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Low-resistance, high-force, and large-ROM fabric-based soft elbow exosuits with adaptive mechanism and composite bellows

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Science China(Technological Sciences) 2023年第1期66卷 24-32页

作者： HUANG WeiCheng FENG Miao YANG DeZhi GU GuoYing Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao TongUniversityShanghai 200240China

Due to the lightweight and compliance, fabric-based pneumatic exosuits are promising in the assistance and rehabilitation of elbow impairments. However, existing elbow exosuits generally suffer from remarkable mechanical resistance on the flexion of the elbow, thus limiting the output force, range of motion(ROM), and comfortability. To address these challenges, we develop a fabric-based soft elbow exosuit with an adaptive mechanism and composite bellows in this work. With the elbow kinesiology considered, the adaptive mechanism is fabricated by sewing the interface of the exosuit into spring-like triangle pleats, following the profile of the elbow to elongate or contract when the elbow flexes or extends. The composite bellows are implemented by further sealing a single blade of bellows into two branches to enhance the output force. Based on these structural features, we characterize the mechanical performance of different soft elbow exosuits: exosuit with normal bellows-NB, exosuit with adaptive mechanism and normal bellows-AMNB, exosuit with adaptive mechanism and composite bellows-AMCB. Experimental results demonstrate that by comparing with NB, the mechanical resistance of AMNB and AMCB decreases by 80.6% and 78.6%, respectively;on the other hand, the output torque of AMNB and AMCB increases to 120.3% and 207.0%, respectively, at50 k Pa when the joint angle is 120°. By wearing these exosuits on a wooden arm model(1.25 kg), we further verify that AMCB can cover a full ROM of 0°–130° at the elbow with 500 g weight. Finally, the application on a health volunteer with AMCB shows that when the volunteer flexes the elbow to lift a weight of 500 g, the s EMG activity of the biceps and triceps is markedly reduced.

关键词： wearable robots rehabilitation robots soft robot applications soft actuators design

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Effects of Addition of Graphite on the Tribological Behaviour of Al7075-SiC Hybrid Composites Using Design of Experiments

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Journal of Bio- and Tribo-Corrosion 2024年第3期10卷 1-11页

作者： Gudipalli, Krishna Reddy V Chapke, Yashwant Guddhur, Hareesha Doddamani, Saleemsab Department of Mechanical Engineering Government Polytechnic Channasandra Karnataka Bangalore India Department of Automation & amp Robotics JSPM’S Rajarshi Shahu College of Engineering Maharashtra Pune India Department of Mechanical Engineering Government Engineering College Karnataka HuvinaHadagali India Department of Mechanical Engineering National Institute of Technology Karnataka Karnataka Surathkal India

Despite the widespread use of Al7075-SiC composites in various engineering applications, their tribological performance remains a subject of interest due to challenges related to friction and wear. This study addresses the need for improved lubrication in such composites by investigating the potential of Al7075-SiC/Graphite hybrid materials. The incorporation of graphite particles, up to 9% by weight, aims to enhance the self-lubricating properties of these composites. Stir casting is employed to fabricate specimens with varying graphite content (3–9% by weight), followed by comprehensive tribological assessments under dry sliding conditions. Factors including sliding distance, load, and graphite composition are systematically evaluated using Taguchi’s optimization techniques, including design of experiments, ANOVA, and regression analyses. Results reveal that the addition of 9% graphite content notably reduces both the coefficient of friction and wear rate. According to the data, sliding distance significantly impacts wear behaviour, followed by the applied load. In contrast, the composition has a 77% impact on the coefficient of friction than load, while the sliding distance has a relatively small impact. As a result, the Al7075-SiC/Graphite composite material demonstrated its suitability as a self-lubricating substance. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Silicon carbide

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Optimization of Three-Degree-of-Freedom Biomimetic Pectoral Fin Propulsion Law

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Journal of Shanghai Jiaotong University (Science) 2024年 1-14页

作者： Li, Bin Li, Zonggang Li, Haoyu Du, Yajiang School of Mechanical Engineering Lanzhou Jiaotong University Lanzhou730070 China Robotics Institute Lanzhou Jiaotong University Lanzhou730070 China

To optimize the movement of the three-degree-of-freedom (3-DOF) pectoral fins, a 3-DOF model of the dolphin-like pectoral fins was established, and the effects of different parameters of the pectoral fins on their propelling performance were simulated using computational fluid dynamics (CFD) technology. Using CFD simulation data as a training set and a multi-layer perceptron (MLP) neural network as a prediction model, the average thrust and lift of the pectoral fin motion under different motion cycles, rowing amplitudes, flapping amplitudes, and feathering amplitudes were predicted and modeled. A multi-objective genetic algorithm was used to obtain the optimal parameter values for maximum thrust and minimum absolute lift, and the optimal motion law for 3-DOF motion was brought. The results showed that the optimal propulsion performance was achieved at a period of 1 s, a rowing amplitude of 36°, a flapping amplitude of 18°, and a feathering amplitude of 56°. Finally, the force and displacement of the robotic fish were collected through indoor pool experiments and compared with the simulation results, indicating that the simulation results are of considerable reliability. The research results have specific guiding significance for the design of the pectoral fins of biomimetic robotic fish. (Figure presented.) © Shanghai Jiao Tong University 2024.

关键词： Finite volume method

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Prediction of directivity characteristics of piezoelectric macro-fiber composite interdigital transducers: a semi-analytical approach 11

Prediction of directivity characteristics of piezoelectric m...

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11th European Workshop on Structural Health Monitoring, EWSHM 2024

作者： Raorane, Siddhesh Ambrozinski, Lukasz Stepinski, Tadeusz Packo, Pawel Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow30-059 Poland

The employment of guided waves for structural health monitoring applications has attracted substantial attention in recent years. Piezoelectric transducers are frequently employed in these systems for elastic wave generation and acquisition. Their dynamic properties, i.e., direction-dependent frequency characteristics such as directivity patterns, are an important feature for designing a reliable monitoring strategy. Although analysis of the transducer directivity pattern can be performed using finite element models, these usually tend to be computationally very expensive, especially for parametric and optimization studies. In this paper, a semi-analytical framework is proposed that can predict the far-field directivity patterns of complex transducers of arbitrary shape and structure mounted on a substrate. The framework described in this paper integrates analytical far-field predictions with a local finite element model evaluating the traction field produced by the transducer. Consequently, the FE model accurately captures near-field responses, whereas the analytical component predicts the far-field responses. The implementation of this semi-analytical framework requires the development of analytical and numerical approaches. The former includes computation of dispersion curves of the inspected plate, the stress and displacement profiles of wave modes, and ultimately, the excitability relations, while the latter includes estimation of the traction field between the transducer and the plate using the FE model. Owing to the popularity of piezoelectric macro-fiber composite (MFC) transducers, in this paper, we apply the proposed method to predict the directivity patterns of MFC M2807-P2 transducer. To validate the reliability of the proposed method, the predicted patterns are compared with experimental results obtained using Laser Doppler Vibrometer. © 2024 11th European Workshop on Structural Health Monitoring, EWSHM 2024. All rights reserved.

关键词： Piezoelectric transducers

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On the Use of Tension Transition Zones for Kinematic and Compliance Performance Analysis of Wire-Actuated Continuum Robots

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Journal of Mechanisms and robotics 2025年第6期17卷 061013页

作者： Shihora, Neel Lawson, Jared Moubarak, Paul Reese, Maximilian Wang, Long Simaan, Nabil Department of Mechanical Engineering Vanderbilt University NashvilleTN37235 United States Robotics and Digital Solutions Johnson & Johnson CincinnatiOH45242 United States Robotics and Digital Solutions Johnson & Johnson Santa ClaraCA95054 United States Department of Mechanical Engineering Stevens Institute of Technology HobokenNJ07030 United States

Wire-actuated/tendon-actuated mechanisms suffer from discontinuity in their performance measures stemming from the limitation of unilateral actuation due to tendon actuation (pull-only actuation). Using traditional Jacobian-based performance measures ignores these limitations and can underestimate the expected position/orientation (pose) uncertainty for a given design. In this paper, we put forth the notion of wire-tension transition zones, and we illustrate how these tension transition zones can be used to modify the definition of the traditional Jacobian when calculating the expected robot performance in terms of dexterity, end-effector pose uncertainty and compliance. We use wire-actuated continuum robots as an illustrative robot architecture. We compare the expected performance of three-wire versus four-wire designs while considering somewhat realistic design parameters drawn from surgical robotics as an application domain. The results of our simulation studies emphasize the importance of carefully using the reduced Jacobin with tension transition zones to capture the performance measure discontinuities due to wires/tendons going slack. Furthermore, the results show that the traditional approach underestimates the uncertainty in the position of the end-effector by as much as 50% (effects of joint-level uncertainty) and 206% (compliance performance analysis) in the case of a three-wire design alternative. We believe that this contribution supports medical robotic system designers in architecture selection and comparative design performance analysis while avoiding unpleasant surprises that would otherwise be encountered if traditional performance measures were used. Copyright © 2025 by ASME;reuse license CC-BY 4.0.

关键词： End effectors

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Design and developing a robot-assisted cell batch microinjection system for zebrafish embryo

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Microsystems & Nanoengineering 2025年第1期11卷 403-415页

作者： Xiangyu Guo Antian Zhao Youchao Zhang Huanyu Jiang Longhua Tang Bo Lu Yibin Ying Mingchuan Zhou Robotic Micro-nano Manipulation Lab College of Biosystems Engineering and Food ScienceZhejiang UniversityHangzhouChina College of Optical Science and Engineering Zhejiang UniversityHangzhouChina Robotics and Microsystems Center School of Mechanical and Electric EngineeringSoochow UniversitySuzhouChina

The microinjection of Zebrafish embryos is significant to life science and biomedical *** this article,a novel automated system is developed for cell microinjection.A sophisticated microfluidic chip is designed to transport,hold,and inject cells *** the first time,a microinjector with microforce perception is proposed and integrated within the enclosed microfluidic chip to judge whether cells have been successfully *** deep learning model is employed to detect the yolk center of zebrafish embryos and locate the position of the injection needle within the yolk,which enables enhancing the precision of cell injection.A prototype is fabricated to achieve automatic batch *** results demonstrated that the injection efficiency is about 20 seconds per *** puncture success rate and cell survival rate are 100%and 84%,*** to manual operation,this proposed system improves cell operation efficiency and cell survival *** proposed microinjection system has the potential to greatly reduce the workload of the experimenters and shorten the relevant study period.

关键词： deep learning model cell microinjectiona detect yolk center microfluidic chip microforce perception cell batch microinjection zebrafish embryo automated system

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TaCOS: Task-Specific Camera Optimization with Simulation

TaCOS: Task-Specific Camera Optimization with Simulation

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2025 IEEE/CVF Winter Conference on Applications of Computer Vision, WACV 2025

作者： Yan, Chengyang Dansereau, Donald G. School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney Australian Centre for Robotics Australia

ISBN: (纸本)9798331510831

The performance of perception tasks is heavily influ-enced by imaging systems. However, designing cameras with high task performance is costly, requiring extensive camera knowledge and experimentation with physical hard-ware. Additionally, cameras and perception tasks are mostly designed in isolation, whereas recent methods that jointly design cameras and tasks have shown improved performance. Therefore, we present a novel end-to-end optimization approach that co-designs cameras with spe-cific vision tasks. This method combines derivative-free and gradient-based optimizers to support both continuous and discrete camera parameters within manufacturing constraints. We leverage recent computer graphics techniques and physical camera characteristics to simulate the cam-eras in virtual environments, making the design process cost-effective. We validate our simulations against phys-ical cameras and provide a procedurally generated vir-tual environment. Our experiments demonstrate that our method designs cameras that outperform common off-the-shelf options, and more efficiently compared to the state-of-the-art approach, requiring only 2 minutes to design a camera on an example experiment compared with 67 min-utes for the competing method. Designed to support the development of cameras under manufacturing constraints, multiple cameras, and unconventional cameras, we be-lieve this approach can advance the fully automated de-sign of cameras. Code is available on our project page at https://***/Projects/TaCOS/. © 2025 IEEE.

关键词： CCD cameras

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Non-Invasive Glucose Monitoring Using PPG, AI, and IoT-Driven Mobile Integration for Real-Time Diabetes Management

Non-Invasive Glucose Monitoring Using PPG, AI, and IoT-Drive...

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2024 International Conference on Computer and Applications, ICCA 2024

作者： Refaie, Amr Khaled Abdelaziz, Mostafa Mechatronics & Robotics Mechanical Engineering Cairo Egypt The British University in Egypt Egypt

ISBN: (纸本)9798350367560

Diabetes mellitus patients must regularly monitor their blood glucose levels to manage glycaemia, typically requiring capillary tests at least three times daily and laboratory tests one to two times per month. These conventional methods involve finger pricking, causing significant discomfort and stress. This study introduces an innovative non-invasive glucose monitoring approach by integrating photoplethysmography (PPG) technology with an artificial intelligence (AI) algorithm, complemented by a mobile application using Flutter, IoT systems, and Firebase cloud for real-time data access. Among the AI models tested, polynomial regression demonstrated superior accuracy in glucose prediction, achieving a Mean Squared Error (MSE) of 14.76 and an R2 score of 0.729. Despite challenges such as motion artifacts and ambient light interference affecting PPG signals, the system provides an advanced, user-friendly solution for patients and healthcare teams to monitor glucose levels effectively and conveniently. © 2024 IEEE.

关键词： Photoplethysmography

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Multisource Domain Metalearning Network for Battery State-of-Health Estimation under Multitarget Working Conditions

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IEEE Transactions on Power Electronics 2025年第7期40卷 9786-9799页

作者： Miao, Mengqi Xiao, Chaoang Yu, Jianbo Tongji University School of Mechanical Engineering Shanghai201804 China Shanghai Key Laboratory of Wearable Robotics and Human-Machine Interaction Shanghai201804 China

State of health (SOH) estimation is important in battery health prognostics. The discrepancy in working conditions gives rise to the phenomenon of domain shift, which presents a significant obstacle to the accurate estimation of battery SOH. Domain adaptation (DA) has been widely used to solve the domain shift problem in battery SOH estimation by minimizing the distribution discrepancy between different domains. However, the multitarget domain shift problem is not be addressed well for existing methods. Most existing DAs only consider a single target domain, which means that the model needs to be retrained when new scenarios emerge, which differ from the original target working condition. In this article, multisource domain metalearning network (MSDMLN) is proposed for battery SOH estimation under multiple target working conditions. A novel metalearning method, multisource domain metalearning (MSDML) strategy is developed for enhancing the generalization of the network by diversifying battery health degradation features based on meta fusion block. Empirical mode decomposition-densely connected recurrent-convolution network is developed to extract global degradation tendency and local fluctuation features of Li-ion batteries. The effectiveness of MSDMLN is verified on the combined Li-ion battery dataset. The results demonstrate that MSDMLN achieved low mean absolute error (i.e., 0.0474) and normalized root mean square error (i.e., 0.2187) for three different target operating conditions, which is better than other state-of-the-art methods. This illustrates the outperformance of MSDMLN in generalizing the estimation of battery SOH under multitarget working conditions, due to the integration of MSDML and the meta fusion block. © 1986-2012 IEEE.

关键词： Electronic health record

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An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild 8

An Open-Source Soft Robotic Platform for Autonomous Aerial M...

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8th Conference on Robot Learning, CoRL 2024

作者： Bauer, Erik Blöchlinger, Marc Strauch, Pascal Raayatsanati, Arman Cavelti, Curdin Katzschmann, Robert K. Soft Robotics Laboratory Department of Mechanical and Process Engineering ETH Zurich Switzerland

Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally, researchers have relied on offboard perception systems, which are limited to expensive and impractical specially equipped indoor environments. In this work, we introduce a novel platform for autonomous aerial manipulation that exclusively utilizes onboard perception systems. Our platform can perform aerial manipulation in various indoor and outdoor environments without depending on external perception systems. Our experimental results demonstrate the platform's ability to autonomously grasp various objects in diverse settings. This advancement significantly improves the scalability and practicality of aerial manipulation applications by eliminating the need for costly tracking solutions. To accelerate future research, we open source3 our ROS 2 software stack and custom hardware design, making our contributions accessible to the broader research community. © 2024 Proceedings of Machine Learning Research.

关键词： Open source software

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