO.2Street Y

ISBN: (纸本)9781612843865

In the paper, a concept of novel self-reconfigurable robotic system made of the autonomous robotic modules has been reviewed. Each robotic module is made of simple structure and few degrees of freedom;however, a group of the modules is able to change its connective configuration by changing their local connections and has functionality of robotic system which is capable of generating complicated motions and accomplishing a large variety of tasks, such as: transportation, exploration, inspection, construction and in-situ resource utilization. Multimode locomotion and self-reconfiguration are the basic and essential abilities for the self-reconfigurable robotic system. Based on this concept, a new self-reconfiguration system, UBot robotic system that combines the advantages from the chain-based and lattice-based robots has been proposed. Each UBot module which is cubic structure based on universal joint has two rotational DOF and four connecting surfaces that can connect to or disconnect from adjacent modules. The smart structure and the reliable connecting mechanism of the modules make the robot flexible enough to complete multimode locomotion and self-reconfiguration. This paper demonstrates the design philosophy of the UBot module and a solution for multimode motions and self-reconfiguration using the UBot system. The system can complete motion in the modes of quadruped, chain and loop configuration. Besides, the system can deform from one mode to the other though self-reconfiguration. All the proposed methods have been verified though simulations and real hardware experiments.

关键词： Reconfiguration Degree of freedom design theory Locomotion ring structures Disconnection simple structures Cubic structures

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The application of real-time operating system QNX in the computer modeling and simulation

The application of real-time operating system QNX in the com...

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2011 2nd International Conference on Artificial Intelligence, Management Science and Electronic Commerce, AIMSEC 2011

作者： Hou, Mingxin Ni, Fenglei Jin, Minghe Jiang, Li Liu, Hong Jin, Yue Hou, Mingbo State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin 150080 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany College of Electromechanical Engineering China University of Petroleum China Department of Electronic Engineering University of York YO105NG United Kingdom

ISBN: (纸本)9781457705366

The objective of this study is to show the applications of the simulation implementation of QNX identified model combining with Matlab/Simulink platform, QNX C/C++ compiler and QNX real-time operating system. The HIT/DLR Hand II dexterous hand QNX real-time simulation model is generated by the Simulink platform and QNX C/C++ compiler link files. Moreover, this model can be implemented in the QNX20real-time system. Simulations in the QNX real-time system show that the HIT/DLR Hand II dexterous hand QNX model which based on the methods in this research, was able to offer an attractive performance during both real-time simulation and feedback operations. © 2011 IEEE.

关键词： Simulink

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Application of a novel capacitive sensor in precise positioning systems

Application of a novel capacitive sensor in precise position...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Tao Chen Liguo Chen Mingqiang Pan Lining Sun Robotics and Microsystems Center Soochow University Suzhou China State Key Laboratory of Transducer Technology Chinese Academy and Sciences Shanghai China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents a comb-finger capacitive displacement sensor used in nano-positioning system. The displacement sensor is designed to develop an integrated implementation platform and to achieve its closed-loop control. In the design, offset constant-tooth, combinations with S-type beams and flexible cantilevers have been adopted to enhance the position range and structure performance. Surface and bulk micromachining technology is employed to fabricate the sensor from a single crystal silicon wafer. Through testing of the nano-positioning stage, the capability of the sensor has been obtained. The results show that this method can achieve a detect range of 10 μm, with resolution of 5 nm.

关键词： Electrodes Robot sensing systems Capacitance Sensitivity Capacitive sensors Structural beams Silicon

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Complex indoor map building based on fusion of sequential Mb-ICP

Complex indoor map building based on fusion of sequential Mb...

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Chinese Control Conference (CCC)

作者： Ke Wang Lijun Zhao Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China

Towards complex indoor environment, this paper proposed a fusion method of sequential Mb-ICP scan matching for mobile robot map building. We firstly introduce the classic ICP scan matching method and its limitations for dealing with robot rotation. Based on a new metric space, Mb-ICP scan matching approach is analyzed. We then use Kalman Filter to fuse multiple sequential scan matching results of Mb-ICP. Experimental results are shown to validate the effectiveness of the proposed approach.

关键词： Buildings Iterative closest point algorithm Mobile robots Electronic mail Fuses Laboratories

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Brain-Computer Interface Design Using Signal Powers Extracted During Motor Imagery Tasks

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Chinese Journal of Biomedical Engineering(English Edition) 2011年第4期20卷 139-149页

作者： HE Ke-ren WANG Xin-guang ZOU Ling MA Zheng-hua School of Information Science ＆ Engineering at the Changzhou University Changzhou 213164 China State Key Laboratory of Robotics and System （HIT） Harbin Institute of Technoigy Harbin 150001 China

Accurate classification of EEG left and right hand motor imagery is an important issue in brain-computer interface. Firstly, discrete wavelet transform method was used to decompose the average power of C3 electrode and C4 electrode in left-right hands imagery movement during some periods of time. The reconstructed signal of approximation coefficient A6 on the 6al level was selected to build up a feature signal. Secondly, the performances by Fisher Linear Discriminant Analysis with two different threshold calculation ways and Support Vector Machine methods were compared. The final classification results showed that false classification rate by Support Vector Machine was lower and gained an ideal classification results.

关键词： brain-computer interface motor imagery feature extraction pattern classification

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Master-slave control strategy for abdominal minimally invasive surgery robotic system

Master-slave control strategy for abdominal minimally invasi...

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IEEE International Conference on robotics and Biomimetics

作者： Yili Fu Ying Yu Shuguo Wang State Key Laboratory of Robotics and System Science Park Harbin Institute of Technology Harbin China Jiamusi University Jiamusi China

ISBN: (纸本)9781457721366

According to characteristics of abdominal minimally invasive robotic surgical tasks, based on performant industrial computer platform, an extended multifunctional hardware communicates with PCI-bus is designed, a master-slave control system is studied. In order to solve the problem of low responsivity caused by traditional inverse kinematics transformation method, a algorithm based on equivalent differential transformation suitable for real-time master-slave surgical robot control is put forward, and the accumulated error of the algorithm is eliminated by feedback mechanism. A fast trajectory planning method efficient in real-time master-slave surgical robot control is put forward to replace traditional trajectory prediction and off-line calculation. Finally, in order to avoid the impact on the accuracy of the system coursed by hand-trembling of operators, a digital filter is designed to help filtering the master manipulator signal.

关键词： Manipulators Master-slave Joints Kinematics Trajectory Surgery

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DESIGN OF A FINGER-TIP FLEXIBLE TACTILE SENSOR FOR DEXTEROUS ROBOT HAND AND THE CROSSTALK EFFECT ANALYSIS

DESIGN OF A FINGER-TIP FLEXIBLE TACTILE SENSOR FOR DEXTEROUS...

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The 2011 International Conference on Mechanical Engineering and Technology

作者： Yuanfei Zhang Yiwei Liu Hong Liu Yue Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics German Aerospace Center DLR College of Electromechanical Engineering China University of Petroleum

In this study, a structure of a thin and flexible tactile sensor using pressure conductive rubber is presented. The sensor can cover specific three-dimensional surface, has a total of 36 elements and can measure the pressure in the range 0-600 k Pa, approximately. In order to compare the performance of the voltage feedback methods and the zero potential method, which presented in the literature are applied to weaken the crosstalk effect in a resistive array, some simple circuits are structured based on these methods, respectively. Then the effect of some circuit parameters on measurement errors of each circuit is simulated and analyzed and the performance of the circuits to weaken the crosstalk effect is compared. According to the simulation results, the performance of the circuit based on the voltage feedback non-scanned-sampling-electrode method is the best than any others. Therefore, a tactile signal acquiring and processing circuit based on this method is design. At last, experimental results that the crosstalk affects the measurement errors of this circuit are given.

关键词： Dexterous robot hand Tactile sensor Crosstalk

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Research on reconfigurable hydraulic robot configuration based on genetic algorithm

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International Review on Computers and Software 2011年第7期6卷 1301-1306页

作者： Lin, Jiang Hongwei, Zhang Xianbao, Xiang Xinyuan, Chen Jie, Zhao Key Laboratory of Metallurgical Equipment Control of Ministry of Education Wuhan University of Science and Technology Wuhan 430081 Hubei China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 Heilongjiang China

Aiming at problems of the discrete optimization configuration and large search space in reconfigurable hydraulic robot configuration, an improved genetic algorithm was proposed to solve the difficulties in reconfigurable hydraulic robot configuration design optimization. The joints sequence and joints kinds were used as two different discrete variables to express the discrete optimization configuration problem. The different combinations of the two discrete variables represented different configurations. The appropriate weighting factors of twelve basic movement joints were designated and analyzed. The seven kinds of performance, as well as position of joint in a configuration and function overlap of the joint were all considered in the weighting factors of twelve basic movement joints. Every configuration had a comprehensive weighted evaluation factor. Combining with improved genetic algorithm optimization ability, an optimal configuration with good weighted evaluation factor was obtained in the discrete and larger search space. Based on the above theory the simulation model was established, and the simulation results verified that the configuration design optimization theory of reconfigurable hydraulic robot based on improved genetic algorithm was correct. © 2011 Praise Worthy Prize S.r.l. - All rights reserved.

关键词： Genetic algorithms

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