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IEEE International Conference on Soft robotics (RoboSoft)

作者： Yexun Wei Dezhi Yang Miao Feng Jianing Sun Guoying Gu Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Zhiyuan College Shanghai Jiao Tong University Shanghai China Meta Robotic Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Fabric-based soft exosuits offer promising solutions for elbow rehabilitation and assistance owing to their lightweight and flexible nature. However, existing designs usually apply continuous compression on the arm to anchor, whether actuated or not, potentially causing discomfort, numbness, and impaired blood circulation. Here, we present a fabric-based soft elbow exosuit that autonomously adjusts its compressing forces on the arm, harnessing a fabric-lattice artificial muscle (FAM) combined with two X-crossing anchoring straps (XASs) (worn on the upper arm and forearm). When the FAM is deflated, two XASs fit loosely on the arm. When the FAM is inflated, it contracts axially to assist elbow flexion and elongates laterally to actuate two XASs to anchor concurrently. Experimental results show that the FAM can output a contraction force up to 110 N, the XASs can generate a compressing force of 9.7 N (approximately 3 kPa), and the exosuit can provide a considerable torque up to 3.5 N•m, capable of assisting an elbow model to flex to 95°. These results demonstrate that our elbow exosuit provides a new approach to autonomous anchoring while achieving elbow flexion assistance effectively.

关键词： Flexible printed circuits Torque Force Buildings Arms Soft robotics Elbow Motion control Contracts Load modeling

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An RRT-Based Motion Planning Method for Hyper-Redundant Manipulators in Confined Spaces

An RRT-Based Motion Planning Method for Hyper-Redundant Mani...

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IEEE International Conference on robotics and Biomimetics

作者： Jiangqin Deng Ziqing Li Yang Zheng Guoying Gu State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665481106

Hyper-redundant manipulators have redundant degrees of freedom, bringing additional difficulties to the motion planning. Generally, existing motion planning methods generate paths without considering joint angle limitation of hyper-redundant manipulators. And the generated paths are discretized, leading to discrete errors. In this paper, we present an autonomous motion planner to generate paths, which can be followed by hyper-redundant manipulators with analytical solutions. Starting from the ending pose in the workspace, the rapidly exploring random tree can expand to multiple entrances with limited curvature of arc segments, which ensures that the joint angle limitation is satisfied. Meanwhile, the generated path consists of arc segments, which makes the generated paths can be followed with analytical solutions. Several simulations are conducted to demonstrate the aforementioned advantages. For further validation of the planner's effectiveness, a hyper-redundant manipulator system is used to follow the generated path with follow-the-leader motion.

关键词： Motion segmentation Biomimetics Biological system modeling Soft robotics Aerospace electronics Manipulators Planning

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Vibration Characteristics of Rolling Bearing Cage Under Speed Variation Conditions

SSRN

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SSRN 2023年

作者： Tu, Wenbing Liu, Chenlu Liang, Jie Liu, Yuqing Chen, Zaigang School of Mechatronics and Vehicle Engineering East China Jiaotong University Nanchang330013 China Key Laboratory of Conveyance and Equipment of Ministry of Education East China Jiaotong University Nanchang330013 China College of Mechanical Engineering Southwest Jiaotong University Chengdu610031 China State Key Laboratory of Rail Transit Vehicle System Southwest Jiaotong University Chengdu610031 China

Speed variation conditions deteriorate the force state of the rolling bearing internal components and aggravate the cage vibration, which can affect the service life and reliability of rolling bearings. This work introduced the rubbing effect and hydrodynamic contact between the cage and the guiding ring, taking into account the effect of the slip between the rolling elements and the cage. The dynamic analysis model of the cylindrical roller bearing was established, and the vibration characteristics of the cage were discussed under the start-stop conditions and different fluctuations of rotation rate. Results showed that the vibration of the cage mainly occurred at the middle and late stages of the acceleration process, and the impact mainly occurred at the middle stage of the deceleration process under the start-stop conditions. The fluctuations of rotation rates of the inner ring affected the dynamic stability of the cage and aggravated the impact and vibration of the cage. Rectangular fluctuation of rotation rate causes the most severe vibration and impact of the cage, followed by simple harmonic wave and triangular fluctuation. The findings offer theoretical guidance for enhancing the performance of bearings and ensuring their safe and reliable operation. © 2023, The Authors. All rights reserved.

关键词： Roller bearings

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Autonomous inverse encoding guides 4D nanoprinting for highly programmable shape morphing

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International Journal of Extreme Manufacturing 2025年第3期 472-488页

作者： Shuaiqi Ren Zhiang Zhang Ruokun He Jiahao Fan Guangming Wang Hesheng Wang Bing Han Yong-Lai Zhang Zhuo-Chen Ma Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Engineering University of Cambridge Institute of Medical Robotics School of Biomedical Engineering Shanghai Jiao Tong University State Key Laboratory of Integrated Optoelectronics College of Electronic Science and EngineeringJilin University

Highly programmable shape morphing of 4D-printed micro/nanostructures is urgently desired for applications in robotics and intelligent systems. However, due to the lack of autonomous holistic strategies throughout the target shape input, optimal material distribution generation,and fabrication program output, 4D nanoprinting that permits arbitrary shape morphing remains a challenging task for manual design. In this study, we report an autonomous inverse encoding strategy to decipher the genetic code for material property distributions that can guide the encoded modeling toward arbitrarily pre-programmed 4D shape morphing. By tuning the laser power of each voxel at the nanoscale, the genetic code can be spatially programmed and controllable shape morphing can be realized through the inverse encoding process. Using this strategy, the 4D-printed structures can be designed and accurately shift to the target morphing of arbitrarily hand-drawn lines under stimulation. Furthermore, as a proof-of-concept, a flexible fiber micromanipulator that can approach the target region through pre-programmed shape morphing is autonomously inversely encoded according to the localized spatial *** strategy may contribute to the modeling and arbitrary shape morphing of micro/nanostructures fabricated via 4D nanoprinting, leading to cutting-edge applications in microfluidics, micro-robotics, minimally invasive robotic surgery, and tissue engineering.

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Dynamic modelling and PFL-based trajectory tracking control for underactuated cable-driven truss-like manipulator

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Journal of Central South University 2021年第10期28卷 3127-3146页

作者： DING Shu-chen PENG Li QIAO Shang-ling LIU Rong-qiang JOSEPHAT Bundi School of IoT Engineering Jiangnan UniversityWuxi 214122China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

In recent years,an innovative underactuated robot was developed,named as underactuated cable-driven trusslike manipulator(UCTM),to be suitable in aerospace ***,there has been strong consensus that the stabilization of planar underactuated manipulators without gravity is a great challenge since the system includes a second order nonholonomic constraint and most classical control methods are not suitable for this kind of ***,the complexity of the truss-like structure results in tremendous difficulty of computational complicacy and high nonlinearity during dynamic modelling in addition to controller *** is paramount to solve these difficulties for UCTM's future *** solve the above difficulties,this paper presents a dynamic modelling method for UCTM and a trajectory tracking control method based on partial feedback linearization(PFL)that fulfills the control goal of moving UCTM from its original position to a desired position by tracking a given trajectory of the joint *** achieve this,a model equivalent method is proposed to make UCTM equivalent with a three-link manipulator in the sense of dynamic *** the Lagrangian equation combined with complex vector method is proposed in the dynamic modelling process of UCTM,which simplifies the derivation *** on the established dynamic model,a coordinate transformation method is proposed to transform the control force matrix into the conventional form of an underactuated system,so that the control force can be separated from the unactuated *** PFL method in combination with the LQR control method is then proposed to realize the targets that the joint angles can track given desired *** experiments are conducted to verify the correctness and effectiveness of the proposed methods.

关键词： underactuated robot trajectory tracking control partial feedback linearization non-linear control

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MRI-guided robot intervention—current state-of-the-art and new challenges

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Med-X 2023年第1期1卷 141-181页

作者： Shaoping Huang Chuqian Lou Ying Zhou Zhao He Xuejun Jin Yuan Feng Anzhu Gao Guang-Zhong Yang Institute of Medical Robotics and School of Biomedical Engineering Shanghai Jiao Tong UniversityShanghai 200240China National Engineering Research Center of Advanced Magnetic Resonance Technologies for Diagnosis and Therapy(NERC-AMRT) Shanghai Jiao Tong UniversityShanghai 200240China Materials and Technology Center of Robotics EmpaDübendorf 8600Switzerland State Key Lab of Metal Matrix Composites and School of Materials Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China Institute of Medical Robotics and Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China The Key Laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China

Magnetic Resonance Imaging(MRI)is now a widely used modality for providing multimodal,high-quality soft tissue contrast images with good spatiotemporal resolution but without subjecting patients to ionizing *** addition to its diagnostic potential,its future theranostic value lies in its ability to provide MRI-guided robot intervention with combined structural and functional mapping,as well as integrated instrument localization,target recognition,and in situ,in vivo monitoring of the therapeutic *** of current applications include neurosurgery,breast biopsy,cardiovascular intervention,prostate biopsy and *** applications in targeted drug delivery and MRI-guided chemoembolization are also being *** promising progress has been made in recent years,there are still significant basic science research and engineering *** paper provides a comprehensive review of the current state-of-the-art in MRI-guided robot intervention and allied technologies in actuation,sensing,new materials,interventional instruments,and interactive/real-time *** future research directions and new clinical developments are also discussed.

关键词： MRI-guided robot intervention Actuation Sensing Materials Interventional instruments Interactive/realtime MRI

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Toward the smooth mesh climbing of a miniature robot using bioinspired soft and expandable claws

arXiv

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arXiv 2022年

作者： Wang, Hong Liu, Peng Ngoc, Phuoc Thanh Tran Li, Bing Li, Yao Sato, Hirotaka State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China The School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore Singapore

While most micro-robots face difficulty traveling on rugged and uneven terrain, beetles can walk smoothly on the complex substrate without slipping or getting stuck on the surface due to their stiffness-variable tarsi and expandable hooks on the tip of tarsi. In this study, we found that beetles actively bent and expanded their claws regularly to crawl freely on mesh surfaces. Inspired by the crawling mechanism of the beetles, we designed an 8-cm miniature climbing robot equipping artificial claws to open and bend in the same cyclic manner as natural beetles. The robot can climb freely with a controllable gait on the mesh surface, steep incline of the angle of 60°, and even transition surface. To our best knowledge, this is the first micro-scale robot that can climb both the mesh surface and cliffy incline. © 2022, CC BY.

关键词： Robots

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Surface accuracy analysis for hexagonal prism modular deployable antenna

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Guangxue Jingmi Gongcheng/Optics and Precision engineering 2021年第12期29卷 2855-2867页

作者： Tian, Da-Ke Fan, Xiao-Dong Jin, Lu Liu, Rong-Qiang Zhang, Ke School of Mechanical Engineering Shenyang Jianzhu University Shenyang110168 China School of Civil Engineering Shenyang Jianzhu University Shenyang110168 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

A surface accuracy analysis model for the support structure of a hexagonal prism modular deployable antenna is proposed because of the large-scale, modular, and high-precision development trend of deployable antennas. The structural composition of the hexagonal modular deployable antenna is elaborated, and the topological rules of the hexagonal modular structure are analyzed. Based on the idea of equal envelope circles and the basic theory of robotics, two mathematical modeling methods of envelope circle, point-surface method and two-point method, are proposed, from which the mathematical model of the intersection point of the equal envelope circle and the mathematical model of the included angle of rib unit are established;the mathematical model for accuracy analysis of the shape surface of the support structure of a modular deployable antenna with a hexagonal prism is built. Finally, the model is verified using a combination of numerical simulations and experimental verifications. The simulation and experimental results show that the enveloping circle can closely fit on the spherical surface, and it is in good agreement with the spherical surface. In the numerical simulation model, the modules of the hexagonal prism are connected accurately. In the experiment, the absolute error of feature points is mainly distributed in 5 to 10 mm, the relative error is mainly concentrated in the range of 0.05% to 0.1%, and the absolute error of the rib unit angle is mostly distributed in the range of 0.05°to 0.1°. The deviation between the measured and the theoretical values is small, and the values are in good agreement. The proposed model can solve the spatial coordinates of all module connection points, which provides a theoretical basis for the analysis and research of the shape accuracy of multi-module deployable antennas. © 2021, Science Press. All right reserved.

关键词： Antennas

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Learning and Generalizing Variable Impedance Manipulation Skills from Human Demonstrations*

arXiv

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arXiv 2021年

作者： Zhang, Yan Zhao, Fei Liao, Zhiwei State Key Laboratory for Manufacturing System Engineering Shaanxi Key Laboratory of Intelligent Robotics School of Mechanical Engineering Xi’an Jiaotong University Shaanxi Xi’an710049 China

By learning Variable Impedance Control policy, robot assistants can intelligently adapt their manipulation compliance to ensure both safe interaction and proper task completion when operating in human-robot interaction environments. In this paper, we propose a DMP-based framework that learns and generalizes variable impedance manipulation skills from human demonstrations. This framework improves robots0 adaptability to environment changes(i.e. the weight and shape changes of grasping object at the robot end-effector) and inherits the efficiency of demonstration-variance-based stiffness estimation methods. Besides, with our stiffness estimation method, we generate not only translational stiffness profiles, but also rotational stiffness profiles that are ignored or incomplete in most learning Variable Impedance Control papers. Real-world experiments on a 7 DoF redundant robot manipulator have been conducted to validate the effectiveness of our framework. © 2021, CC BY.

关键词： Stiffness

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Low-Friction Soft Robots for Targeted Bacterial Infection Treatment in Gastrointestinal Tract

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类生命系统（英文） 2024年第5期2024卷 299-313页

作者： Ben Wang Yunrui Chen Zhicheng Ye Haidong Yu Kai Fung Chan Tiantian Xu Zhiguang Guo Weimin Liu Li Zhang College of Chemistry and Environmental Engineering Shenzhen UniversityShenzhen 518060China Guangxi Key Laboratory of Processing for Non-Ferrous Metals and Featured Materials School of ResourceEnvironments and MaterialsGuangxi UniversityNanning 530004China Chow Yuk Ho Technology Centre for Innovative Medicine The Chinese University of Hong KongShatinNew TerritoriesHong Kong SARChina Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China Key Laboratory of Biomedical Imaging Science and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China Hubei Collaborative Innovation Centre for Advanced Organic Chemical Materials and Ministry of Education Key Laboratory for the Green Preparation and Application of Functional Materials Hubei UniversityWuhan 430062China State Key Laboratory of Solid Lubrication Lanzhou Institute of Chemical PhysicsChinese Academy of ScienceLanzhou 730000China State Key Laboratory of Solid Lubrication Lanzhou Institute of Chemical PhysicsChinese Academy of ScienceLanzhou 730000China Department of Mechanical and Automation Engineering The Chinese University of Hong KongShatinNew TerritoriesHong Kong SARChina Multi-Scale Medical Robotics Center Hong Kong Science ParkShatinNew TerritoriesHong Kong SARChina

Untethered and self-transformable miniature robots are capable of performing reconfigurable deformation and on-demand locomotion,which aid the traversal toward various lumens,and bring revolutionary changes for targeted delivery in gastrointestinal(GI)***,the viscous non-Newtonian liquid environment and plicae gastricae obstacles severely hamper high-precision actuation and payload ***,we developed a low-friction soft robot by assembly of densely arranged cone structures and grafting of hydrophobic *** magnetic orientation encoded robot can move in multiple modes,with a substantially reduced drag,terrain adaptability,and improved motion velocity across the non-Newtonian ***,the robot stiffness can be reversibly controlled with magnetically induced hardening,enabling on-site scratching and destruction of antibiotic-ineradicable polymeric matrix in biofilms with a low-frequency magnetic ***,the magnetocaloric effect can be utilized to eradicate the bacteria by magnetocaloric effect under high-frequency alternating *** verify the potential applications inside the body,the clinical imaging-guided actuation platforms were developed for vision-based control and delivery of the *** developed low-friction robots and clinical imaging-guided actuation platforms show their high potential to perform bacterial infection therapy in various lumens inside the body.

关键词： astro gast bacterial infection intestinal low-friction robots soft targeted tract

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