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23rd IFToMM China International Conference on Mechanism and Machine Science and engineering, IFToMM CCMMS 2022

作者： Lv, Weilin Nie, Wansui Zhang, Jianjun School of Mechanical Engineering Hebei University of Technology Tianjin300400 China Hebei Provincial Key Laboratory of Robot Perception and Human-Machine Fusion Hebei University of Technology Tianjin300400 China

ISBN: (纸本)9789811993978

A nursing bed is helpful for patients confined to the bed for a long period of time and rigid origami is a potential source for designing support mechanism of nursing beds. This paper presents a rigid origami nursing bed support mechanism that is able to fit into human body curve. Firstly, the relation between degree-4 origami vertex and spherical 4R linkages is introduced, together with the kinematics of spherical 4R linkages. Secondly, the origami pattern of the support mechanism is proposed, and the kinematics of the back board, which can be folded to fit into human body curve, is analyzed. Finally, the back-lifting, turning and leg-lifting mechanism of the support mechanism is introduced together with their kinematics. The mechanism proposed in this paper provides multiple choices for the design of nursing beds. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Kinematics

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Experimental Study on the Pick-and-Place Operation of a 3-DOF Delta Parallel robot

Experimental Study on the Pick-and-Place Operation of a 3-DO...

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Iranian Conference on Electrical engineering (ICEE)

作者： Amirreza Nouri Soheil Davoudi Sina Vali Arvin Mohammadi Ali Ravari Ehsan Akhavan Saraf Mehdi Tale Masouleh Department of Mechanical Engineering Amirkabir Univerisity of Technology Tehran Iran Tavan Resan Co. Tehran Iran Human and Robot Interaction Laboratory University of Tehran Tehran Iran Department of Mechanical Engineering University of Tehran Tehran Iran Human and Robot Interaction Laboratory School of ECE University of Tehran Tehran Iran

This paper presents kinematic analysis, verification, and workspace determination for the trajectory planning purpose of a 3-DOF Delta parallel robot. The under study Delta robot is the result of an academic collaboration between the human and robot interaction laboratory and the Tavan Resan Company. The dimension of the robot is obtained by using an algorithm for obtaining the optimal dimension of a Delta robot for a prescribed workspace defined from the outset. Analytical solutions for the forward and inverse kinematic problems of the under study robot are provided and verified in Simscape simulation. The workspace is determined using a discretization algorithm, in which joint limits and mechanical interference are taken into account to the end of obtaining a practical workspace. The robot's singular loci are determined, and visual inspection reveals that the robot entails a singularity-free workspace by considering joint limits, which can be regarded as a definite asset in practice. Finally, a 4-5-6-7 trajectory planning technique is implemented in order to make the manipulator's end-effector movement as smooth as possible for pick-and-place operations. Furthermore, experimental tests were executed to observe the robot's behavior and validate the kinematic equations experimentally.

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An Integrated Bifunctional Pressure‒Temperature Sensing System Fabricated on a Breathable Nanofiber and Powered by Rechargeable Zinc–Air Battery for Long‑Term Comfortable Health Care Monitoring

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Advanced Fiber Materials 2024年第4期6卷 1037-1052页

作者： Peng Wang Gengsheng Liu Guifen Sun Chuizhou Meng Guozhen Shen Yang Li School of Mechanical Engineering University of JinanJinan 250022China State Key Laboratory for Reliability and Intelligence of Electrical Equipment Engineering Research Center of Ministry of Education for Intelligent Rehabilitation Device and Detection TechnologyHebei Key Laboratory of Smart Sensing and Human‑Robot InteractionSchool of Mechanical EngineeringHebei University of TechnologyTianjin 300401China School of Integrated Circuits and Electronics Beijing Institute of TechnologyBeijing 100081China Shandong Provincial Key Laboratory of Network Based Intelligent Computing School of Information Science and EngineeringUniversity of JinanJinan 250022China School of Microelectronics Shandong UniversityJinan 250101China

Bulky external power supplies largely limit the continuous long-term application and miniaturization development of smart sensing ***,we fabricate a flexible and wearable integrated sensing system on an electrospun all-nanofiber *** three parts of the sensing system are all obtained by a facile ink-based direct writing *** resistive pressure sensor is realized by decorating MXene sheets on TPU ***,the resistive temperature sensor is prepared by compositing MXene sheets into poly(3,4-ethylenedioxythiophene):poly(styrene sulfonate)(PEDOT:PSS).The thin-film zinc–air battery(ZAB)includes an interdigital zinc–air electrode that is bonded with a gel polymer *** can supply a high open-circuit voltage of 1.39 V and a large areal capacity of 18.2 mAh cm^(-2) for stable and reliable power-supplying sensing parts *** to the hydrophobic nature of TPU and open-ended micropores in the TPU nanofiber,the sensing system is waterproof,self-cleaning,and air and moisture *** application,the above-mentioned functional components are seamlessly integrated into an intelligent electronic wristband,which is comfortably worn on a human wrist to monitor pulse and body temperature in real time with continuous operation of up to 4 *** the novel design and remarkable performance,the proposed integrated all-nanofiber sensing system presents a promising solution for developing advanced multifunctional wearable electronics.

关键词： Pressure‒temperature sensor Rechargeable zinc–air battery Electrospun nanofibers Permeable electronic Integrated sensing system

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A 2D Geometry Based Grasping Pose Generation Algorithm for a Two-Finger robot Hand

A 2D Geometry Based Grasping Pose Generation Algorithm for a...

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Iranian Conference on Electrical engineering (ICEE)

作者： Arash Akbari Arman Akbari Mehdi Tale Masouleh Department of Computer Science University of Tehran Tehran Iran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering Tehran Iran

robot grasping is of paramount importance in industrial and service robotics. In recent years, various data-driven algorithms have been proposed to solve the problem of grasp detection and a part of them are based on reinforcement learning (RL) approaches. In a variety of proposed algorithms, random key points are being employed which will make the learning process inefficient and time-consuming. In this paper, a geometry-based algorithm is presented which can find grasp poses based on the geometry of the unknown object and propose the ones which may lead to successful grasping. For the grasp contacts computation part, the presented algorithm produces a finite number of key points based on the 2D shape of the object from a specific point of view. Afterward, it will narrow down the candidate points and output a finite number of successful grasp poses based on three grasp quality metrics for various unknown objects. Three approaches are proposed in order to achieve center points which can describe different parts of a 2D shape. Then, the obtained points are used as the center of circles which are tangent to the 2D shape contour. Also, a new grasp quality metric is proposed. The time of the grasp and the amount of object disorientation after grasping are considered as a metric to evaluate the successfulness of the grasp. Simulation results demonstrate that the proposed algorithm for unknown object grasping can find a finite number of successful grasp poses for different seen or unseen objects without using any random point,

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Practical Implementation of Real-Time Waste Detection and Recycling based on Deep Learning for Delta Parallel robot

Practical Implementation of Real-Time Waste Detection and Re...

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International eConference on Computer and Knowledge engineering (ICCKE)

作者： Hasan Jalali Shaya Garjani Ahmad Kalhor Mehdi Tale Masouleh Parisa Yousefi School of Electrical and Computer Engineering Human and Robot Interaction Laboratory University of Tehran Tehran Iran School of Computer Engineering Imam Reza International University Mashhad Iran

Intelligent robots play an essential role in waste management and recycling due to their high speed and a wide variety of applications. In this paper, two methods for waste detection and accurate pick-and-place based on computer vision and neural networks are presented. The suggested methods have been put into practical application on a 3-DOF Delta parallel robot to show the accuracy and fastness of the foregoing method for real intelligence systems. The first method, Multi-Stage Detection, consists of two stages to detect the waste objects, namely, object localization and segmentation, and classification. The second method, known as One-Stage object detectors, such as YOLOv5, has the capability to simultaneously localize and classify the waste objects. The dataset utilized in this paper relies on the TrashNet dataset as its foundation. In order to improve the classification capabilities in the multi-stage method, a larger dataset was created by utilizing data augmentation. Also, for the one-stage method, a new multi-label dataset is constructed based on the TrashNet dataset. Additionally, the results of the experimental implementation were compared based on time and evaluation metrics for detection and classification. The ResNet50 model achieved the highest accuracy in the multi-stage method, with 99.31% accuracy. In the one-stage detection method, the YOLOv5x model achieved the best mAP (@IoU = 0.75) of 97.4%, which outperformed the YOLOv5s model by 0.8 percent; however, the inference speed of the YOLOv5x in comparison with the YOLOv5s models was six times as slow. Therefore, the YOLOv5s model was employed in real-time online waste detection, which resulted in 82.1% mAP (@IoU = 0.5) after being trained on real images from the waste-sorting platform.

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Blind source separation algorithm for biomedical signal based on lie group manifold

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MCB Molecular and Cellular Biomechanics 2024年第3期21卷

作者： Cheng, Daguang Zheng, Mingliang School of Mechanical and Electrical Engineering Huainan Normal University Huainan232038 China Human-computer collaborative robot Joint Laboratory of Anhui Province Huainan232038 China

Independent Component Analysis (ICA) is a powerful tool for solving blind source separation problem in biomedical engineering. The traditional ICA algorithm ignores the Lie group structure of constrained matrix manifold. In this paper, a gradient descent algorithm on Lie group manifold is proposed based on the geometric framework of optimization algorithm on Riemann manifold. Firstly, the orthogonal constraint separation matrices are regarded as a Lie group manifold, and the gradient of ICA objective function on the Lie group manifold is given by using Riemann metric;Secondly, the geodesic equation of the current iteration point along the gradient descent direction is calculated;Finally, a new iteration point is obtained by moving a certain step along the geodesic line, meanwhile, the step length can be adjusted adaptively. Simulation results show that the gradient algorithm on Lie group manifold is feasible for blind Source Separation, and its performance (convergence speed, stability and error) is better than other algorithms. Copyright © 2024 by author(s).

关键词： Independent component analysis

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Natural human Skin‑Inspired Wearable and Breathable Nanofiber‑based Sensors with Excellent Thermal Management Functionality

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Advanced Fiber Materials 2024年第6期6卷 1955-1968页

作者： Peng Wang Xiaodan Li Guifen Sun Guoqing Wang Qing Han Chuizhou Meng Zhonghe Wei Yang Li School of Mechanical Engineering University of JinanJinan 250022China School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116China State Key Laboratory for Reliability and Intelligence of Electrical Equipment Engineering Research Center of Ministry of Education for Intelligent Rehabilitation Device and Detection TechnologyHebei Key Laboratory of Smart Sensing and Human‑Robot InteractionSchool of Mechanical EngineeringHebei University of TechnologyTianjin 300401China Shandong Provincial Key Laboratory of Network‑Based Intelligent Computing School of Information Science and EngineeringUniversity of JinanJinan 250022China Network Information Center Department of Computer ScienceQilu University of Technology(Shandong Academy of Sciences)Jinan 250353China School of Integrated Circuits Shandong UniversityJinan 250101China

Wearable sensors have been rapidly developed for application in various human monitoring ***,the wearing comfort and thermal properties of these devices have been largely ignored,and these characteristics urgently need to be ***,we develop a wearable and breathable nanofiber-based sensor with excellent thermal management functionality based on passive heat preservation and active Joule heating *** multifunctional device consists of a micropatterned carbon nanotube(CNT)/thermoplastic polyurethane(TPU)nanofiber electrode,a microporous ionic aerogel electrolyte and a microstructured Ag/TPU nanofiber *** to the presence of a supercapacitive sensing mechanism and the appli-cation of microstructuration,the sensor shows excellent sensing performance,with a sensitivity of 24.62 ***,due to the overall porous structure and hydrophobicity of TPU,the sensor shows good breathability(62 mm/s)and water repellency,with a water contact angle of 151.2°.In addition,effective passive heat preservation is achieved by combining CNTs with high solar absorption rates(85%)as the top layer facing the outside,aerogel with a low thermal conductivity(0.063 W m-1 k-1)as the middle layer for thermal insulation,and Ag with a high infrared reflectance rate as the bottom layer facing the *** warming,this material yields a higher temperature than ***,the active Joule heat-ing effect is realized by applying current through the bottom resistive electrode,which can quickly increase the temperature to supply controlled warming on *** proposed wearable and breathable sensor with tunable thermal properties is promising for monitoring and heat therapy applications in cold environments.

关键词： Wearable sensor Breathable Personal thermal management Electrospun nanofibers Joule heating

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Designing Controller for the 2-DoF Cable-Driven Serial robot with Variable Configuration based on Adaptive Neuro-Fuzzy Systems

Designing Controller for the 2-DoF Cable-Driven Serial Robot...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Vahid Bahrami Ahmad Kalhor Mehdi Tale Masouleh School of Electrical and Computer Engineering University of Tehran Human and Robot Interaction Laboratory Tehran Iran

ISBN: (纸本)9781665454537

This paper addresses the problem of actuation and design of a controller for a 2-DoF Cable-Driven Serial Chain (CDSC) with variable configuration based on adaptive neuro-fuzzy systems. The mentioned structure uses several light cables to actuate rigid links of a passive planar serial robot, performing a 2-DoF motion pattern, which can apply tensile forces for moving the links and thus produce the necessary torque to track the desired reference model by the robot’s end-effector. Additionally, cable attachment point coordinates of the CDSC are considered variable configurations. So, a novel concept is expressed in the calculation of the CDSC’s Jacobian matrix. In this mechanism, upon formulating the sliding mode error dynamics, an Adaptive Neural Network (ANN) is used to cope with complex mathematical calculations of the CDSC dynamics. Then, the coordinates of cables are considered as variables that depend on the main states of the plant. These co-states are adaptively determined by applying an appropriate fuzzy system. As a result, an Adaptive Neuro-Fuzzy Controller (ANFC) algorithm is introduced for the mentioned redundant mechanism. Finally, by defining a new Cost of Redundancy (CoR), an optimal configuration of the cables is found, so the maximum Degrees of Redundancy (DoR) is obtained. The simulation results indicate that using the ANFC algorithm leads to a reduction of 2.23% in the CoR for the 2-DoF CDSC.

关键词： Adaptive systems Costs Torque Tracking robot kinematics Heuristic algorithms Simulation

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Kinematics Analysis of the Wearable Waist Rehabilitation robot 1

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Qi, Kaicheng Fu, Kefei Wei, Jun Lui, Chenglei Song, Jingke Zhang, Jianjun School of Mechanical Engineering Hebei University of Technology Tianjin300401 China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education Tianjin300130 China Key Laboratory of Robot Perception and Human–Machine Fusion Hebei Province Tianjin300130 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

Patients with lumbar injuries are becoming more common and there is a shortage of intelligent rehabilitation equipment. A wearable lumbar rehabilitation robot for the treatment of low back pain disease is designed to help patients recover their lumbar motion. Firstly, the motion characteristics of the human lumbar spine and its range of motion is determined, and based on the size and range of motion of the human lumbar spine, the configuration design of the lumbar rehabilitation robot is proposed, and a 2-PUU/2-PUS parallel mechanism with three rotations and one translation is proposed;then the degree of freedom(DoF) analysis is carried out based on the screw theory;Finally, the kinematic inverse solution analysis is performed based on the Euler transformation and the geometrical characteristics of this parallel mechanism respectively, and validated based on the established virtual prototype model, and the results show that the mechanism motion characteristics meet the requirements of lumbar rehabilitation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Kinematics

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Configuration Synthesis of 4 DOF Knee Rehabilitation Parallel Mechanism Based on Multiset Theory 16th

Configuration Synthesis of 4 DOF Knee Rehabilitation Paralle...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Zhang, Zhongxin Yu, Bin Wang, Jinbao Song, Jingke Wei, Jun School of Mechanical Engineering Hebei University of Technology Tianjin300401 China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education Tianjin300130 China Key Laboratory of Robot Perception and Human–Machine Fusion Hebei Province Tianjin300130 China

ISBN: (纸本)9789819965007

The occurrence of diseases and accidental damage cause many people to have knee motion dysfunction, the synthesis design of the knee joint rehabilitation mechanism is of great significance. This paper proposes a new 4 DOF (degree-of-freedom) motion equivalent model of knee joint, and the limb synthesis and configuration synthesis of 4 DOF parallel rehabilitation mechanism of knee joint are carried out. Firstly, according to the physiological characteristics of the knee joint and the three non-negligible motion characteristics of the knee joint, a 4 DOF motion equivalent model of the knee joint that is more in line with the knee joint motion is obtained, and the motion screw system and constraint screw system of this model are obtained, Configuration synthesis conditions are proposed. Second, the type of limb constraint is obtained according to the configuration synthesis conditions, and the limb synthesis is carried out by using screw correlation and reciprocity. Finally, the constraint types of the moving platform are classified by using the constraint screw multiple set theory, and the configuration synthesis of each type is carried out, a large number of knee joint 4 DOF parallel rehabilitation mechanisms that meet the requirements are obtained. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Screws

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