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检索条件"机构=Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems"

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Walking Control for a Self-Balancing Exoskeleton on Flat Ground

Walking Control for a Self-Balancing Exoskeleton on Flat Gro...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Li, Jinke Tian, Dingkui Li, Feng Sun, Jianquan Yin, Meng Wu, Xinyu University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China Siat Cuhk Joint Laboratory of Robotics and Intelligent Systems China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China

ISBN: (纸本)9798350327182

Designed to provide rehabilitation or the assistance of walking for individuals who are with lower limb muscle injuries or spinal during their activities, self-balancing lower limb exoskeletons have been developed. This paper introduces an innovative controller for a fully actuated exoskeleton that ensures stable walking for wearers without the need for external devices. The exoskeleton robot is represented as a center of mass model, and based on this representation, the trajectory generation and controller are discussed, aiming to improve locomotion stability. To assess the stability and dynamic performance, a stable walking experiment with the exoskeleton was conducted, involving a male subject. © 2023 IEEE.

关键词： Exoskeleton (robotics)

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Flapping-Wing Robot Achieves Multi-Domain Locomotion Using Transformable Wheel Mechanism

Flapping-Wing Robot Achieves Multi-Domain Locomotion Using T...

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2024 IEEE International Conference on robotics and biomimetics, ROBIO 2024

作者： Chai, Xiangxiao Wang, Shihua Pan, Erzhen Xu, Wenfu Shenzhen518055 China Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen518055 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781665481090

The difficulty of moving from aquatic to aerial environment is one of the major challenges limiting the development of trans-medium multi-domain locomotion vehicles. In this paper, the concept of the transformable wheel, a feature commonly found in autonomous land vehicles (AL V s), is introduced into the design. Additionally, a flapping-wing robot equipped with multi-domain locomotion capability, which can not only realize aerial flight and surface navigation on water, but also ascend from water to land for subsequent takeoff is presented. The paper first introduces the system design of the robot and proposes the corresponding multi-domain locomotion strategy. Subsequently, the design of the transformable wheel mechanism is described in detail and the force analysis for the water-exit is conducted. The feasibility of the proposed strategy is experimentally validated, confirming the prototype's multi-domain locomotion performance finally. This research explores the feasibility of introducing the transformable wheel mechanism into trans-medium multi-domain vehicle platforms and provides a design example. © 2024 IEEE.

关键词： Machine design

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TactCapsNet: Tactile capsule network for object hardness recognition

TactCapsNet: Tactile capsule network for object hardness rec...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Fang, Senlin Mi, Tingting Zhou, Zhenning Ye, Chaoxiang Liu, Chengliang Wu, Hancheng Yi, Zhengkun Wu, Xinyu Shenzhen Institute of Advanced Technology CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China Shenzhen Key Laboratory of Smart Sensing and Intelligent Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518055 China

ISBN: (纸本)9781665436786

Hardness is one of the most essential tactile clues for robots to recognize objects. However, methods for robots to recognize hardness are limited. In this paper, based on the Capsule Network (CapsNet), we propose a novel tactile capsule network (TactCapsNet) for object hardness recognition. Specifically, we collect a tactile dataset on the silicone samples with three different shapes, and the silicone samples of each shape have thirteen hardness levels ranging from 0A (Shore A scale) to 60A at 5A intervals. Furthermore, we construct the tactile image as the input of the CapsNet to make full use of the spatio-temporal information of the tactile hardness dataset. The experimental results prove that the proposed approach achieves higher accuracy and quadratic weighted kappa (QWK) than support vector machine (SVM), long short-term memory (LSTM), convolutional neural network (CNN), and CapsNet. © 2021 IEEE.

关键词： Hardness

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Powered Super Tail: A Terrain-Adaptive Wheel-legged Robotic Limb to Assist Human’s Load Carriage

Powered Super Tail: A Terrain-Adaptive Wheel-legged Robotic ...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Yanzhen Xiang Xiaoyu Yan Hanqi Su Nuo Chen Shangkun Guo Jielin Wu Yuquan Leng Chenglong Fu Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

ISBN: (纸本)9781665431545

Load carriage is a common demand in humans’ daily life. Long time load carriage often causes significant energy expenditure for the body and may even bring physical problems like muscle strain. Variations in terrains and ground conditions are usually inevitable in such scenarios, which disrupts humans’ gait and leads to even more energy expenditure. In this paper, a wheel-legged robotic limb, Powered Super Tail (PST) to assist human’s load carriage in varying terrains and ground conditions is proposed. The PST system mainly consists of a support rod transferring load to the ground and a pair of stepping triple wheel groups adaptable to different terrain conditions including ground barriers, stairs and rough roads. Driven by a pair of motors, uplifting support for the load and appropriate force assistance could be effectively provided by the support rod, and thus energy expenditure of human body could be reduced. The system’s performance on human body was tested. It is shown that the stepping triple wheel group could successfully traverse barriers of different heights and ascend stairs. The effect of the system on human body standing and walking on flat ground were respectively evaluated under three experimental conditions including 1) with the load only (LOAD, 16.42 kg); 2) with the powered PST (PST_ON, 27.30 kg); 3) with unpowered PST (PST_OFF, 27.30 kg). And the percentage of metabolic power consumption reduction was the metric for evaluation. Experiments demonstrate the following results: during standing, the metabolic power consumption under PST_ON is lowered by 5.42% compared to LOAD and 12.56% compared to PST_OFF; and during walking, the metabolic power consumption is lowered by 20.85% compared to LOAD and 36.58% compared to PST_OFF.

关键词： Legged locomotion Measurement Power demand Mechatronics Roads Machine vision Wheels

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Enhancing Prosthetic Safety and Environmental Adaptability: A Visual-Inertial Prosthesis Motion Estimation Approach on Uneven Terrains

Enhancing Prosthetic Safety and Environmental Adaptability: ...

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

作者： Chuheng Chen Xinxing Chen Shucong Yin Yuxuan Wang Binxin Huang Yuquan Leng Chenglong Fu Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Environment awareness is crucial for enhancing walking safety and stability of amputee wearing powered prosthesis when crossing uneven terrains such as stairs and obstacles. However, existing environmental perception systems for prosthesis only provide terrain types and corresponding parameters, which fail to prevent potential collisions when crossing uneven terrains and may lead to falls and other severe consequences. In this paper, a visual-inertial motion estimation approach is proposed for prosthesis to perceive its movement and the changes of spatial relationship between the prosthesis and uneven terrain when traversing them. To achieve this, we estimate the knee motion by utilizing a depth camera to perceive the environment and align feature points extracted from uneven terrains. Subsequently, an error-state Kalman filter is incorporated to fuse the inertial data into visual estimations to obtain a more robust and accurate estimation, which is then utilized to derive the motion of the whole prosthesis for our prosthetic control scheme. Experiments conducted on our collected dataset and stair walking trials with powered prosthesis show that the proposed method can accurately track the motion of human leg and the prosthesis with the average root-mean-square error of toe trajectory less than 5 cm. The proposed method is expected to enable the environmental adaptive control for prosthesis, thereby enhancing amputee’s safety and mobility in uneven terrains.

关键词： Legged locomotion Visualization Fuses Motion estimation Estimation Stairs Feature extraction Safety Kalman filters Prosthetics

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Design of a Mesh Crawling Robot with Beetle-Inspired Variable Stiffness Tarsus

Design of a Mesh Crawling Robot with Beetle-Inspired Variabl...

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2024 IEEE International Conference on robotics and biomimetics, ROBIO 2024

作者： Chen, Hao Hu, Kai Hu, Longlong Zhou, Ziqi Li, Yao Li, Bing Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9781665481090

Compared with large robots, micro-robots have the advantages of small size, low power consumption, and high concealment. For complex terrain, the crawling performance of micro-robots will be significantly reduced. In this study, the mesh surface was used as the crawling base of the robot, and a variable stiffness tarsus was designed with the beetle as a reference. This tarsus composed of multiple bending parts achieves a large range of stiffness changes, 0.070.495 N/mm. We have achieved stiffness control of the tarsus in a single actuation by trajectory planning of the claw ends. The proposed robot can achieve a big stiffness of the tarsus to resist the deformation of the tarsus due to external forces, which means that the robot can increase the adhesion ability when crawling at the stance phase. Therefore, even when the load was increased from 10g to 40g, the average crawling speed of the robot was not significantly reduced. This new tarsus can improve the crawling performance of the micro-robot on the mesh. © 2024 IEEE.

关键词： Microrobots

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Multiple Jumping and Perching of a Miniature Mobile Robot

Multiple Jumping and Perching of a Miniature Mobile Robot

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2024 IEEE International Conference on robotics and biomimetics, ROBIO 2024

作者： Hu, Longlong Tang, Lingqi Chen, Hao Li, Yao Li, Bing Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China Machine Theory and Intelligent Unmanned Systems of Guangdong Key University Laboratory of Mechanism Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9781665481090

Many insects and miniature robots can traverse through narrow spaces via jumping motion;however, successful jumping and landing remains challenging in small-scale. No jumping robot within 90 g have yet demonstrated multiple jumping and perching successfully. Here, we demonstrate continuous jumping and perching of a miniature robot. The origami-inspired structure was manufactured by smart composite microstructure technology. A novel jumping mechanism was designed to load adjustable jump energy actuated by only one motor. A perching mechanism with two adhesive pads was designed to passively couple with the jumping mechanism, achieving perching on the ground and automatically detaching before the next jump. The jumping mechanism achieved adjustable jumping energy, corresponding to jumping height from 0.7 cm to 36.4 cm. The perching mechanism provided successful landing within a wide range (when velocity angle according to vertical direction =18, the velocity magnitude 3.4m/s, the body angle 30). Unlike typical jumping robots performing uncontrollable landing and free-rolling, our robot kept its body up-righted during the whole movement and avoided free-rolling after landing. The self-contained prototype had 18 g of mass, 6.5 cm of body height, and 36.4 cm of maximum jumping height. Finally, an eccentric motor was integrated to perform multiple omnidirectional jumping and perching movements;this represents significant improvement of motion ability for small-scale mobile robots. © 2024 IEEE.

关键词： Landing

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Research on the human-following method, fall gesture recognition, and protection method for the walking-aid cane robot

Research on the human-following method, fall gesture recogni...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Nuo Chen Xinxing Chen Chuheng Chen Yuquan Leng Chenglong Fu Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

Walking-cane robot is a hotspot in the field of human augmentation robots. Among them, the walking-aid cane robot has the way of use according to the patient’s habits because it does not interfere with the patient’s gait directly. The walking-aid cane robot is compact and flexible in movement, which is convenient for patients to walk and veer in daily life. This paper will design a walking-aid cane robot and propose methods of autonomous following and fall protection. The main work in this paper is as follows: 1. Robot’s control method of the autonomous following. The autonomous following of the robot is realized through the lidar. According to the point cloud data collected by the lidar, the human legs are separated from noise points and obstacles through a clustering algorithm, and the human point cloud is extracted through the HOG (Histogram of Oriented Gradients) and SVM (Support Vector Machine) methods. Then it uses PID (Proportion Integration Differentiation) control to the robot’s speed and smooth processing to the position. 2. Research on fall gesture recognition and protection methods. Through the OpenPose human gesture recognition repository, the key node information of the body in the camera image is analyzed in real-time to judge the falling trend of the body. The position that the robot needs to reach is calculated by the inclination of the body so that the robot can provide reverse support before the human body falls.

关键词： Legged locomotion Support vector machines Point cloud compression Laser radar Robot vision systems Process control Gesture recognition

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A Magnetically Steerable and Automatically Propulsion Guidewire Robot System for Vascular Interventional Surgery

A Magnetically Steerable and Automatically Propulsion Guidew...

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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Fu, Shixiong Zhang, Shanxiu Yin, Meng Wang, Shu Li, Dong Wu, Xinyu Du, Shiwei Xu, Tiantian Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518055 China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Shenzhen Institute of Advanced Technology Shenzhen518055 China Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System Shenzhen Institute of Advanced Technology CAS Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China South China Hospital of Shenzhen University Department of Neurosurgery Shenzhen518111 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Magnetically soft continuum robot with automatic navigation capability has great potential to improve the treatment conventional vascular interventional surgery, which exists many problems such as long procedure time and high radiation for doctors to manipulate the passive guidewire. This paper proposes a novel guidewire robot system with magnetically steering and automatically propulsion ability. Actuated by an external magnetic field, the system is able to greatly increase the autonomy of conventional guidewires through the efficient coordination of steering and propulsion. We model the kinematics of autonomous propulsion and magnetically actuation steering separately. Then, the steering performance of the guidewire robot is validated under different magnetic field magnitudes and directions. Finally, two scenario application experiments are implemented to demonstrate the automatic navigation capability of the proposed guidewire robot in a simulated clinical environment. The proposed guidewire robot system provides an effective solution for advancing the automation of vascular interventional surgery. © 2022 IEEE.

关键词： Propulsion

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A Compliant Traction Method of Manipulator Based on Online Calibration of Force Sensor Zero-Point 6

A Compliant Traction Method of Manipulator Based on Online C...

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6th International Conference on Automation, Control and Robots, ICACR 2022

作者： Xu, Zhilu Wang, Weijun Feng, Wei Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen China Shenzhen Institute of Advanced Technology Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China

ISBN: (数字)9781665498739

ISBN: (纸本)9781665498739

With the increasing number of cooperative robots, it is becoming increasingly important to improve the safety and operability of human-robot interaction. Installing a six-dimensional force sensor at the end of the manipulator can realize the drag of the manipulator in Cartesian space. A compliant traction method of manipulator based on online calibration of force sensor zero-point is proposed in this paper. Aiming at the problem of "zero drift"of force sensor, after calculating the gravity of the end tool, the zero-point of the force sensor is calibrated online by means of mean processing, so as to obtain more accurate external force. Then, the relationship between the end position of the manipulator and the external force, the end moving speed of the manipulator and the external force is established, and the change of the position and speed of the manipulator is controlled by the external force at the same time. Finally, experiments show the effectiveness of this method and ensure the safety and reliability in the traction process. © 2022 IEEE.

关键词： Manipulators

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