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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Yellewa, Mwayi E Mohamed, Abdelfatah Ishii, Hiroyuki Assal, Samy F. M. Department of Mechatronics and Robotics Engineering Egypt Waseda University Japan Tanta University Faculty of Engineering Department of Production Engineering and Mechanical Design Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Wrist rehabilitation robotic devices have delivered the repetitive and gradual training necessary to rehabilitate individuals with wrist impairments properly. Generally, there are two approaches for the design of the wrist rehabilitation devices. In one approach, the motors are placed on the forearm with complex transmission mechanisms to reduce the weight and inertia. In the other approach, rotary motors are placed close to the wrist joints with simple design, and this leads to high weight and inertia. In this paper, a simple design of two-degrees of freedom compliant and balanced wrist rehabilitation device is proposed. It can provide the radial-ulnar deviation and flexion-extension rehabilitation motions. In the proposed design, the servomotors that are placed close to the wrist joints are counterweight balanced to reduce the inertia and the required torques. The balancing is carried out by optimizing the center of mass of the device in the SolidWorks model. A custom design series elastic unit is proposed to be coupled to the servomotor to achieve the compliance for safe human-robot interaction. Based on the device dynamics modeled by ADAMS software, hybrid position and force tracking impedance control is developed for position and force tracking through the different therapeutic exercises. The device is shown to be capable of achieving the different therapeutic exercises compliantly such as the passive, active-assisted and isometric exercises. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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Evaluation of modal parameters and static characteristics for composite mono leaf spring

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Noise and Vibration Worldwide 2021年第3期52卷 33-47页

作者： Samir Mohamed Mohamed Soliman, Ehab Mechatronics and Robotics Department Faculty of Engineering Egyptian Russian University Badr CityCairo11829 Egypt

The objective of this paper was to investigate and evaluate modal parameters and static characteristics for designed carbon/epoxy composite CFRP leaf spring made from carbon ﬁber-reinforced epoxy by comparing its finite element analysis FEA modal, harmonic and static results to that of conventional steel one under the same maximum full bump load. In ANSYS software, finite element modal, harmonic and static analysis for 3D models of conventional steel and designed composite mono leaf springs is carried out. FEA displacements for the steel and designed composite CFRP mono leaf springs at the maximum full bump load were 92.9 mm and 93.1 mm respectively. Compared to the steel mono leaf spring, the composite mono leaf spring has advantages;lower stresses, higher natural frequencies and higher safety in stresses of front and rear eyes. All these advantages let the composite leaf spring can be carried maximum full bump load with enough higher performance over steel one to avoid resonance and satisfy maximum stress failure criterion. © The Author(s) 2020.

关键词： Carbon

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Representing Objects in Map Building Using A Semantic SLAM Scheme

Representing Objects in Map Building Using A Semantic SLAM S...

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2022 Chinese Automation Congress, CAC 2022

作者： Yang, Yu Wang, Di Zheng, Weiqi Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronics Engineering and Automation Shanghai China

ISBN: (纸本)9781665465335

In order to make the robot understand the scene better and the human-robot interaction more friendly, a lightweight semantic SLAM system is proposed in this paper. Our system uses a LIDAR combined with a camera to obtain object location in SLAM and determines object information such as category with a CNN-based object detector. The object identities are represented in the form of joint probability distributions that are updated by Bayes' theorem. The FPA algorithm is used to obtain parameter valuation with maximum posterior probability so as to determine the modeling feature parameters of objects on the map. The similarity between objects is measured with the Bhattacharyya coefficient to avoid duplicate modeling of identified objects in map updating. The proposed system is simulated in Gazebo and an effective scheme balancing accuracy and computation cost is obtained. Finally, experiments on a small indoor robot demonstrate the effectiveness of our method. © 2022 IEEE.

关键词： Semantics

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Minimalistic Soft Exosuit for Assisting the Shoulder via Biomechanics-Aware Optimization 21

Minimalistic Soft Exosuit for Assisting the Shoulder via Bio...

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2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022

作者： Joshi, Sagar Beck, Irene Seth, Ajay Santina, Cosimo Della Mechanical Maritime and Materials Engineering Faculty TU Delft Delft Netherlands Robotics and Mechatronics Department Munich Germany

ISBN: (纸本)9798350309799

Soft exosuits can help to prevent work-related musculoskeletal disorders by offloading human muscles through the application of external forces across the human joints. Many exosuits achieve this through tension producing elements called as exotendons. However, the design of these devices is based on intuition and experience. This leads to potentially sub-optimal or even harmful designs that could cause discomfort or injury to the wearer. This paper deals with automatically finding appropriate attachments and routing locations for exotendons. We propose to do that by accurate musculoskeletal modeling and design parameter optimization of soft exosuits. We focus here on a soft exosuit with a single passive exotendon to assist the shoulder. Using three arm raising-lowering and internal-external rotation motions as examples, we optimize the attachment point and rest-length of the exotendon to reduce overall muscle effort. We then fabricate the exosuit and validate the model predictions by testing with six participants. Supporting the predictions from simulations, measured muscle activity shows reductions in the deltoid and trapezius muscles. This work represents the first instance of explicitly optimizing functional and geometric parameters of exotendons in wearable assistive devices for minimizing human effort. © 2022 IEEE.

关键词： Muscle

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High-Performance Admittance Control of An Industrial Robot Via Disturbance Observer 48

High-Performance Admittance Control of An Industrial Robot V...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Samuel, Kangwagye Haninger, Kevin Oh, Sehoon Dgist Department of Robotics and Mechatronics Engineering Daegu Korea Republic of Fraunhofer Ipk Department of Automation Berlin Germany

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Safe physical interaction using admittance control on an industrial robot with inner-loop motion control remains challenging. This is partly due to the low intrinsic admittance and stability issues from inner-loop motion control limitations (e.g. bandwidth). To increase the admittance at an interaction point with the user/environment, this paper proposes a robust admittance control architecture. A disturbance observer (DOB) is used to improve effective inner-loop motion control, suppressing the effects of velocity disturbances. The DOB uses the robot's closed-loop task space velocity control as the nominal model, compensating disturbances between the commanded robot velocity and realized robot velocity output. An admittance controller uses measured force to generate robot velocity commands. Detailed analyses are carried out to theoretically evaluate the proposed control system. Experiments conducted on a COMAU RACER-7-1.4 industrial robot verify the effectiveness of the proposed admittance control scheme and stability in environmental contact. Moreover, the proposed method is simple to implement on the existing robot system. © 2022 IEEE.

关键词： Industrial robots

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Advances of triboelectric and piezoelectric nanogenerators toward continuous monitoring and multimodal applications in the new era

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International Journal of Extreme Manufacturing 2025年第1期7卷 174-205页

作者： Jianlong Hong Xiao Wei Huiyun Zhang Yukun Xiao Chongguang Meng Yuqi Chen Jiahui Li Ling Li Sanghoon Lee Qiongfeng Shi Jun Wu Interdisciplinary Research Center School of Electronic Science and EngineeringSoutheast UniversityNanjing 211189People’s Republic of China Department of Robotics&Mechatronics Engineering Daegu Gyeongbuk Institute of Science&TechnologyDaegu 42899Republic of Korea

Benefiting from the widespread potential applications in the era of the Internet of Thing and metaverse,triboelectric and piezoelectric nanogenerators(TENG&PENG)have attracted considerably increasing *** outstanding characteristics,such as self-powered ability,high output performance,integration compatibility,cost-effectiveness,simple configurations,and versatile operation modes,could effectively expand the lifetime of vastly distributed wearable,implantable,and environmental devices,eventually achieving self-sustainable,maintenance-free,and reliable ***,current triboelectric/piezoelectric based active(***-powered)sensors still encounter serious bottlenecks in continuous monitoring and multimodal applications due to their intrinsic limitations of monomodal kinetic response and discontinuous transient *** work systematically summarizes and evaluates the recent research endeavors to address the above challenges,with detailed discussions on the challenge origins,designing strategies,device performance,and corresponding diverse ***,conclusions and outlook regarding the research gap in self-powered continuous multimodal monitoring systems are provided,proposing the necessity of future research development in this field.

关键词： triboelectric piezoelectric continuous monitoring multimodal sensing internet of thing

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Optimum Design of a Wire-Driven Redundant Spherical Parallel Manipulator for Foot Drop Rehabilitation System 48

Optimum Design of a Wire-Driven Redundant Spherical Parallel...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Gamal, Ahmed Mohamed, Abdelfatah Iwata, Hiroyasu Assal, Samy F. M. Department of Mechatronics and Robotics Engineering Egypt Waseda University Japan Tanta University Faculty of Engineering Department of Production Engineering and Mechanical Design Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Post stroke patients may suffer from a gait disorder which is called foot drop. They may experience a toedrag, slow walking speed and a high risk of tripping. Although physical therapy exercises can be a remedy to such cases, their high cost and the lack of professional caregivers arise the need for robotic rehabilitation systems. On the other hand, the existing robotic systems for foot-drop rehabilitation are heavy and bulky. Therefore, in this paper, a lightweight foot-drop rehabilitation system based on a wire-driven redundant spherical parallel manipulator (RSPM) is developed. The proposed RSPM can provide 3-DOF movements to exercise the dorsiflexion, plantarflexion, supination, lateral and medial rotations. Kinematic and static analyses are performed for the proposed rob RSPM. In order to guarantee permissible positive tensions for the wires of the RSPM, a new performance index is introduced, called permissible tension index. Optimum design based on optimizing certain performance indices is carried out to obtain the proper dimensions of the movable platform design parameters of the proposed RSPM. A new index called permissible tension index is introduced to guarantee permissible positive tensions for the wires of the RSPM. A weighted sum of the global kinematic dexterity, global minimized transmission and the global permissible tension indices is considered for the objective function of the optimization process. The RSPM performance is evaluated over its range of motion and the reaction forces exerted on the ankle are shown to be tolerable by an injured ankle. Additionally, the Jacobian-based kinematic controller is shown to be capable of tracking the normal gait trajectories with acceptable tracking errors. © 2022 IEEE.

关键词： Kinematics

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Decomposition and Coordination-Based Iterative Identification for a Class of Separable Nonlinear Models 16th

Decomposition and Coordination-Based Iterative Identificati...

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16th International Conference on Modelling, Identification and Control, ICMIC 2024

作者： Zhou, Yihong Liu, Qinyao Yang, Dan School of Electronic and Information Engineering Suzhou University of Science and Technology Suzhou215009 China Department of Mechatronics and Robotics Xi’an Jiaotong Liverpool University Suzhou215123 China Department of Electromechanical Engineering Changzhou Vocational Institute of Textile and Garment Changzhou213164 China

ISBN: (纸本)9789819617760

This paper studies the parameter estimation problem for a class of separable nonlinear models, i.e., the RBF-ARX models. By exploiting the parameter separability property inherent in the RBF-ARX models, two gradient-based iterative sub-algorithms are derived to individually estimate the linear and nonlinear parameters based on the iterative search. Then a decomposition coordination-based iterative algorithm is proposed by integrating the sub-algorithms, which realizes high-precision iterative identification of all parameters. The effectiveness of the proposed algorithm is verified by a simulation example. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Nonlinear analysis

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Applying CNN Models with Stereo Camera for Object Detection and Distance Estimation in Automatic Micro Electric Vehicle (MEVi) 1

Applying CNN Models with Stereo Camera for Object Detection ...

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1st International Conference on Smart mechatronics, ICSMech 2024

作者： Harimanto, Farrell Putra Hasanah, Nurul Pradana, Muhammad Khristamto Aditya Puji, Muhammad Nurul Binus Aso School of Engineering Bina Nusantara University Automotive & Robotics Program Computer Engineering Department Jakarta11480 Indonesia National Research and Innovation Agency Kst Samaun Samadikun Research Center for Smart Mechatronics Bandung40135 Indonesia

ISBN: (纸本)9798350368918

Technological advancements in the automotive industry are currently focused on autonomous driving systems or driver assistance systems. Depth estimation is also an important feature of the autonomous driving system as it can accurately estimate the distance to the detected objects. In current developments technologies such as stereo cameras are more popular for a more accurate depth estimation. The process for object detection consists of a combination of classification, localization, and segmentation. Deep convolutional neural networks are the basis of object detection. The methods for object detection are divided into two categories namely the Region Proposal-based method such as RCNN, and the Classification-based method which provides for methods such as YOLO and MobileNet. As a part of the research conducted by the National Research and Innovation Agency (BRIN) on Automatic Micro Electric Vehicles or MEVi, this paper analyzed and compared the performance of several CNN models for object detection as well as the performance of depth sensing using ZED stereo camera which was used for the autonomous system in MEVi. Among several models that had been compared, YOLO v8 model demonstrates high accuracy and moderate speed as indicated by its high mAP (0.50) and FPS (38.46). Based on depth sensing results, the accuracy of distance measurement also depended on brightness and environment with the average of accuracy achieved indoors was 98.2% and outdoors was 96.3%. © 2024 IEEE.

关键词： Automotive industry

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Low-Cost High Gain Sea Pimp-Shaped Dual Band Monopole Antenna for Mobile 4G/5G/LTE41/WLAN Application

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Progress In Electromagnetics Research C 2024年 140卷 41-51页

作者： Sakulchat, Suwat Ruengwaree, Amnoiy Naktong, Watcharaphon Unahalekhaka, Pramuk Promput, Sommart Department of Electrical Engineering Faculty of Engineering and Architecture Rajamangala University of Technology Suvarnabhumi Phranakhon Si Ayutthaya13000 Thailand Department of Electronics and Telecommunication Engineering Faculty of Engineering Rajamangala University of Technology Thanyaburi Pathum Thani 12110 Thailand Department of Telecommunications Engineering Faculty of Engineering and Technology Rajamangala University of Technology Isan Nakhon Ratchasima30000 Thailand Department of Electrical Engineering Faculty of Engineering and Architecture Rajamangala University of Technology Suvarnabhumi Nonthaburi11000 Thailand Department of Mechatronics and Robotics Engineering School of Engineering and Innovation Rajamangala University of Technology Tawan-ok Chonburi 20110 Thailand

This research aimed to design a sea pimp-shaped monopole antenna by using etching and cutting techniques, combined with the addition of reflector, to modify the antenna structure to support the bandwidth standard according to GSM-850 (0.82–0.90 GHz), GSM900 (0.88–0.96 GHz), DCS (1.72–1.88 GHz), PCS (1.85–1.99 GHz), UMTS (1.92–2.17 GHz), 5G Band40 (2.30–2.40 GHz), LTE41 (2.496–2.690 GHz), and WLAN IEEE 802.11b/g/n (2.4–2.48 GHz). This antenna used a galvanized metal sheet with a conductivity of 3.56 × 107 s/m to fabricate the structure of the radiator, ground plane, and reflector. The reflector modifies radiation patterns and increases the gain of the antenna. The antenna structure used the CST program for simulation to determine the optimal parameters and property values. As a result of replication, the antenna had dual bands with a reflection coefficient (S11) at 915 MHz (736–1040 MHz) of −26.70 dB and a frequency at 2.28 GHz (1.68–2.94 GHz) of −20.15 dB. The antenna gains are 6.70 and 8.47 dBi, an increase of 83.56% and 44.04% over the antenna without a reflector, respectively. The antenna had a unidirectional pattern in all the frequency ranges which can be utilized for the purpose of RF energy-harvesting (RF-EH) systems to provide power to low-power electronic systems. © 2024, Electromagnetics Academy. All rights reserved.

关键词： Monopole antennas

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