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A new active rehabilitation training mode for upper limbs based on Tai Chi Pushing Hands

Biomimetic Intelligence & robotics 2024年第3期4卷 82-92页

作者： Xiangpan Li Liaoyuan Li Jianhai Han Bingjing Guo Ganqin Du School of Mechatronics Engineering Henan University of Science and TechnologyLuoyang 471003China Henan Provincial Key Laboratory of Robotics and Intelligent Systems Luoyang 471003China School of Automotive Engineering Hubei University of Automotive TechnologyShiyan 442002China Hubei Key Laboratory of Automotive Power Train and Electronic Control Shiyan 442002China The First Affiliated Hospital of Henan University of Science and Technology Luoyang 471003China

Robot-assisted rehabilitation is a crucial approach to restoring motor function in the ***,the current training trajectory lacks sufficient theoretical or practical support,and the monotony of single-mode training is a *** Chi Pushing Hands,a beneficial and effective daily exercise,has been shown to improve balance function,psychological state,and motor function of the upper extremities in patients recovering from *** address these issues,we propose a new active rehabilitation training that incorporates Tai Chi Pushing Hands movements and yin-yang balance *** training trajectory and direction are encoded by the velocity field and consist of two processes:yang(push)and yin(return).During yang,the limb actively pushes the robot to move,while during yin,the limb actively follows the robot’s *** provide necessary assistance,an admittance controller with self-adaptive parameters is *** addition,we introduce two indexes,the‘Intention Angle’(ϖ)and the time ratio(Γ),to evaluate motion perception *** experiment was conducted on a 4-degree-of-freedom upper limb rehabilitation robot platform,and the subjects were separated into a familiar group and an unfamiliar *** experiment results show that the training could be completed well no matter whether the subject is familiar with Tai Chi Pushing Hands or *** parameters and the movement of the robot can be adjusted based on the interactive force to adapt to the ability of the subject.

关键词： Tai Chi Push Hands Velocity field Self-adaptive admittance Upper limb rehabilitation Active training

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A Time-Optimal Trajectory Planning Algorithm for Six-Degree-of-Freedom Robots Based on NURBS Curves

A Time-Optimal Trajectory Planning Algorithm for Six-Degree-...

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International Conference on Control, Automation and robotics (ICCAR)

作者： Hao Hong Minxiu Kong Jiawang Wang Qianjiang Wang School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (数字)9798350373172

ISBN: (纸本)9798350373189

In this paper, we research and analyse the practical needs of robotic arm to complete the complex path planning of robotic arm and smooth transition of multi-attitude in the shortest time under the premise of satisfying the dynamics constraints, and put forward the time-optimal trajectory planning based on NURBS curves and multi-attitude interpolation algorithm based on quaternion with NURBS curves. Using the complex nature of quaternions, the quaternions are converted into three-dimensional space points for curve interpolation, and finally converted back to quaternions to achieve the second-order continuity of multi-gesture interpolation; a time-optimal trajectory planning algorithm based on NURBS curves is designed, which discretises the curves, and fits the NURBS curves using the discrete points. At the same time, the optimal rate solution under all the constraints is calculated point by point according to the discrete points on the motion path, and the optimal velocity curve satisfying the dynamics constraints is obtained, so as to achieve the time-optimal trajectory planning. Finally, the feasibility of the designed trajectory planning algorithm is verified in the simulation software and experimental platform, and it is proved that the algorithm can effectively improve the running speed by at least 30%.

关键词： Surface reconstruction Interpolation Trajectory planning Service robots Quaternions Heuristic algorithms Software algorithms

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Modeling and Control of Intrinsically Elasticity Coupled Soft-Rigid Robots

Modeling and Control of Intrinsically Elasticity Coupled Sof...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Zach J. Patterson Cosimo Della Santina Daniela Rus Computer Science and Artificial Intelligence Laboratory MIT Department of Cognitive Robotics Delft University of Technology Institute of Robotics and Mechatronics German Aerospace Center (DLR)

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature, there is an increasing trend toward designing soft-rigid hybrids with intrinsically coupled elasticity between various degrees of freedom. In this work, we seek to address the issues of modeling and controlling such structures, particularly when underactuated. We introduce several simple models for elastic coupling, typical of those seen in these systems. We then propose a controller that compensates for the elasticity, and we prove its stability with Lyapunov methods without relying on the elastic dominance assumption. This controller is applicable to the general class of underactuated soft robots. After evaluating the controller in simulated cases, we then develop a simple hardware platform to evaluate both the models and the controller. Finally, using the hardware, we demonstrate a novel use case for underactuated, elastically coupled systems in "sensorless" force control.

关键词： Couplings Elasticity Soft robotics Robot sensing systems Market research Hardware Stability analysis

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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

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Frontiers of Mechanical Engineering 2021年第3期16卷 435-450页

作者： Boyu MA Zongwu XIE Zainan JIANG Hong LIU School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration *** configuration is similar to that of the experimental module manipulator(EMM)in the Chinese Space Station Remote Manipulator ***,finding the analytical solution of an EMM on the basis of arm angle parameterization is *** study proposes a high-precision,semi-analytical inverse method for ***,the analytical inverse kinematic solution is established based on joint angle ***,the analytical inverse kinematic solution for a non-offset spherical-roll-spherical(SRS)redundant manipulator is derived based on arm angle *** approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS ***,the error is corrected using a numerical method through the analytical inverse solution based on joint angle *** selecting the stride and termination condition,the precise inverse solution is computed for the EMM based on arm angle ***,case solutions confirm that this method has high precision,and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.

关键词： 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset

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An Efficient Inverse Kinematic Method for SSRMS-type Manipulator with Conformal Geometric Algebra

An Efficient Inverse Kinematic Method for SSRMS-type Manipul...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Jingdong Zhao Jiayu Zhang Liangliang Zhao Zhonglai Tian Zirui Wang Wei Jiang Hong Liu School of Mechatronics Engineering State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

SSRMS-type Manipulator is a typical type of space manipulator featuring 7-degree-of-freedom offset configuration with redundancy characteristic. It is challenging to solve inverse kinematics in high efficiency, make the upmost of redundancy characteristic, and select optimal redundant parameter. This paper proposes an analytical inverse kinematic method, named three-continuous-parallel-Link Direction Vector Parameterization (LDVP), in the theory of Conformal Geometric Algebra. This method employs the direction vector of the axis of parallel Joint 3, Joint 4, and Joint 5 as the parameter, and selects the optimal parameter according to context plan-points in a given trajectory. The process of solving inverse kinematics is divided into two steps, including solving joint positions and joint variables. The average solution time of forward and inverse kinematics is 9.79 us and 0.25 ms respectively. The continuous path tracking experiment verifies that all seven joints changing to pursue the optimal configuration, which makes full use of redundancy characteristic.

关键词： mechatronics Algebra Termination of employment Kinematics Manipulators Vectors Orbits

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Requirements and Design of a Hand for LARMbot Humanoid 6th

Requirements and Design of a Hand for LARMbot Humanoid

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6th IFToMM Asian Mechanisms and Machine Science Conference, Asian MMS 2021

作者： Gao, Wenshuo Ceccarelli, Marco Graduate School Chinese Academy of Agricultural Sciences Beijing100081 China Laboratory of Robotics Mechatronics University of Rome "Tor Vergata" Rome00133 Italy

ISBN: (纸本)9783030918910

The paper presents a design solution for a hand for LARMbot humanoid robot based on requirements that have been considered for a specific grasping application. Features are considered for integration and synergy in a humanoid arm by looking at the grasping aims in terms of motion and force. The proposed solution is presented based on three fingers interacting with a palm design provided of springs. Performance characteristics are evaluated through a simulation of a CAD design to check the feasibility of the proposed solution and to characterize the expected operation in the LARMbot humanoid. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Anthropomorphic robots

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Comparative Analysis of Vacuum Generative Devices for Vacuum Suction Cups of Mobile Transport Systems Designed for Underwater Operation

Comparative Analysis of Vacuum Generative Devices for Vacuum...

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Ocean Studies (ICOS), International Conference on

作者： Philipp Belchenko Maxim Knyazkov Pavel Ostrikov Eugeny Semenov Artem Sukhanov Laboratory of robotics and mechatronics Ishlinsky Institute for Problems in Mechanics of the Russian Academy of Sciences Moscow Russia

The article discusses the results of studies of gas-dynamic and hydrodynamic processes in cavities and channels of vacuum suction cups of mobile transport systems operating in an aqueous environment. Transient processes occurring in the cavities of vacuum suckers from the moment the vacuum generator is powered on to the moment of steady-state vacuum level are obtained. Commercially available ejector-type vacuum generators with the same nozzle diameter, but with different parameters of the vacuum level and evacuation time (suction flow rate), as well as a diaphragm air pump were used in the research. Commercially available suction cups with a bellows with a diameter of 100 mm were used as a vacuum holding device on the surface. Experimental studies were conducted to study the behavior of vacuum suction cups in an aqueous environment to identify the possibility of their use for mobile transport systems operated in a liquid environment. To conduct research, an experimental stand was created that allows real-time recording of the level of vacuum in the cavities of vacuum suckers in an aqueous medium and recording the time to a steady level of vacuum.

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Investigation on New Applications of Climbing and Walking Robots in Marine Environment

Investigation on New Applications of Climbing and Walking Ro...

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Ocean Studies (ICOS), International Conference on

作者： Ivan Ermolov Laboratory of robotics and mechatronics Ishlinsky Institute for Problems in Mechanics of the Russian Academy of Sciences Moscow Russia

The article discusses the some new results of investigation of new applications of climbing and walking robots in marine environment. One of the perspective applications is a robot for hull cleaning. Another robot is designed to perform inspection operations at sea shelf deposit platform. Both robots use walking propulsion technology. Within this paper we discuss basic scenarios for their application and a outcoming general view on their structure. Some ideas of main components to be used within these robots are also presented.

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How Long short-term memory artificial neural network, synthetic data, and fine-tuning improve the classification of raw EEG data 6

How Long short-term memory artificial neural network, synthe...

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6th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2022

作者： Nasybullin, Albert Maksimenko, Vladimir Kurkin, Semen Innopolis University Laboratory of Data Analysis and Bioinformatics Center for Artificial Intelligence Innopolis Russia Innopolis University Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

In this paper, we discuss a Machine Learning pipeline for the classification of EEG data. We propose a combination of synthetic data generation, long short-term memory artificial neural network (LSTM), and fine-tuning to solve classification problems for experiments with implicit visual stimuli, such as the Necker cube with different levels of ambiguity. The developed approach increased the quality of the classification model of raw EEG data. © 2022 IEEE.

关键词： Classification (of information)

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Wheelchair Control by Users' Eye Movements Using Signals Acquired in OpenBCI

Wheelchair Control by Users' Eye Movements Using Signals Acq...

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2023 IEEE International Symposium on Robotic and Sensors Environments, ROSE 2023

作者： Rexha, Genta Pajaziti, Arbnor Bajrami, Xhevahir Kola, Jozef Capi, Genci Pongthanisorn, Goragod Polytechnic University of Tirana Department of Electronics and Telecommunications Tirana Albania Faculty of Mechanical Engineering Department of Mechatronics Prishtina Serbia Albanian University Department of Engineering Tirana Albania Hosei University Assistive Robotics Laboratory Tokyo Japan

ISBN: (纸本)9798350308044

In this study is presented a wheelchair with a control mechanism driven by the user's eye movements. The wheelchair's functionality is enabled through two stepper motors, a driver DMA860H, and an Arduino Uno microcontroller. The objective of the research is that the EEG signals are read and by means of these signals we perform certain tasks or control various processes. OpenBCI (Brain Computer Interface) board has been used to measure and record electrical activity produced by the brain and is compatible with standard EEG (Electroencephalogram) *** user's eye movements will be used to operate the stepper motors. The OpenBCI Cyton plus Daisy biosensing board samples the signals, which are then processed in Matlab before relaying the motions to Arduino Uno. The wheelchair can move left, right, backward, and forward, based on eye movements. © 2023 IEEE.

关键词： Wheelchairs

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