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检索条件"机构=State Key Laboratory^of Robotics and System"

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system development for micro-electrode assembly of cochlear implant

System development for micro-electrode assembly of cochlear ...

引用

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

作者： Shaokui Weng Weibin Rong Zeyang Xia Hao Deng Yangzhou Gan Jing Xiong Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Key Laboratory of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781467389600

Cochlear Implant is an implantable medical device for severe deafness patients to restore hearing function. The micro-electrode in cochlear implant is directly contacted with the human cochlea for signals transmission, thus its assembly is an important step of cochlear implant production. However, currently micro-electrode is assembled manually and the assembly precision and efficiency are unable to meet the industrial standard. In this paper, an automatic assembly system of micro-electrode for Cochlear Implant was designed. In this system, several mechanical mechanism specially for the micron level parts transmission and assembly were designed, including a wire feeder, a ring transmission mechanism, and a welding mechanism. And combined with the human-computer interaction interface, the effectiveness of the overall performance of the assembly system was verified by experiments.

关键词： Wires Welding Cochlear implants Assembly systems Tungsten Needles Electrodes

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Mobility Analysis of A Family of One-dimensional Deployable Mechanisms based on Sarrus Mechanism

Mobility Analysis of A Family of One-dimensional Deployable ...

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IEEE International Conference on Mechatronics and Automation

作者： Xiaoke Song Hongwei Guo Zongquan Deng Rongqiang Liu Bing Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Shenzhen Graduate School Harbin Institute of Technology Shenzhen Guangdong Province China

ISBN: (纸本)9781509023974

Sarrus mechanism and its modified configurations are widely used in space missions as one-dimensional deployable mechanisms. The degree of freedom (DOF) of the classic Sarrus mechanism is analyzed using the modified Kutzbach-Grübler criterion, which is based on screw theory. Inspired by the modified configurations, which has three branches used in high stiffness extendible and retractable mast and four branches used in fold articulated square truss mast, the general form of Sarrus mechanism is obtained. Two novel Sarrus mechanisms are synthesized based on the general form, which expands the configurations of one-dimensional deployable mechanism.

关键词： Sarrus mechanism Deployable mechanism Mobility General form Screw theory

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Teleoperation Control of Baxter Robot based on Human Motion Capture

Teleoperation Control of Baxter Robot based on Human Motion ...

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IEEE International Conference on Information and Automation

作者： Guangzhu Peng Chenguang Yang Yiming Jiang Long Cheng Peidong Liang Key Lab of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781509041039

The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.

关键词： Teleoperation Control Baxter Robot Human Motion Capture

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Design and characteristic analysis of a piezoelectric micro-jet generator 5

Design and characteristic analysis of a piezoelectric micro-...

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5th Asia International Symposium on Mechatronics, AISM 2015

作者： Ye, L. Chen, W.S. Li, K. State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinHeilongjiang150001 China

ISBN: (纸本)9781785610363

Considering the lubrication failure of spacecraft, an original piezoelectric micro-jet device which takes the control moment gyro (CMG) as specific application object is proposed. The working principle of the micro-jet device was analyzed. The structure designs were illustrated detailedly. In order to choose a suitable working mode, modal analysis under the action of fluid-structure interaction was conducted, it showed that the first mode of piezoelectric vibrator is more desirable compared to other modes. Also the dynamics analysis of the piezoelectric vibrator was studied, the results revealed that the effect of the fluid should not be neglected when researching the characteristics (resonance frequency, vibration amplitude, etc.) of the micro-jet device;as the increase of the thickness of the piezoelectric ceramic piece or the metal diaphragm, the resonance frequency of piezoelectric vibrator increased, but the maximum vibration amplitude of piezoelectric vibrator decreased;as the increase of the liquid density, both the resonance frequency and the maximum vibration amplitude decreased obviously;as the increase of the liquid depth when the liquid viscosity is low or can be ignored, either the resonance frequency or the maximum vibration amplitude did not have much change. © 2015, Institution of Engineering and Technology. All rights reserved.

关键词： Piezoelectric ceramics

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Foot trajectory planning of frog swimming based on propulsion mechanism

Foot trajectory planning of frog swimming based on propulsio...

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IEEE International Conference on robotics and Biomimetics, IEEE-ROBIO 2015

作者： Wei, Zhang Gangfeng, Liu Jizhuang, Fan Hegao, Cai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467396745

To provide reasonable reference trajectories for frog inspired robot, the bionic trajectory generation was studied in this paper. Though joint trajectories vary with different motion modes, joint speeds are too fast and tuned with the musculoskeletal system. However, mechanical structures of bionic robot are simplified and diver abilities limit the speed, so the method to generate joint trajectories which not only reflect the characteristics of real frog swimming but also are within the limitation of drivers were proposed in this paper. Firstly, swimming mechanism of frog was briefly introduced to analyze motion patterns of hind limbs and webbed feet. Secondly, trajectory (relative to body) planning was divided into hind limb planning and webbed foot planning. Hind limb trajectory planning was conducted via end track planning and acceleration planning, while acceleration planning was operated for webbed foot planning. Then, trajectories could be operated from fast to slow by adjusting duration time of the planned trajectories. Finally, the trajectories were used as input of hydrodynamic simulation to validate the trajectory planning method. © 2015 IEEE.

关键词： Trajectories

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The application of immersed boundary-lattice Boltzmann method in vortex-induced vibration 5

The application of immersed boundary-lattice Boltzmann metho...

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5th Asia International Symposium on Mechatronics, AISM 2015

作者： Zhou, K. Liu, J.K. Chen, W.S. State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinHeilongjiang150001 China

ISBN: (纸本)9781785610363

Aiming at vortex-induced vibration problem, immersed boundary-lattice Boltzmann method (IB-LBM) is adopted in the paper. In order to establish a baseline for comparison and verify the precision of the algorithm, a uniform flow past a rigid cylinder at Re=200 is simulated first and the numerical results are compared with the results of other documents. The motion of the elastic-supported cylinder is modelled by a spring-damper-mass system and the motion equation is solved using the Runge-Kutta method. The cylinder is only allowed to vibrate in transverse direction and the Reynolds number is kept at 200. Besides, the lift and drag coefficients of the cylinder, the displacement of the cylinder and the vortex pattern in the wake are extracted at different natural frequencies, and on this basis the dynamic response characteristic of the cylinder is studied. As the natural frequency reduces, the time history of fluctuating hydrodynamic coefficients characterized by 'beating' is presented, and the phase between lift force and the cross-flow displacement undergoes a change from the 'in-phase'mode to the 'out-of-phase' mode. The results further show that the cylinder oscillations could be as large as 0.53 diameter under certain natural frequency. © 2015, Institution of Engineering and Technology. All rights reserved.

关键词： Fluid structure interaction

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A new ultrasonic motor utilizing longitudinal vibration of sandwich type transducers 5

A new ultrasonic motor utilizing longitudinal vibration of s...

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5th Asia International Symposium on Mechatronics, AISM 2015

作者： Zhou, X.Y. Chen, W.S. Liu, J.K. State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinHeilongjiang150001 China

ISBN: (纸本)9781785610363

This study presents and verifies a new idea for simplifying the frequency matching process of ultrasonic motor by constructing a new sandwich type ultrasonic motor, which utilizes the combination of the symmetrical and antisymmetrical longitudinal modes of mirror symmetrical structure. Two Langevin transducers in combination with two isosceles triangular beams are used to construct the stator. The superior point of the stator is that the frequency matching process can be neglected, because the resonance frequency difference of the two operation modes is very small, which is the characteristic of the symmetrical structure motor. The influence of the triangular beam structure on the vibration amplitude of the driving foot was analyzed. Driven by AC signals with the driving frequency of 55 kHz and voltage 400 Vp-p, the no-load speed and the maximal output torque of the prototype motor were 24.41 rpm and 7.84 N·cm, respectively. The motor is simple in structure, low cost in fabrication and feasible to implement linear or rotary movement of moveable body. © 2015, Institution of Engineering and Technology. All rights reserved.

关键词： Stators

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Model recovery of unknown objects from discrete tactile points

Model recovery of unknown objects from discrete tactile poin...

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

作者： Haiwei Gu Yuanfei Zhang Shaowei Fan Minghe Jin Hua Zong Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China School of Electronics and Information Engineering Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781509020669

This paper presents a novel method for robot to reconstruct unknown object models from discrete tactile point clouds. In model recovery process, 6D tactile data which contain point positions and corresponding normal vectors are firstly clustered. Then geometric feature descriptors are used to extract geometric feature vectors from tactile data. The object feature vectors are used in object shape classification and unknown object models are recovered. Simulation and experiment show that the present approach can be used to recognize unknown object shapes from sparse and noisy tactile point clouds and reconstruct object model accurately.

关键词： Shape Three-dimensional displays Feature extraction Tactile sensors Image reconstruction Data collection

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Improvement of a rectangle-shape linear piezoelectric motor with four driving feet

Improvement of a rectangle-shape linear piezoelectric motor ...

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作者： Liu, Yingxiang Chen, Weishan Xu, Dongmei Feng, Peilian Liu, Junkao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province150001 China

To increase the mechanical output ability of a rectangle-shape linear piezoelectric motor with four feet, an improved motor is designed in this study. The improved motor inherits the basic structure of the previous one, but the structure dimensions are adjusted by widening the horizontal beam, shortening the length of the vertical beam's uniform part, increasing the length of the vertical horn, and changing the widths of the horns' tips. Modal analysis and transient analysis are developed to gain the vibration modes of the motor and the motion trajectories of the driving feet, respectively. After the fabrication of a prototype, its vibration characteristics and mechanical output ability are measured. Experiment results show that a maximum no-load speed of 621 mm/s, a maximum thrust force of 11 N, and a maximum power of 1.9 W are achieved by the prototype. Comparison between the improved motor and the previous one verifies that this study accomplish the design intention of mechanical output ability improvement perfectly. © 2015 Elsevier Ltd and Techna Group S.r.l. All rights reserved.

关键词： Piezoelectric actuators

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Development of Kinect based teleoperation of Nao robot

Development of Kinect based teleoperation of Nao robot

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Chunxu Li Chenguang Yang Peidong Liang Angelo Cangelosi Jian Wan Center for Robotics and Neural Systems Plymouth University UK Zienkiewicz Centre for Computational Engineering Swansea University UK State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Marine Science and Engineering Plymouth University UK

In this paper, an online tracking system has been developed to control the arm and head of a Nao robot using Kinect sensor. The main goal of this work is to achieve that the robot is able to follow the motion of a human user in real time to track. This objective has been achieved using a RGB-D camera (Kinect v2) and a Nao robot, which is a humanoid robot with 5 degree of freedom (DOF) for each arm. The joint motions of the operator's head and arm in the real world captured by a Kinect camera can be transferred into the workspace mathematically via forward and inverse kinematics, realitically through data based UDP connection between the robot and Kinect sensor. The satisfactory performance of the proposed approaches have been achieved, which is shown in experimental results.

关键词： Cameras Robot kinematics Image color analysis Head Robot vision systems

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