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2011 4th International Conference on Biomedical Engineering and Informatics, BMEI 2011

作者： Zou, Ling Ma, Xiaojuan Zhou, Tiantong Ma, Zhenghua School of Information and Science and Engineering Changzhou University Changzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424493524

A surface electromyography (sEMG) signal model is established and extracted from noisy background. Firstly, single fiber action potential (SFAP), motor unit action potential (MUAP) and motor unit action potential train (MUAPT) are simulated based on the tripolar signal source model, and then the sEMG is obtained. Secondly, the simulated sEMG signal is extracted from the mixed signals that consists of white noises, power frequency interference signal and electrocardio signal by independent component analysis (ICA) algorithms, and the most effective signal decomposition method Informax is chosen. It will lay the foundation for further decomposing the signals into single MUAP. © 2011 IEEE.

关键词： Independent component analysis

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Turning in place motion control of two pendulums driven spherical robot

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Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology 2011年第11期43卷 49-53页

作者： Zhao, Bo Li, Man-Tian Sun, Li-Ning State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Harbin China

Considering the turning in place motion as an independent motion which can enhance the mobility of spherical robot, a turning in place motion control method of two pendulums driven spherical robot is studied. First, the mechanism characteristics of two pendulums driven spherical robot are introduced, and then the force condition of turning in place motion is analyzed based on D'alembert's principle and the motion principle of turning in place motion of two pendulums driven spherical robot is discussed, finally, the dynamic model of turning in place motion is constructed. The whole process of turning in place motion is divided into three stages which are startup stage, stick stage and slip stage respectively, and a stick-slip principle for turning in place motion control is proposed. The effectiveness of the control method is validated by both simulation and prototype experiment.

关键词： Stick-slip

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Analysis and experiment of stick-slip motion principle in a legged microrobot

Analysis and experiment of stick-slip motion principle in a ...

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6th International Forum on Strategic Technology, IFOST 2011

作者： Li, Weida Li, Juan Hu, Haiyan Li, Mantian Sun, Lining School of Mechanical and Electric Engineering Soochow University Suzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457703966

To solve the contradiction between high speed with high resolution for micro robot, a legged micro robot based on dual locomotion principles is presented. The dual locomotion principles include stick-slip principle in non-resonant condition and impact principle in resonant condition, which are respectively for high resolution and high velocity. Stick-slip principle is discussed mainly in this paper. Firstly, its driving process is divided into sticky phase and slip phase, in which static analysis and transient dynamic analysis is preceded respectively. Secondly, the relation between mechanism's vibration with friction force is analyzed by using numerical simulation method. And then the stick-slip principle is revealed based by micro robot. A legged micro robot prototype is developed, whose dimension is 70mm×35mm× 15mm and weight is about 3g. Experimental results show that the locomotion resolution of the prototype reaches 0.896 mm in forward direction when driving voltage is 10V. And the changing trend of resolution with voltage is consistent with theoretic analysis, which approves the validity of the analysis. © 2011 IEEE.

关键词： Stick-slip

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Stability and performance of virtual reality-based telenanomanipulation system in SEM

Stability and performance of virtual reality-based telenanom...

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2011 International Conference on Environmental Biotechnology and Materials Engineering, EBME 2011

作者： Li, Dongjie Rong, Weibin Sun, Lining Xiao, Wanzhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Harbin University of Science and Technology Harbin 150080 China

ISBN: (纸本)9783037850220

In this paper, a master/slave telenanomanipulation control system with force feedback is established with the micro-positioner (Attocube) working in scanning electron microscope (SEM) as the slave side and the haptic device (Omega3) as the master side. An improved virtual coupling (IVC) algorithm is introduced based on nanoscale virtual coupling (NSVC) by adding a proportional-plus- integral (PI) velocity controller in the haptic interface. The stability and performance of the established system are discussed. This method leads to an explicit design procedure for virtual coupling networks which give greatest performance while guaranteeing stability both on moving carbon nanowires in SEM and measuring force at the point of device-human contact. © (2011) Trans Tech Publications.

关键词： Virtual reality

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Force analysis and modeling of carbon nanowires operation in SEM

Force analysis and modeling of carbon nanowires operation in...

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2011 International Conference on Environmental Biotechnology and Materials Engineering, EBME 2011

作者： Rong, Weibin Li, Dongjie Sun, Lining Wang, Jinyu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Harbin University of Science and Technology Harbin 150080 China

ISBN: (纸本)9783037850220

Due to influence of size effect, the force properties in nanoscale are greatly different from those in macroscale and the traditional models of operation are becoming difficult to meet the development of nanoscale manipulation. To provide guiding theory for practical nano-manipulation, the nanoscale forces of contact and non-contact operation of nanowires are analyzed for nano-manipulation in SEM. The Vander Waals models among the probe, nanowire and substrate are modeled according to the force properties in nanoscale, and then the simplified models are simulated with MATLAB. The influence degree of various factors and the relationship of them during the operation are obtained. At last, experimental system is established to verify the correctness of the proposed models. © (2011) Trans Tech Publications.

关键词： Nanowires

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Robot-assisted needle insertion strategies based on liver force model

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Jiqiren/Robot 2011年第1期33卷 66-70页

作者： Sun, Yinshan Wu, Dongmei Du, Zhijiang Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Considering the safety and accuracy issues caused by soft tissue deformation in robot-assisted percutaneous surgery, this paper presents two strategies for robot-assisted needle insertion into porcine liver based on needle insertion force model, structure and force characteristics of porcine liver. The first strategy requires the robot to automatically stop propelling the needle in the moment that the needle enters into the liver, and then continue to propel the needle with the half speed after the liver returns to relaxed state, aiming to minimize the inaccuracy caused by soft tissue deformation and improve surgical accuracy. The second strategy requires the robot to automatically stop propelling the needle if the needle insertion force exceeds ″critical line″ of the liver force model after the needle enters into the liver, and then continue to propel the needle after troubleshooting, aiming to avoid accidents during the needle insertion into the liver and improve surgical safety. The experimental results verify the effectiveness of our strategies for robot-assisted needle insertion.

关键词： Needles

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Two-dimension guidance control and simulation of a colonoscopic robot

Two-dimension guidance control and simulation of a colonosco...

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6th International Forum on Strategic Technology, IFOST 2011

作者： Hu, Haiyan Li, Weida Li, Juan Li, Mantian Sun, Lining School of Mechanical and Electric Engineering Soochow University Suzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457703966

Continuum robots feature continuously deformable backbone as opposed to traditional robots featuring rigid links and identifiable rotational joints. Due to their compliance and high dexterity, continuum robots have good potential application in minimally invasive surgery(MIS). In order to develop a colonoscopic robot which can perform inspection of human colon and do MIS but much less discomfort for the patient, a novel continuum robot for colonoscopy is designed. The robot consists of 5 sections, and each section has 2 degrees of freedom(DOF) and is 12mm in diameter and 120mm in length. This paper briefly introduces the mechanical structure and kinematics of colonoscopic robot first. For simplicity but without loss of generality, a 2-D model of human colon is built according to the anatomy of human colon. In order to achieve a semiautomatic guidance, the guidance control algorithm and implemention method for single section and multiple section colonoscopic robot is developed based on the 2-D colon model. Finally, the simulation is carried out to verify the kinematics and guidance control algorithm. This study lays a foundation for the clinic application of robotic colonoscopy. © 2011 IEEE.

关键词： Degrees of freedom (mechanics)

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Simulation of near-field optical manipulator using the combination of a near-field scanning optical microscope probe and an atomic force microscope metallic probe

Simulation of near-field optical manipulator using the combi...

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作者： Liu, Binghui Yang, Lijun Wang, Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

We propose a physical model to calculate the trapping force on a nanoparticle trapped by the system using the combination of a near-field scanning optical microscope (NSOM) probe and an atomic force microscope (AFM) metallic probe. Such a near-field trap is produced by evanescent illumination from the NSOM probe and light scattering at the tip of the AFM metallic probe. By using the Maxwell stress tensor through the electric field distribution obtained with the three-dimensional finite difference time domain (3-D FDTD) method, the dependence of the trapping force on the system parameters is discussed, and trapping properties including near-field distribution, trapping position, and the role of other forces versus trapping force are revealed. The results indicate that a particle down to tens of nanometers in size can be trapped toward the tip of an AFM probe with a lower laser intensity (∼1040 W/mm2) than that required by conventional optical manipulators (∼105 W/mm2). © 2011 American Institute of Physics.

关键词： Probes

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Study of gait symmetry quantification and its application to intelligent prosthetic leg development

Study of gait symmetry quantification and its application to...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Wang, Fei Kim, Kijun Wen, Shiguang Wang, Yaning Wu, Chengdong College of Information Science and Engineering Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781457721373

Human bipedal walking is symmetrical, stable and efficiency optimal. To clarify the essential relationship in human gait, accelerometers and rate gyroscopes are mounted on waist and lower extremities of subject to acquire kinematics information during walking. By employing Principal Component Analysis (PCA), kinematics signals of one side are reconstructed using that of opposite side. The reconstructed signals match the acquired ones very well, which verifies the existence of strong linear correlations in healthy human gait. To evaluate the symmetry of gait quantitatively, several classical temporal-spatial features for gait calculated by algorithms involving autocorrelation function are selected for construction of quantitative criterions by combining with symmetry indices. For the validation of gait symmetry quantification scheme, level walking experiments including healthy human subjects and human-intelligent prosthetic leg coupling system are conducted. Results indicate the correctness and effectiveness of the proposed scheme and gait symmetry analysis shows great potential in the field of bio-medical rehabilitation. © 2011 IEEE.

关键词： Principal component analysis

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Study on the hydrodynamics and kinematics of a biomimetic fin propulsor actuated by SMA wires

Study on the hydrodynamics and kinematics of a biomimetic fi...

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2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011

作者： Yang, Zhengbao Wang, Yukui Gao, Fei Wang, Zhenlong Wang, Yangwei State Key Laboratory of Robotics and System at Harbin Institute of Technology Harbin 150001 China School of Mechanical Engineering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781612840857

A flexible noiseless and high-efficient propulsor plays a prominent role in the performance of underwater vehicles. This paper presents a micro flexible caudal fin propulsor actuated by shape memory alloy (SMA) wires. To improve the responding frequency and fatigue of the SMA wires, a pair of slots is designed. So the SMA wires can be heated in the protection of silica gel layer and cool in the other status, i.e. flowing water. Then the propulsive performance of the biomimetic propulsor is evaluated through thrust measurement experiments. Note that higher undulating frequency does not mean stronger thrust force because the undulating amplitude descends along with the undulating frequency increase for this kind SMA propulsor. Further, the kinematics of the propulsor is analyzed and the corresponding equation of motion is obtained. At last, a three-dimensional numerical simulation on the biomimetic fin was conducted by CFD to investigate the interaction of the propulsor with surrounding water and the thrust production. The CFD results consist with the experimental results well, which verify the kinetic model and the numerical simlation. © 2011 IEEE.

关键词： Kinematics

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