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A novel End-effector Finger Rehabilitation Robot (EFRR) for stroke patients

Journal of Physics: Conference Series 2021年第5期1885卷

作者： Wang Hongbo Tian Yu Niu Baoshan Du Jiazheng Tian Junjie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Academy for Engineering & Technology Fudan University Shanghai 200433 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

This paper proposes a prototype of a novel end-traction finger rehabilitation robot with flexion/extension and adduction/abduction functions. The degree of freedom (DoF) and finger joint torque of a single-finger module has been analysed, and the calculation and selection of the motor driving force are completed. Finally, the design details of the mechanism and the hardware system of the robot are illustrated. This device minimized the mechanical size to some extent by using only one motor for a single finger, which also reduces the cost and increases the possibility of industrial application prospects.

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Comprehensive Analysis for the Effect of Thermal Barrier Coating Porosity on Ultrasonic Longitudinal Wave Velocity 6th

Comprehensive Analysis for the Effect of Thermal Barrier Coa...

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6th International Conference on Life system Modeling and Simulation, LSMS 2020, and 6th International Conference on Intelligent Computing for Sustainable Energy and Environment, ICSEE 2020

作者： Zhang, Shuxiao Ma, Zhiyuan Lin, Li Feng, Wei Shenzhen Key Laboratory of Smart Sensing and Intelligent Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China NDT & E Laboratory Dalian University of Technology Dalian116000 China Guangdong Ultrasonic Nondestructive Testing Engineering Technology Research Center Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9789813363779

According to SEM photos of ZrO2 coatings prepared by plasma spraying, 24 physical models with different porosities were constructed, and ultrasonic testing was simulated by finite-difference time-domain method, and the change of longitudinal wave velocity under porosities was analyzed according to the ultrasonic reflection coefficient amplitude spectroscopy. The simulation shows that the longitudinal wave velocity and porosity of the coating show a linear correlation given that the pore morphology and distribution state are unchanged. The simulation is verified by experiments, and it is found that the experiments and the simulation are in good agreement. This research work has important value for the determination of longitudinal wave velocity of thermal barrier coating in ultrasonic testing. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Thermal barrier coatings

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Localization and Surface Characterization by Zhurong Mars Rover at Utopia Planitia

Research Square

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Research Square 2021年

作者： Ding, Liang Zhou, Ruyi Yu, Tianyi Gao, Haibo Yang, Huaiguang Li, Jian Yuan, Ye Liu, Chuankai Wang, Jia Zhao, Yuyan Wang, Zhengyin Wang, Xiyu Bao, Gang Deng, Zongquan Huang, Lan Li, Nan Cui, Xiaofeng He, Ximing Jia, Yang Yuan, Baofeng Liu, Guangjun Zhang, Hui Zhao, Rui Zhang, Zuoyu Cheng, Ziqing Wu, Fan Xu, Qian Lu, Hao Richter, Lutz Liu, Zhen Niu, Fuliang Qi, Huanan Li, Shu Feng, Wenhao Yang, Chaojie Chen, Baichao Dang, Zhaolong Zhang, Mingming Li, Lichun Wang, Xiaoxue Huang, Zhao Zhang, Jitao Xing, Hongjun Wang, Guanyu Niu, Lizhou Xu, Peng Wan, Wenhui Di, Kaichang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China Beijing Aerospace Control Center Beijing100094 China Center for Lunar and Planetary Sciences Institute of Geochemistry Chinese Academy of Science Guiyang550081 China CAS Center for Excellence in Comparative Planetology Hefei230026 China University of Chinese Academy of Sciences Beijing100049 China Beijing Institute of Spacecraft System Engineering Beijing100094 China Department of Aerospace Engineering Ryerson University TorontoONM5B 2K3 Canada Hauptstrasse 1e Eching Germany State Key Laboratory of Remote Sensing Science Aerospace Information Research Institute Chinese Academy of Sciences Beijing100101 China

China’s first Mars rover, Zhurong, has successfully touched down on the southern Utopia Planitia of Mars at 109.925° E, 25.066° N, and since performed cooperative multiscale investigations with the Tianwen-1 orbiter. Here we present primary localization and surface characterization results based on complementary data of the first 60 sols. The Zhurong rover has traversed 450.9 m southwards over a flat surface with mild wheel slippage (less than 0.2 in slip ratio). The encountered crescent-shaped sand dune indicates a NE-SW local wind direction, consistent with larger-range remote-sensing observations. Soil parameter analysis based on terramechanics indicates that the topsoil has high bearing strength and cohesion, and its equivalent stiffness and internal friction angle are ~1390-5872 kPa∙m-n and ~21°-34° respectively. Rocks observed strewn with dense pits, or showing layered and flaky structures, are presumed to be involved in physical weathering like severe wind erosion and potential chemical weathering processes. These preliminary observations suggest great potential of in-situ investigations by the scientific payload suite of the Zhurong rover in obtaining new clues of the region’s aeolian and aqueous history. Cooperative investigations using the related payloads on both the rover and the obiter could peek into the habitability evolution of the northern lowlands on Mars. © 2021, CC BY.

关键词： Sols

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Design and Experiment of Triangular Prism Mast with Tape-Spring Hyperelastic Hinges

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Chinese Journal of Mechanical engineering 2018年第2期31卷 35-44页

作者： Hui Yang Hong-Wei Guo Yan Wang Rong-Qiang Liu Meng Li College of Electrical Engineering and Automation Anhui University China State Key Laboratory of Robotics and System Harbin Institute of Technology China Electronics Technology Group Corporation No.38 Research Qian Xuesen Laboratory of Space Technology China Academy of Space Technology

Because of the limited space of the launch rockets, deployable mechanisms are always used to solve the phenomenon. One dimensional deployable mast can deploy and support antenna, solar sail and space optical camera. Tape-spring hyperelastic hinges can be folded and extended into a rod like configuration. It utilizes the strain energy to realize self-deploying and drive the other structures. One kind of triangular prism mast with tape-spring hyperelastic hinges is proposed and developed. Stretching and compression stiffness theoretical model are established with considering the tape-spring hyperelastic hinges based on static theory. The finite element model of ten-module triangular prism mast is set up by ABAQUS with the tape-spring hyperelastic hinge and parameter study is performed to investigate the influence of thickness, section angle and radius. Two-module TPM is processed and tested the compression stiffness by the laser displacement sensor, deploying repeat accuracy by the high speed camera, modal shape and fundamental frequency at cantilever position by LMS multi-channel vibration test and analysis system, which are used to verify precision of the theoretical and finite element models of ten-module triangular prism mast with the tape-spring hyperelastic hinges. This research proposes an innovative one dimensional triangular prism with tape-spring hyperelastic hinge which has great application value to the space deployable mechanisms.

关键词： Deployable mechanism Triangular prism mast Tape-spring hyper-elastic hinges Static analysis Modal experiment

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Design and Analysis of a Novel 3-DOF Deployable Grasping Mechanism

Design and Analysis of a Novel 3-DOF Deployable Grasping Mec...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Changqing Gao Hailin Huang Gang Yang Bing Li Ke Huang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Shenzhen Cansinga Technology Co. Ltd No.336 Baotianyi Rd. Baoan Shenzhen China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

In this paper, a novel 3-DOF deployable grasping mechanism consisting of two fingers and a palmar mechanism is proposed, in which each finger is made up of a series of basic modules. Firstly, specific design of the grasping mechanism is introduced. In order to realize the deployment motion, two groups of scissor-shaped elements are used in design of basic module, special revolute joint of the scissor-shaped element is designed to form grasping angle when the basic module carries out deployment motion. Secondly, the grasping angle and the deploy/fold ratio are discussed, from which the method to adjust grasping angle is also proposed. Thirdly, kinematics and workspace of the proposed grasping mechanism are analyzed, analysis result shows that the proposed grasping mechanism has quite large reachable workspace. Fourthly, the shape adaptability and grasping simulation are conducted, in which four types of objects with different shapes are grasped by the proposed grasping mechanism. The results prove that the proposed grasping mechanism has good grasping performance.

关键词： Grasping Fingers Shape Kinematics Robots Research and development End effectors

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Design Validation and Collision Studies of A Compliant Magnetorheological Fluid Actuator

Design Validation and Collision Studies of A Compliant Magne...

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IEEE International Conference on Human-Machine systems

作者： Guangzeng Chen Jie Pengyu Tongyi Shang Yunjiang Lou T.T. Wong Li Chen Jian Liu State Key Laboratory of Robotics and System School of Mechatronics Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China. Shenzhen Institutes of Advanced Technology Shenzhen University Town Shenzhen China Emergency Department Chinese PLA General Hospital Department of Biomedical Engineering Shandong University Jinan China

ISBN: (数字)9781728158716

ISBN: (纸本)9781728158723

Robots are integrating into human society and become an important part. The robots and human must be considered as a whole system and the robots should be intelligent both in digital and physical like human to cooperate and interact with human non-physically or physically. For improving the physical intelligence of the robot, a magnetorheological fluid actuator (MRA) is proposed and studied in this paper. A collision model and a speed peak force planning method are proposed and some experiments are conducted. It shows that the collision peak force of the MRA with external objects can be easily controlled to different levels by controlling the compliance of the MRA for safe physical interaction with human or some striking works like hammering a nail.

关键词： Torque Robots Actuators Force Collision avoidance Rotors Couplings

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Cell Nanomechanics Based on Dielectric Elastomer Actuator Device

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Nano-Micro Letters 2019年第4期11卷 690-708页

作者： Zhichao Li Chao Gao Sisi Fan Jiang Zou Guoying Gu Mingdong Dong Jie Song Institute of Nano Biomedicine and Engineering Department of Instrument Science and EngineeringSchool of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Shanghai Engineering Research Center of Advanced Dental Technology and Materials Shanghai Ninth People’s HospitalShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Interdisciplinary Nanoscience Center(iNANO) Aarhus UniversityAarhus 8000Denmark

As a frontier of biology,mechanobiology plays an important role in tissue and biomedical *** is a common sense that mechanical cues under extracellular microenvironment affect a lot in regulating the behaviors of cells such as proliferation and gene expression,*** such an interdisciplinary field,engineering methods like the pneumatic and motor-driven devices have been employed for ***,such techniques usually rely on complex structures,which cost much but not so easy to *** elastomer actuators(DEAs)are well known as a kind of soft actuation technology,and their research prospect in biomechanical field is gradually concerned due to their properties just like large deformation(>100%)and fast response(<1 ms).In addition,DEAs are usually optically transparent and can be fabricated into small volume,which make them easy to cooperate with regular microscope to realize real-time dynamic imaging of *** paper first reviews the basic components,principle,and evaluation of DEAs and then overview some corresponding applications of DEAs for cellular mechanobiology *** also provide a comparison between DEA-based bioreactors and current custom-built devices and share some opinions about their potential applications in the future according to widely reported results via other methods.

关键词： Dielectric elastomer actuator Mechanical stimulus Bioreactor Mechanobiology

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Lightweight and conformal acousto-ultrasonic sensing network for multi-scale structural health monitoring: A review

FlexMat

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FlexMat 2024年

作者： Yehai Li Shifeng Guo Zhongqing Su Keqin Ding Xian Jun Loh Shenzhen Key Laboratory of Smart Sensing and Intelligent Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China University of Chinese Academy of Sciences Beijing China The Key Laboratory of Biomedical Imaging Science and System Chinese Academy of Sciences Shenzhen China Department of Mechanical Engineering The Hong Kong Polytechnic University Kowloon Hong Kong Technology Innovation Center of Structural Health Monitoring of State Market Regulation China Special Equipment Inspection & Research Institute Beijing China Institute of Materials Research and Engineering (IMRE) Agency for Science Technology and Research (A*STAR) Singapore Singapore

Structural health monitoring (SHM) has been increasingly investigated for decades. Different physical principles have been developed for damage identification, such as electronics, mechanics, magnetics, etc., with different coverage (i.e., global, large-area, and local monitoring) and sensitivity. Mechanical acousto-ultrasonic-based methods have formed a big family in SHM technologies. Multiple wave/resonance modes have been utilized for versatile SHM tasks. The permanently integrated sensing networks play a significant role in achieving a cost-effective and reliable SHM system, with major concerns including weight increase for large-scale deployment and conformity for complex geometry structures. In this review, typical acousto-ultrasonic sensors made of different material systems are discussed, along with advantages and limitations. Moreover, advanced network installation methods have been introduced, including surface-mounting with pre-integrated networks on substrates and in situ printing, and embedding with composite layup and metal additive manufacturing. Sensor versatility and usage in multi-scale SHM techniques are then highlighted. Different wave/resonance modes are transmitted and received with corresponding elements and network designs. In conclusion, this systematic review mainly covers a collection of acousto-ultrasonic sensors, two modalities of network installation, and their employment with various SHM methods, hopefully providing a useful guide to building lightweight and conformal networks with passive or active-passive sensors, and developing complete and reliable SHM strategies by integrating different damage identification methods on multiple scales.

关键词： acousto-ultrasonic conformal installation lightweight sensing networks structural health monitoring

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Corrigendum to ‘Design and experimental study of an origami-inspired constant-force mechanism’ [Mechanism and Machine Theory 179 (2023) 105117]

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Mechanism and Machine Theory 2023年 182卷

作者： Shiwei Liu Gaoliang Peng Zhixiong Li Weihua Li Kang Jin Hongzhao Lin State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 Xidazhi Street Harbin 150001 Heilongjiang Province PR China Yonsei Frontier Lab Yonsei University 50 Yonsei-ro Seodaemun-gu Seoul 03722 Republic of Korea Faculty of Mechanical Engineering Opole University of Technology Opole 45758 Poland School of Mechanical Materials Mechatronic and Biomedical Engineering University of Wollongong Wollongong NSW 2522 Australia

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Towards a Realistic 5G Infrastructure Emulator for Experimental Service Deployment and Performance Evaluation 18

Towards a Realistic 5G Infrastructure Emulator for Experimen...

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22nd IEEE/ACM International Symposium on Distributed Simulation and Real Time Applications (DS-RT)

作者： Chirivella-Perez, Enrique Alcaraz Calero, Jose M. Wang, Qi Gutierrez-Aguado, Juan School of Mechanical Engineering and Automation Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781538650486

The emerging Fifth Generation (5G) mobile networks have been attracting enormous attention from various stakeholders around the world. In particular, in the research community, prototyping 5G infrastructures and deploying 5G services have gained gears recently towards realising market-oriented 5G trials. However, accessing to and programming on real-world 5G infrastructure is almost prohibitive for most 5G researchers especially in academia. Therefore, it is critical to build realistic yet cost-efficient 5G infrastructure emulators for 5G research labs to enable credible 5G research activities. This paper proposes such a 5G infrastructure emulator that is able to emulate a realistic 5G network in a lab setting based on a small number of commercial-off-the-shelf servers by leveraging virtualization and other technologies. Moreover, this emulator allows a service provider to automatically deploy 5G services from 'empty' machines through advanced automation. The emulation platform is described in details with the 5G infrastructure and service deployment procedure highlighted. Empirical results are presented to show the performance of the proposed emulator.

关键词： 5G Infrastructures 5G Emulation Service Deployment Infrastructure Orchestrator Monitoring Service Automated Deployment 5G Testbed Performance evaluation

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