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

作者： Enhao Zheng Jinchen Zeng Dongfang Xu Qining Wang Hong Qiao State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences No. 95 of Zhongguancun East Road Beijing China School of Automation and Electrical Engineering University of Science and Technology Beijing 30 Xueyuan Road Beijing Robotics Research Group College of Engineering Peking University Beijing China

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

Noncontact captive sensing is a new sensing strategy that we proposed previously to compensate for the limitations of existing surface electromyography studies for exoskeleton control. It has been validated on locomotion mode recognition and gait phase estimation. However, our previous studies addressed the tasks of periodic ambulation based on machine learning algorithms. The performances of the capacitive sensing on non-periodical lower-limb motion recognition have never been evaluated. In this preliminary study, we designed a motion recognition method by fusing the capacitive sensing and the inertial sensors. The recognition algorithm was designed based on the combined logics, which freed the system from burdensome training procedures in the recognition tasks. The method was validated on three healthy subjects in performing 6 lower-limb motions and the transitions between them (10 in total). The capacitance-inertial fusion method produced an average precision/recall of >0.92 in static motions and >0.86 with transitions. The most prominent improvement of using the capacitance signals is that it increases the time-response ability during the motion transitions. Compared with purely using inertial sensors, the sensor fusion method reduced more than 100-ms latency on average. The pilot study extends the scope of the new sensing method in human motion recognition. Future efforts will be paid in this direction to get more promising results.

关键词： Robot sensing systems Capacitance Electrodes Task analysis Legged locomotion Exoskeletons

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Design of A Multi-Functional Soft Ankle Exoskeleton for Foot-Drop Prevention, Propulsion Assistance, and Inversion/Eversion Stabilization

Design of A Multi-Functional Soft Ankle Exoskeleton for Foot...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Haisheng Xia Junghan Kwon Prabhat Pathak Jooeun Ahn Peter B. Shull Yong-Lae Park State Key Laboratory of Mechanical Systems and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Department of Mechanical Engineering Soft Robotics Research Center (SRRC) the Institute of Advanced Machines and Design (IAMD) Seoul National University Seoul South Korea Department of Physical Education Seoul National University Seoul South Korea

ISBN: (数字)9781728159072

ISBN: (纸本)9781728159089

Stroke often results in hemiplegia, which greatly affects the walking ability of the patients. We propose a multi-functional portable ankle exoskeleton for use in preventing foot-drops, assisting propulsion, and stabilizing inversion/eversion during walking to help gait rehabilitation of stroke patients. The portable ankle exoskeleton was fabricated by 3D printing a soft/rigid hybrid structure. The device was able to prevent foot-drop and assist propulsion with a bi-directional cable-driven actuation system. It also showed a capability of stabilizing inversion/eversion motions using a counter-electromotive force of two small, lightweight gear motors. The device was controlled by a microcontroller based on real-time feedback from one inertial measurement unit and a customized force sensitive resistor. The device is fully untethered with all the components integrated on-board, with a total weight of less than 1 kg. Five healthy subjects performed over-ground walking tests with the proposed ankle exoskeleton for three different walking situations (normal walking, walking with simulated foot-drop, and walking on an uneven terrain) and three walking conditions (without the exoskeleton, with the exoskeleton powered off, and with the exoskeleton powered on). From the test results, we confirmed the feasibility of the proposed ankle exoskeleton for foot-drop prevention, propulsion assistance, and inversion/eversion stabilization. The ankle exoskeleton showed a potential for wearable gait rehabilitation for stroke patients with high mobility and portability.

关键词： Legged locomotion Exoskeletons Propulsion Robots DC motors Stroke (medical condition) Connectors

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Optimal Reaction Control for the Flexible Base Redundant Manipulator System*

Optimal Reaction Control for the Flexible Base Redundant Man...

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IEEE International Conference on robotics and Biomimetics

作者： Yaowen Zhang Yechao Liu Zongwu Xie Mehrdad Moallem State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechatronic Systems Engineering Simon Fraser University Vancouver Canada

The null space of the Jacobian for the redundant manipulators can be utilized to reach dual control goals and optimal effects. For the flexible base redundant manipulator system, the reaction force from the motion of the manipulator should be carefully handled while the end effector is tracking a desired trajectory. Different optimal goals are discussed, including the minimization of base deflection force/torque and base energy dissipation path. Considering the base reaction dynamic, the reaction force/torque is treated as the input of the base and the deflection energy is treated as the output, an integrated optimal goal is built and solved based on the LQR control to get an optimal feedback for the closed-loop dynamics. We discuss the different optimal goals and implement trough the redefined acceleration. We test the different control laws on the three- link manipulators which mounted on a three-DoF flexible base. Simulation results demonstrate that optimal goal in LQR form can be advantageous in terms of flexible base manipulator.

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A Design and Ealuation of Hand-held Mechatronic Laparoscopic Surgical Robot

A Design and Ealuation of Hand-held Mechatronic Laparoscopic...

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2018 International Conference on Control and Robots, ICCR 2018

作者： Xue, Renfeng Du, Zhijiang Yan, Zhiyuan Ren, Bingyin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781538682432

This paper presents a new hand-held mechatronic laparoscopic surgical robot, which is intuitie and ergonomic as its accurate master-slae motion mapping and precise position control. The displacement transmission characteristics of cable-pulley system in laparoscope surgical robot is modelled which considers the bending rigidity of the cable. Based on the model, a position compensation algorithm of feedforward control is presented to reduce the tracking errors. To erify the effectieness and alue for real clinical application, position compensation and suturing experiments are performed. Experiments results show position tracking errors are reduced significantly. The aerage time of fie continuous suturing is about 90s and the insertion and piercing position errors are 1mm and 2mm respectiely. © 2018 IEEE.

关键词： Robotic surgery

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Online 4D Ultrasound-Guided Robotic Tracking Enables 3D Ultrasound Localisation Microscopy with Large Tissue Displacements

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IEEE Transactions on Medical Imaging 2025年

作者： Yan, Jipeng Tan, Qingyuan Kawara, Shusei Zhu, Jingwen Wang, Bingxue Toulemonde, Matthieu Liu, Honghai Tan, Ying Tang, Meng-Xing Imperial College London Ultrasound Lab for Imaging and Sensing Department of Bioengineering LondonSW7 2AZ United Kingdom Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150001 China Imperial College London Department of Bioengineering LondonSW7 2AZ United Kingdom University of Portsmouth School of Computing PortsmouthPO1 2UP United Kingdom University of Melbourne Department of Mechanical Engineering ParkvilleVIC3010 Australia

Super-Resolution Ultrasound (SRUS) imaging through localising and tracking microbubbles, also known as Ultrasound Localisation Microscopy (ULM), has demonstrated significant potential for reconstructing microvasculature and flows with sub-diffraction resolution in clinical diagnostics. However, imaging organs with large tissue movements, such as those caused by respiration, presents substantial challenges. Existing methods often require breath holding to maintain accumulation accuracy, which limits data acquisition time and ULM image saturation. To improve image quality in the presence of large tissue movements, this study introduces an approach integrating high-frame-rate ultrasound with online precise robotic probe control. Tested on a microvasculature phantom with slow but large translation motions, up to 5 mm/s and 20 mm- twice the aperture size of the matrix array used, our method achieved real-time tracking of the moving phantom and imaging volume rate at 85 Hz, keeping majority of the target volume in the imaging field of view. ULM images of the moving cross channels in the phantom were successfully reconstructed in post-processing, demonstrating the feasibility of super-resolution imaging under large tissue motions. This represents a significant step towards ULM imaging of organs with large motion. © 1982-2012 IEEE.

关键词： Motion tracking

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A Unified Active Assistance Control Framework of Hip Exoskeleton for Walking and Balance Assistance*

A Unified Active Assistance Control Framework of Hip Exoskel...

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Shiyin Qiu Wei Guo Pengfei Wang Fei Chen Fusheng Zha Xin Wang Jing Deng State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin China Department of Advanced Robotics Istituto Italiano di Tecnologia 30 Genova Italy Shenzhen Academy of Aerospace Technology Shenzhen China

To actively assist human walking and balance recovery, a unified active assistance control framework of the hip exoskeleton is proposed in this paper. At the beginning of this paper, the condition of active assistance is analyzed. And then, a novel virtual stiffness model is proposed based on the analysis of human hip joint torque during walking and balance recovery. The virtual stiffness model is utilized to generate the desired active assistance torque profile for active walking and balance assistance. Next, the unified active assistance control framework is established based on the virtual stiffness model. Finally, the effectiveness of the proposed control framework is demonstrated by walking experiments. The results of the forward walking experiment show that the muscle effort of iliopsoas is reduced and the amplitude of hip joint motion is enlarged with the assistance of hip exoskeleton. The walking forward pull experiments and the walking backward pull experiments show that when the human suffers from a forward or backward disturbance force during forward walking, exoskeleton can help human regain balance faster and can enlarge the margin of stability (MoS) of the human.

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Sidewall Imaging of Microstructures with a Tilted Quartz Tuning Fork (QTF) Force Sensor 3

Sidewall Imaging of Microstructures with a Tilted Quartz Tun...

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3rd International Conference on Manipulation, Automation and robotics at Small Scales, MARSS 2018

作者： Hussain, Danish Yongbing, Wen Xie, Hui College of Electrical Mechanical Engineering National University of Sciences and Technology Department of Mechatronics Engineering Islamabad Pakistan Harbin Institute of Technology State Key Laboratory of Robotics and Systems 2 Yikuang Harbin150080 China

ISBN: (纸本)9781538648414

Sidewall imaging of micro and nano structures is essential for critical dimensional metrology in the semiconductor industry. Atomic force microscope is an important sidewall imaging instrument due to its three dimensional imaging capability, high accuracy and ultra high resolution. We propose an AFM method for sidewall imaging of high step sidewalls. A tuning fork force sensor with a tungsten tip is tilted at a suitable angle (θ) to access the sidewall. Sidewalls of a micro electromechanical systems (MEME) structure fabricated by deep reactive ion etching (DIRE) process is scanned and sidewall roughness is measured. © 2018 IEEE.

关键词： Atomic force microscopy

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REFUGE2 CHALLENGE: A TREASURE TROVE FOR MULTI-DIMENSION ANALYSIS AND EVALUATION IN GLAUCOMA SCREENING

arXiv

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arXiv 2022年

作者： Fang, Huihui Li, Fei Wu, Junde Fu, Huazhu Sun, Xu Son, Jaemin Yu, Shuang Zhang, Menglu Yuan, Chenglang Bian, Cheng Lei, Baiying Zhao, Benjian Xu, Xinxing Li, Shaohua Fumero, Francisco Sigut, José Almubarak, Haidar Bazi, Yakoub Guo, Yuanhao Zhou, Yating Baid, Ujjwal Innani, Shubham Guo, Tianjiao Yang, Jie Orlando, José Ignacio Bogunović, Hrvoje Zhang, Xiulan Xu, Yanwu The REFUGE2 Challenge Australia State Key Laboratory of Ophthalmology Zhongshan Ophthalmic Center Sun Yat-Sen University Guangdong Provincial Key Laboratory of Ophthalmology and Visual Science Guangzhou China Intelligent Healthcare Unit Baidu Inc. Beijing China The Institute of High Performance Computing Agency for Science Technology and Research Singapore Yatiris Group PLADEMA Institute CONICET UNICEN Tandil Argentina Christian Doppler Lab for Artificial Intelligence in Retina Department of Ophthalmology and Optometry Medical University of Vienna Vienna Austria VUNO Inc Seoul Korea Republic of Tencent HealthCare Tencent Shenzhen China Computer Vision Institute College of Computer Science and Software Engineering of Shenzhen University Shenzhen China School of Biomedical Engineering Health Science Center Shenzhen University China Xiaohe Healthcare ByteDance Guangdong Guangzhou510000 China School of Biomedical Engineering Shenzhen University China College of Computer Science & Software Engineering Shenzhen University China Department of Computer Science and Systems Engineering Universidad de La Laguna Spain Saudi Electronic University Saudi Arabia King Saud University Saudi Arabia Institute of Automation Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China SGGS Institute of Engineering and Technology India Institute of Medical Robotics Shanghai Jiao Tong University China Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University China

With the rapid development of artificial intelligence (AI) in medical image processing, deep learning in color fundus photography (CFP) analysis is also evolving. Although there are some open-source, labeled datasets of CFPs in the ophthalmology community, large-scale datasets for screening only have labels of disease categories, and datasets with annotations of fundus structures are usually small in size. In addition, labeling standards are not uniform across datasets, and there is no clear information on the acquisition device. Here we release a multi-annotation, multi-quality, and multi-device color fundus image dataset for glaucoma analysis on an original challenge-Retinal Fundus Glaucoma Challenge 2nd Edition (REFUGE2). The REFUGE2 dataset contains 2000 color fundus images with annotations of glaucoma classification, optic disc/cup segmentation, as well as fovea localization. Meanwhile, the REFUGE2 challenge sets three sub-tasks of automatic glaucoma diagnosis and fundus structure analysis and provides an online evaluation framework. Based on the characteristics of multi-device and multi-quality data, some methods with strong generalizations are provided in the challenge to make the predictions more robust. This shows that REFUGE2 brings attention to the characteristics of real-world multi-domain data, bridging the gap between scientific research and clinical application. © 2022, CC BY-NC-ND.

关键词： Color

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Authentication Technology in Industrial Control System Based on Identity Password

Authentication Technology in Industrial Control System Based...

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第三十九届中国控制会议

作者： Luyao Yang Wenli Shang Chunyu Chen Tianyu Wang Zhoubin Liu Shenyang Institute of Automation Chinese Academy of Sciences School of Information Science and Engineering Northeastern University University of Chinese Academy of Sciences Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Electric Power Research Institute State Grid Zhejiang Electric Power Co.Ltd.

Aiming at the current lack of certification capability in domestic industrial control systems, an industrial control system authentication scheme based on identity cryptography algorithm is proposed. When authenticating between control system devices, the scheme integrates the identity-based digital signature algorithm into the SSL/TLS handshake protocol to complete identity authentication between the engineering station and the trusted PLC. At the same time, when the connection is established for the first time between devices, the connection authentication is selected by the challenge/response based method. The authentication technology based on the identity cryptographic algorithm no longer requires the existence of a public key certificate. This eliminates the need to revoke, store, and issue certificates, simplifies the certification process and reduces the amount of computation required by the authentication process. At the same time, the improved handshake protocol is universal in industrial control systems. The authentication technology based on the identity and password algorithm no longer requires the existence of a public key certificate, eliminating the need for certificate revocation, storage, and issuance, simplifying authentication steps, and reducing system maintenance. Finally, by establishing a test environment, the improved handshake protocol is implemented, and the feasibility of the authentication scheme is verified and analyzed.

关键词： Industrial control security digital signature identity authentication SSL/TLS handshake protocol

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Spatiotemporally Controlled Formation and Rotation of Magnetic Nanochains In Vivo for Precise Mechanotherapy of Tumors

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Angewandte Chemie 2022年第51期134卷

作者： Dr. Qinrui Fu Hongjuan Feng Dr. Luntao Liu Ziqiao Li Jianjie Li Jing Hu Prof. Chengzhi Hu Prof. Xiaohui Yan Prof. Huanghao Yang Prof. Jibin Song Fujian Science & Technology Innovation Laboratory for Optoelectronic Information of China MOE key laboratory for analytical science of food safety and biology College of Chemistry Fuzhou University Fuzhou 350108 China State Key Laboratory of Molecular Vaccinology and Molecular Diagnostics & Center for Molecular Imaging and Translational Medicine School of Public Health Xiamen University Xiamen Fujian 361005 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518055 China College of Chemistry Beijing University of Chemical Technology Beijing 10010 P. R. China

Systemic cancer therapy is always accompanied with toxicity to normal tissue, which has prompted concerted efforts to develop precise treatment strategies. Herein, we firstly develop an approach that enables spatiotemporally controlled formation and rotation of magnetic nanochains in vivo, allowing for precise mechanotherapy of tumor. The nanochain comprised nanocomposites of pheophorbide-A (PP) modified iron oxide nanoparticle (IONP) and lanthanide-doped down-conversion NP (DCNP). In a permanent magnetic field, the nanocomposites would be aligned to form nanochain. Next, MnO 2 NPs were subsequently administered to accumulate in tumor as suppliers of Mn 2+ , which coordinates with PP to immobilize the nanochain. In a rotating magnetic field, the nanochain would rapidly rotate, leading to apoptosis/necrosis of tumor cell. The nanochain showed high T 2 -MR and NIR-II fluorescence imaging signals, which facilitated guided therapy. The strategy has great potential in practical applications.

关键词： Activatable Probes Fluorescence Probes In Vivo Bioimaging Material Science Self-Assembly

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