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Hydrogel-elastomer-based stretchable strain sensor fabricated by a simple projection lithography method

International Journal of Smart and Nano Materials 2021年第3期12卷 256-268页

作者： Zhenqing Li Xiangnan He Jianxiang Cheng Honggeng Li Yuan-Fang Zhang Xiaojuan Shi Kai Yu Hui Ying Yang Qi Ge Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhenChina Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhenChina Digital Manufacturing and Design Centre Singapore University of Technology and DesignSingapore Department of Mechanical Engineering University of Colorado DenverDenverCOUSA National Key Laboratory of Science and Technology on Advanced Composites in Special Environments Harbin Institute of TechnologyHarbinP.R.China

Stretchable strain sensor detects a wide range of strain variation and is therefore a key component in various *** traditional ones made of elastomers doped with conductive components or fabricated with liquid conductors,ionically conductive hydrogel-based strain sensors remain conductive under large deformations and are ***,dehydration is a challenging issue for the *** have developed hydrogel-elastomer-based strain sensors where an elastomer matrix encapsulates a hydrogel circuit to prevent its ***,the reported multistep approaches are generally *** group recently reported a multimaterial 3D printing approach that enables fast fabrication of such sensors,yet requires a self-built digital-light-processing-based multimaterial 3D ***,we report a simple projection lithography method to fabricate hydrogel-elastomer-based stretchable strain sensors within 5 *** method only requires a UV projector/lamp with photomasks;the chemicals are commercially available;the protocols for preparing the polymer precursors are friendly to users without chemistry ***,the manufacturing flexibility allows users to readily pattern the sensor circuit and attach the sensor to a 3D printed soft pneumatic actuator to enable strain sensing on the *** proposed approach paves a simple and versatile way to fabricate hydrogel-elastomer-based stretchable strain sensors and flexible electronic devices.

关键词： Ionically conductive hydrogel stretchable strain sensor projection lithography

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Pipe-finder: Adaptive, Lightweight Pipe Robot Integrating Origami Anisotropic Stiffness Structure

Pipe-finder: Adaptive, Lightweight Pipe Robot Integrating Or...

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IEEE International Conference on robotics and Biomimetics

作者： Yifei Chen Deyu Yang Ziyu Liu Boyu Yang Hongqiang Wang Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Southern Marine Science and Engineering Guangdong Laboratory Guangzhou China

Pipeline inspection poses challenges that require robots to navigate complex environments. However, existing pipeline robots with the rigid bodies often face limitations in terms of efficiency, flexibility, and adaptability considering the significant size variations and complex terrains in pipelines. This paper introduces a novel design of wheel pipeline robots that addresses these limitations by incorporating the Origami Anisotropic Stiffness Structure (OASS). Inspired by the desert iguana's skin, the OASS offers a unique combination of rigidity and flexibility in different directions, making it an ideal skeletal framework for the robot with only 146 g weight. By integrating the OASS with PLA and resin materials, we enhance the robot's support and enable it to effectively navigate diverse pipeline configurations. Experimental results demonstrate the robot's capability to maneuver through pipelines of different diameters, U-shaped turns, obstacles, and even vertical sections. This research provides a promising solution for inspection tasks in complex pipeline systems.

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Modeling and Experimental Characterization of Propeller-driven Capsule Endoscope Robot for Gastrointestinal Minimally Invasive Diagnosis

Modeling and Experimental Characterization of Propeller-driv...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Weihao Wang Yi Zhang Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

Wireless capsule endoscopy robots are miniaturized robots that integrate camera, wireless communication, microcontroller, power supply, and other modules. In this paper, we study the modeling and experimental characterization of a propeller-driven capsule endoscopy robot (PCER). The profile of the propeller is challenging to design without detailed drawings because of the complex curved surfaces. The propeller design is achieved in the MIT open-source project OpenProp. The modeling of the propeller and the PCER shell are completed. We used the FLUENT fluid simulation toolkit to evaluate the hydrodynamic performance of the propeller and PCER shell. The thrust generated by the propeller is measured by experiment, and the resistance of PCER shell is measured by experiment following the fluid similarity law. The error between the simulation and the experiment results is within the allowable range, which proves that the hydrodynamic performance parameters of the micro-propeller and the PCER shell calculated by the simulation are reliable, and it provides a new method for the design and optimization of the PCER.

关键词： Wireless communication Solid modeling Fluids Spirals Propellers Endoscopes Propulsion

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Movement of bipedal robot based on Whole Body Control

Movement of bipedal robot based on Whole Body Control

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Zhen Wang Yuhan Chen Yan Bai Chengzhi Hu Wende Ke Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

In order to make biped robot act more precisely and complicated, the method of linear quadratic regulator tracking center of mass of robot and the whole biped robot modeling process based on Whole Body Control algorithm are analyzed. Through the floating base dynamics function, friction cone model and QP formulation, the Roban robot squat is completed based on the drake simulation platform. It is proved that the control method is also effective on Roban robot.

关键词： Vibrations Torque Regulators Tracking Heuristic algorithms Process control Organ transplantation

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Development of a Compact Autonomous Propeller-driven Capsule Robot for Noninvasive Gastric Endoscopic Examination

Development of a Compact Autonomous Propeller-driven Capsule...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Yi Zhang Zongze Li Wende Ke Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

Wireless capsule endoscope ro!bot is painless, safe, and efficient throughout the inspection procedure, which offers a promising prospect in the early diagnosis of digestive tract diseases. In this article, we propose a compact design of capsule endoscope robot actuated by micro propellers for noninvasive gastric endoscopic examination. First, the shell structure, electronic components, and internal circuit board system of propeller-driven capsule endoscope robot (PCER) are designed to improve the mobility in liquid environment. The PCER is integrated with wireless communication module, microcontroller, camera module, motor driver chips, and battery. Then the undesired interference of four coreless motors with the embedded magnetic sensor in the PCER is avoided. The attitude calculation of the PCER is achieved by using the Kalman filtering algorithm based on inertial measurement unit and three-axis magnetic sensor. The PCER is controlled via the XBOX joystick, and the real-time attitude information can be obtained and displayed to ease the operation. The experimental results demonstrate the reliability and superior performance of the system. The PCER can perform the calculation of its own attitude, fixed-point rotation, upward spiral motion, and horizontal circular movement. The PCER reduces the dependence on external manipulation equipment and makes the application of capsule robot more convenient and adequate for different types of diagnoses and treatments in the stomach.

关键词： Wireless communication Spirals Endoscopes Propellers Magnetic sensors Magnetic cores Magnetic liquids

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D3PRefiner: A Diffusion-based Denoise Method for 3D Human Pose Refinement

arXiv

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arXiv 2024年

作者： Yan, Danqi Gao, Qing Qian, Yuepeng Chen, Xinxing Fu, Chenglong Leng, Yuquan Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China School of Electronics and Communication Engineering Sun Yat-sen University Shenzhen518107 China

Three-dimensional (3D) human pose estimation using a monocular camera has gained increasing attention due to its ease of implementation and the abundance of data available from daily life. However, owing to the inherent depth ambiguity in images, the accuracy of existing monocular camera-based 3D pose estimation methods remains unsatisfactory, and the estimated 3D poses usually include much noise. By observing the histogram of this noise, we find each dimension of the noise follows a certain distribution, which indicates the possibility for a neural network to learn the mapping between noisy poses and ground truth poses. In this work, in order to obtain more accurate 3D poses, a Diffusion-based 3D Pose Refiner (D3PRefiner) is proposed to refine the output of any existing 3D pose estimator. We first introduce a conditional multivariate Gaussian distribution to model the distribution of noisy 3D poses, using paired 2D poses and noisy 3D poses as conditions to achieve greater accuracy. Additionally, we leverage the architecture of current diffusion models to convert the distribution of noisy 3D poses into ground truth 3D poses. To evaluate the effectiveness of the proposed method, two state-of-the-art sequence-to-sequence 3D pose estimators are used as basic 3D pose estimation models, and the proposed method is evaluated on different types of 2D poses and different lengths of the input sequence. Experimental results demonstrate the proposed architecture can significantly improve the performance of current sequence-to-sequence 3D pose estimators, with a reduction of at least 10.3% in the mean per joint position error (MPJPE) and at least 11.0% in the Procrustes MPJPE (P-MPJPE). Copyright © 2024, The Authors. All rights reserved.

关键词： Diffusion

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Development of a Vibration-driven Capsule Robot with Protruding Magnetic Bristles with Enhanced Adaptability in Wet and Dry Environments

Development of a Vibration-driven Capsule Robot with Protrud...

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IEEE International Conference on robotics and Biomimetics

作者： Yujie Zhang Tanyong Wei Shujing He Yuying Hong Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

Colonoscopy is a widely used method for diagnosing bowel cancers, requiring coordinated efforts from medical professionals due to its invasive nature. In contrast, miniature capsule robots, measuring just a few centimeters, offer a less invasive diagnostic option by integrating multiple functions. However, current capsule robots face challenges with complex designs, limited mobility, size, and cost, which hinder their adoption and reduce gastrointestinal disorder screening rates. To address these issues, we introduce the vibration-driven capsule robot (VCR) with magnetic protruding bristle structures. Four simple components (shell structure, electronic components, permanent magnet, and magnetic soft bristles) are designed to improve the robot’s mobility in dry and wet environments. The magnetic bristle structures are inspired by flexible organisms and enhance the robot’s adaptability. The robot is propelled by centrifugal force from a vibration motor, allowing efficient movement along the intestinal tract while protecting the patient’s lining. The fabrication process of the magnetic soft bristles has been refined to optimize material ratios and enhance the robot’s performance. The vibration motor’s output is analyzed using load cells to ensure efficiency. For precise path planning, an external permanent magnet (EPM) is applied to guide the capsule’s direction. Experiments confirm the VCR’s versatility, performing fluid linear and curved motions in different environments. These findings underscore the feasibility of the VCR as a potent tool for non-invasive, timely screening of gastrointestinal disorders.

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Optimized Design and Analysis of Active Propeller-driven Capsule Endoscopic Robot for Gastric Examination

Optimized Design and Analysis of Active Propeller-driven Cap...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yi Zhang Weihao Wang Wende Ke Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

Capsule endoscopic robot holds great promise for the early diagnosis of gastrointestinal diseases without causing discomfort to patients. However, currently available active capsule endoscopic robots suffer from issues such as complex structure, poor mobility, large size, and high cost, which have hindered their widespread adoption and resulted in a lower screening rate for gastrointestinal diseases. To address these challenges, this paper proposes a highly integrated propeller-driven capsule endoscopic robot (PCER) system that integrates STM32 processor, magnetic sensor, IMU, RF communication unit, and motor drive. The micro propeller of the PCER has been analyzed through finite element simulation to ensure its efficiency. FLUENT software has been utilized to simulate the fluid force acting on the PCER as it moves through a liquid medium. The results of the simulation are then used to determine the optimal pitch angle for the robot's movement. The thrust generated by the capsule robot propellers has been measured using a lever mechanism to investigate the relationship between the thrust and voltage applied to the motors. The experiments confirmed that the PCER is capable of performing flexible motions within fluid environments, such as changing pitch angle during movement, passing circular obstacles, horizontal motion, and spiral ascent. These findings demonstrate the feasibility of the proposed PCER as an effective tool for non-invasive early screening of gastrointestinal diseases.

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Underwater Geophysical Navigation using a Particle Filter Approach to Multi-Sensor Fusion

Underwater Geophysical Navigation using a Particle Filter Ap...

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OCEANS

作者： Marcelo Jacinto André Potes David Souto Yusen Gongy João Quintas João Cruz Shubham Garg António Pascoal Laboratory of Robotics and Systems in Engineering and Science (LARSyS) ISR/IST University of Lisbon Lisbon Portugal Science and Technology on Underwater Vehicles Laboratory Harbin Engineering University Harbin China

ISBN: (纸本)9781665427883

This paper addresses the problem of underwater navigation of autonomous underwater vehicles via a Monte Carlo estimation approach that relies on the use of a prior digital elevation map of the seabed and bathymteric data acquired with a Multibeam Echosounder. The Monte Carlo estimation procedure is implemented in the form of a particle filter, as part of a multi-sensor fusion framework for underwater geophysical navigation. The contribution of this paper focuses on two main topics: i) development of a particle filter as a solution to a terrain-based Bayesian vehicle positioning problem, followed by filter implementation and simulation and ii) integration of the particle filter structure in a multi-sensor fusion architecture for vehicle navigation with a view to increasing navigation accuracy. The results of realistic simulations with a dedicated marine robotics system simulator illustrate the navigation performance achieved with the proposed solution.

关键词： Autonomous underwater vehicles Monte Carlo methods Navigation Oceans Estimation Particle filters Bayes methods

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A Novel Bio-Inspired Quadruped Crawling Robot with Movable Waist

A Novel Bio-Inspired Quadruped Crawling Robot with Movable W...

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Ruiqin Wang Hao Wu Jian S. Dai The School of Mechanical Engineering Hebei University of Technology Tianjin China School of Mechanical Engineering Hebei University of Technology Tianjin China The Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen China Mechanisms and Robotics Centre for Robotics Research King's College London UK

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

Traditional quadruped robots usually have rigid and fixed torso, which limits their mobility and flexibility. Robots with movable waist can improve the flexibility and environmental adaptability of robots. In this paper, a novel bionic crawling robot with movable waist is proposed. The movable waist innovatively adopts an anti-parallelogram mechanism. At the same time, the waist adopts a double-layer structure design to increase the stability and bearing capacity of the robot. The kinematics model of the robot is derived based on the D-H parameter method. Bas ed on the Monte Carlo method, the toe workspace of the leg is obtained in Matlab software. The results show that due to the torsion of the movable waist, the toe workspace is significantly expanded, and the robot can achieve faster and smoother motion. A prototype was made based on 3D printing technology for experimental verification.

关键词： Legged locomotion Monte Carlo methods Robot kinematics Prototypes Three-dimensional printing Stability analysis Software

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