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Enhancing wide-band trajectory tracking and finite-time control of Dielectric Elastomer Actuators using Nonsingular terminal sliding mode control scheme

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mechatronics 2025年 109卷

作者： Kassim, Shakiru Olajide Zou, Jiang Behnamgol, Vahid Vaziri, Vahid Aphale, Sumeet S. Group School of Engineering University of Aberdeen ScotlandAB24 3UE United Kingdom The state Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China The Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Renewable Energy Research Centre Damavand Branch Islamic Azad University Tehran Iran Department of Electrical and Computer Engineering The Federal Polytechnic Damaturu Yobe State 620221 Nigeria

The utilization of Dielectric Elastomer Actuators (DEAs) in soft robotics is becoming increasingly popular due to their distinctive properties. However, controlling these actuators is challenging due to their nonlinear nature. This study addresses precise control of DEAs while minimizing nonlinear effects over a wide frequency range using a Sliding Mode Control (SMC) scheme. Traditional SMC approaches face two main issues: they do not ensure finite-time convergence during the sliding phase and compromise tracking accuracy due to approximations used to reduce chattering. This work presents a non-singular terminal sliding mode control combined with an enhanced boundary layer switching function to improve precision and finite-time stability. Using stability analysis, extensive MATLAB/SIMULINK simulations, and experimental validation on a conical DEA across diverse reference trajectories and its resilience against uncertainties, the proposed scheme demonstrates superior performance in trajectory tracking compared to PID-based and conventional SMC schemes. The results highlight the scheme's effectiveness in high-frequency trajectory tracking and its robustness to possible uncertainties and disturbances, offering a robust theoretical framework for dielectric elastomer actuator control and a promising approach for advancing soft robotic technologies. © 2025 The Authors

关键词： Intelligent robots

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Dual-durometer combination of vacuum cup for aerial grasping

Dual-durometer combination of vacuum cup for aerial grasping

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Sensen Liu Wei Dong Zhao Ma Dongxiao Sun Xinjun Sheng State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University and Robotics Institute Shanghai China School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

In the application of a conventional vacuum cup, a large compression force is required to eliminate the gap between the end of the cup and the object surface. However, the large interaction force will be a challenge for micro flying robots to grasp the object in the air using the suction cup as a gripper. To address the problem, a dual-durometer combined vacuum cup for aerial grasping is proposed. The combined cup is composed of one outer hard cup and one inner soft cup. The soft cup is longer than the hard one so the initial contact phase is implemented by the soft cup. The required compression force to engage the soft cup is dramatically decreased. The hard cup will be guided and pressed by the adhesion force induced by the soft one. Therefore, a larger adhesion force can be provided by the outer hard cup. The comparative experiments of static error-tolerance and aerial grasping have been conducted. The results demonstrate that the required contact pressure is significantly reduced and the object can be grasped robustly.

关键词： Force Grasping Adhesives Payloads Lips Bellows Adsorption

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Design of dielectric-elastomer actuated XY stages with millimeter range and submicrometer resolution

Design of dielectric-elastomer actuated XY stages with milli...

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International Conference on Manipulation, Automation and robotics at Small Scales (MARSS)

作者： Ningyuan Ding Jiang Zou 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

ISBN: (数字)9781728193496

ISBN: (纸本)9781728193502

In this paper, we present the development and performance evaluation of dielectric-elastomer actuated XY (DEA-XY) stages with a millimeter range and submicrometer resolution. The design of the DEA-XY stage is based on a circular dielectric-elastomer actuator with two vertically distributed electrodes that can generate a two degree-of-freedom motion. To optimize their performances, various DEAXY stages with different dimensions and pre-stretches are firstly fabricated. Then, both static and dynamic performances of the DEA-XY stages are investigated by experiments, which demonstrate that: i) the workspace of the DEA-XY stage can reach 2.5 mm × 2.5 mm; ii) the cross-coupling effect is less than 6.5%; iii) the dynamic responses of the DEA-XY stage show both viscoelastic creep and hysteresis nonlinearities. To demonstrate the resolution of the DEA-XY stage, we implement a feedback controller to remove the creep effect. By tracking step trajectories, the results show that the DEA-XY stage can achieve the positioning resolution of 100 nm. This work demonstrates the potential application of the DEA-XY stage in the field of microscale manipulators.

关键词： Electrodes Creep Actuators Micromanipulators High-voltage techniques Hysteresis Fabrication

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Using spanwise flexibility of caudal fin to improve swimming performance for small fishlike robots

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Journal of Hydrodynamics 2018年第5期30卷 859-871页

作者： Dan Xia Wei-shan Chen Jun-kao Liu Xiang Luo School of Mechanical Engineering Southeast UniversityNanjing 211189China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper examines the beneficial effects of the spanwise flexibility of the caudal fin for the improvement of the swimming performance for small fishlike robots. A virtual swimmer is adopted for controlled numerical experiments by varying the spanwise flexible trajectories and the spanwise flexible size of the caudal fin while keeping the body kinematics fixed. 3-D Navier-Stokes equations are used to compute the viscous flow over the robot. Elliptical, parabolic and hyperbola trajectories are chosen to describe the spanwise flexible profile of the caudal fin. According to the sign（positive or negative） of the phase difference of the swinging motion, the spanwise flexibility can be divided into the fin surface of ＂bow＂ and the fin surface of ＂scoop＂. It is observed that for both the fin surface of ＂bow＂ and the fin surface of ＂scoop＂, the spanwise elliptical trajectory has the optimal swimming velocity, thrust, lateral force, and efficiency. With comparisons, using the flexible caudal fin with the fin surface of ＂bow＂, the lateral force and the power consumption can be reduced effectively and the swimming stability can be increased while reducing little the swimming velocity and thrust. Meanwhile, using the flexible caudal fin with the fin surface of ＂scoop＂ can greatly improve the swimming velocity, thrust, and efficiency while increasing part of the lateral force and the power consumption. Three-dimensional flow structures clearly indicate the evolution process around the swimming robot. It is suggested that the fish, the dolphin, and other aquatic animals may benefit their hydrodynamic performance by the spanwise flexibility of the caudal fin.

关键词： Spanwise flexibility caudal fin fishlike robot swimming performance flow structures

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Design Validation and Collision Studies of A Compliant Magnetorheological Fluid Actuator

Design Validation and Collision Studies of A Compliant Magne...

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IEEE International Conference on Human-Machine systems

作者： Guangzeng Chen Jie Pengyu Tongyi Shang Yunjiang Lou T.T. Wong Li Chen Jian Liu State Key Laboratory of Robotics and System School of Mechatronics Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China. Shenzhen Institutes of Advanced Technology Shenzhen University Town Shenzhen China Emergency Department Chinese PLA General Hospital Department of Biomedical Engineering Shandong University Jinan China

ISBN: (数字)9781728158716

ISBN: (纸本)9781728158723

Robots are integrating into human society and become an important part. The robots and human must be considered as a whole system and the robots should be intelligent both in digital and physical like human to cooperate and interact with human non-physically or physically. For improving the physical intelligence of the robot, a magnetorheological fluid actuator (MRA) is proposed and studied in this paper. A collision model and a speed peak force planning method are proposed and some experiments are conducted. It shows that the collision peak force of the MRA with external objects can be easily controlled to different levels by controlling the compliance of the MRA for safe physical interaction with human or some striking works like hammering a nail.

关键词： Torque Robots Actuators Force Collision avoidance Rotors Couplings

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Parametric Gait Online Generation of a Lower-limb Exoskeleton for Individuals with Paraplegia

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Journal of Bionic engineering 2018年第6期15卷 941-949页

作者： Tianjiao Zheng Yanhe Zhu ZongweiZhang Sikai Zhao Jie Chen Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical Engineering and Automation Northeastern University Shenyang 110819 China

Lower-limb exoskeletons can provide paraplegics with the ability to restore gait function. In the community ambulation, the user would frequently meet different floors, doorsills, and other obstacles. Therefore, parametric gait generation is a significant issue for this kind of exoskeletons. In this paper, a parametric gait online generation approach is proposed, which combines a parametric gait control method with a torque compensation control strategy, based on the state machine. In the torque compensation control, the reference tra- jectories of joint positions are obtained through compensating gravity, inertia, and friction, which is intent on the natural and well-directed source data. Based on the reference trajectories, the parametric gait control method is established, in which the gait can be controlled via three parameters： velocity, step-length, and step-height. Two test cases are performed on three healthy subjects. The results demonstrate that the parametric gait can be online generated smoothly and correctly, meanwhile every variable step can be triggered as users expect. The effectiveness and practicability of the gait generation approach proposed in this paper are validated. In addition, this research is the foundation of autonomous gait planning.

关键词： exoskeleton parametric gait gait online generation paraplegic bionic design

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Design and safety control of a high-payload nursing robotic arm with tactile skin

Design and safety control of a high-payload nursing robotic ...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Wu, Jiahao Song, Yanshu Huang, Hailin Liu, Fei Chen, Junan Li, Bing Harbin Institute of Technology School of Mechanical Engineering and Technology Shenzhen518055 China Harbin Institute of Technology School of Electronic and Information Engineering Shenzhen518055 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781728163215

Service robots are being increasingly used to replace human beings in carrying out various sophisticated, heavy and even dangerous tasks. In order to solve the problem of labor shortage in the medical and nursing industry, this paper proposes a novel high-payload robotic arm for nursing tasks, which can help caregivers to lift and transfer patients. Firstly, we simulate and analyze the specific nursing tasks and application scenarios, and determine its kinematics configuration and load capacity parameters of each joint. Then we design and fabricate the modular and low flexibility robotic joints for the prototype. To avoid the occurrence of safety accidents while lifting patients, we design a new kind of tactile skin based on the resistance characteristic of varistor materials, using which a safety control algorithm is proposed. Experiments show that it can meet the requirements of load capacity and position control accuracy, and the proposed safety control method can effectively avoid many dangerous situations. © 2019 IEEE.

关键词： Nursing

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HybrUR: A Hybrid Physical-Neural Solution for Unsupervised Underwater Image Restoration

arXiv

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arXiv 2021年

作者： Yan, Shuaizheng Chen, Xingyu Wu, Zhengxing Tan, Min Yu, Junzhi The Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Chinese Academy of Sciences Beijing100190 China The Department of Mechanical Engineering Fuzhou University Fuzhou350000 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Xiaobing.AI Beijing100080 China The State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing100871 China

Robust vision restoration of underwater images remains a challenge. Owing to the lack of well-matched underwater and in-air images, unsupervised methods based on the cyclic generative adversarial framework have been widely investigated in recent years. However, when using an end-to-end unsupervised approach with only unpaired image data, mode collapse could occur, and the color correction of the restored images is usually poor. In this paper, we propose a data- and physics-driven unsupervised architecture to perform underwater image restoration from unpaired underwater and in-air images. For effective color correction and quality enhancement, an underwater image degeneration model must be explicitly constructed based on the optically unambiguous physics law. Thus, we employ the Jaffe-McGlamery degeneration theory to design a generator and use neural networks to model the process of underwater visual degeneration. Furthermore, we impose physical constraints on the scene depth and degeneration factors for backscattering estimation to avoid the vanishing gradient problem during the training of the hybrid physical-neural model. Experimental results show that the proposed method can be used to perform high-quality restoration of unconstrained underwater images without supervision. On multiple benchmarks, the proposed method outperforms several state-of-the-art supervised and unsupervised approaches. We demonstrate that our method yields encouraging results in real-world applications. © 2021, CC BY-NC-ND.

关键词： Image reconstruction

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A generalized model for predicting the optimal overlap rate and height of successive single-layer involved in laser metal deposition process based on the aspect ratio

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Optics & Laser Technology 2025年 191卷

作者： Enjie Dong Tingyu Chang Gan Li Ze Liu Liming Xia Linjie Zhao Junwen Lu Jiaxuan Chen Mingjun Chen Jian Cheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China Department of Mechanical Engineering City University of Hong Kong Hong Kong China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Guangdong 518055 China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou 310027 China Aircraft Repair & Overhaul Plant/Sichuan Province Engineering Technology Research Center of General Aircraft Maintenance Civil Aviation Flight University of China Guanghan 618307 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou 450000 China

The surface flatness of single-layer islands deposition is essential for high-quality multi-layer component deposition and the stability of the Laser metal deposition (LMD) manufacturing process. The aspect ratio of single-track deposition and the overlap rate are critical factors influencing the flatness of single-layer island deposition. Existing methods for determining the optimal overlap rate, whether through experimental approaches or simplified recursive overlap models, still suffer from long development cycles and limited accuracy. In this study, a generalized, efficient and reliable model for predicting the optimal overlap rate only using the aspect ratio of the single-track deposition as the input parameter was developed after fully understanding the influence of the aspect ratio and overlap rate on the morphology, stacking effect and flatness of single-layer islands. Besides, a prediction model for the height of the single-layer island, based on the input parameters of the aspect ratio and the overlap rate has also been developed. Further, verification datasets from different experimental batches and materials were used to validate the accuracy and generalizability of the island height prediction model. The validation results indicated that the relative error between the predicted and actual values was less than 10%. The single-track aspect ratio can be directly used to guide the LMD multi-layer component deposition, regardless of the combination of powder and substrate materials, using these reliable and generalized prediction models for the optimal overlap rate and the island height developed in current study. The single-layer island deposition stage was completely eliminated, thereby significantly shorten the development cycle and reduce the cost of LMD process parameter development.

关键词：

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Bilateral Teleoperation of Wheeled Mobile Robots Subject to Lateral Sliding on Soft Terrains

Bilateral Teleoperation of Wheeled Mobile Robots Subject to ...

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Chinese Control Conference (CCC)

作者： Weihua Li Sanjun Liu Dianbo Ren Jianfeng Wang Haibo Gao School of Automotive Engineering Harbin Institute of Technology (Weihai) Weihai China Shanghai Aerospace Equipments Manufacturer Co Ltd Shanghai China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

With the widespread applications of wheeled mobile robots (WMR) in various fields, new challenges have arisen in terms of designing its control system. A special challenge is the soft terrain which can induce both of the longitudinal slipping and the lateral sliding. This paper proposes a new method for haptic teleoperation control of a WMR with lateral sliding. In this teleoperation system, the linear velocity and the angular velocity of the WMR separately follow the master haptic interface's positions. Due to the functional benefits of displaying the lateral sliding information as haptic feedback to the operator, the lateral velocity is segregated and only perceived by the human operator. Then the teleoperator for the master robot and the slave WMR is designed based on the passivity theory. Experiments of the proposed controller demonstrate that this approach results in stable bilateral teleoperation with a satisfactory tracking performance.

关键词： Wheels Robot kinematics Haptic interfaces Mobile robots Force Kinematics

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