As a novel biologically inspired robot, the continuum robot features a kind of flexible ″invertebrate″ backbone with no discrete joint and rigid link. The continuum robot has excellent bending ability, good adaptabi...
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As a novel biologically inspired robot, the continuum robot features a kind of flexible ″invertebrate″ backbone with no discrete joint and rigid link. The continuum robot has excellent bending ability, good adaptability to unstructured and highly congested environments. It not only can grasp or grip object with the end-effector attached at the end of the robot, like traditional robots, but also can grasp object by using whole arm manipulation. In this paper, the bionics principles and structure characteristics of continuum robot are analyzed, the present research state of the continuum robot is reviewed, the potential application is foreseen, and the problems needing further research are discussed.
Continuum robot is a new class of biologically inspired robot with good compliance and high dexterity. In contrast to traditional discrete robot such as serial robot or parallel robot, this class of flexible "inv...
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A wheel-type pipeline robot applying a tri-axial differential mechanism is presented in this paper, which is targeted for moving inside the elbow while the ratios of angular velocities of the driving wheels depend on ...
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The function and effect of the connecting mechanics in robot reconfiguration and locomotion were analyzed. Then a novel hook-type mechanics was designed for modular robot. The mechanism can provide dependable conjunct...
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The function and effect of the connecting mechanics in robot reconfiguration and locomotion were analyzed. Then a novel hook-type mechanics was designed for modular robot. The mechanism can provide dependable conjunction for adjacent modules in robot motion, and quick connection/ disconnection for adjacent modules in reconfiguration. The connecting mechanics was composed of micro DC-motor, active hook-type rod mechanism and passive connecting board, which possesses the function of alignment and self-locking, no motor torque requirement after docking and energy-saving. The connecting principle, condition and mechanics characteristics of the mechanism were studied. Experiments were carried out and results show that the designed mechanism is efficient and it can perform connection even with certain geometrical error.
In order to generate the input signals for motion simulation, a novel signal regenerating algorithm was presented. Through the spectrum analysis, the main frequency components of the initial signal could be selected a...
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In order to generate the input signals for motion simulation, a novel signal regenerating algorithm was presented. Through the spectrum analysis, the main frequency components of the initial signal could be selected and were used as the basic frequency of the regenerated signal. Therefore, both the initial and regenerated signals have the same frequency component. Through adjusting phase offset versus each frequency component and using the genetic algorithm, phase offsets for the regenerated signal could be optimized. Finally, expressions of the regenerated signals could be obtained. Result shows that regenerated signals got by the expressions accord with working spatial range and can meet all requirements of the motion simulator.
This paper deals with the registration between preoperative CT images and intraoperative physical objects in the three-dimension computer-assisted spinal surgical navigation technology, and proposes a two-step registr...
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This paper deals with the registration between preoperative CT images and intraoperative physical objects in the three-dimension computer-assisted spinal surgical navigation technology, and proposes a two-step registration strategy, which realizes the registration by an electromagnetic positioning system on the three-dimension visualization platform based on Visualization Toolkit(VTK). In this strategy, several feature points are extracted on a spine bone surface respectively in the virtual space and in the physical space for coarse registration, an electromagnetic positioning probe is used to extract points on the spine surface in physical space, and the corresponding points are extracted in the virtual space. Moreover, the ICP(Iterative Closest Point) algorithm is used to complete a fine registration. The ICP algorithm is then validated by simulation and the accuracy of it is also analyzed. Finally, a registration experiment is performed with a spine model to evaluate the accuracy of the proposed method, followed with an error analysis. The results show that the proposed registration method is simple and reliable, and that the final registration accuracy for spine model meets the finical surgery requirements well.
This paper presents a mechanical jumping leg with the capability of jumping, retracting the leg in the air and adjusting the energy of spring. For the purpose of reducing the weight and the energy consumption, the jum...
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This paper presents a mechanical jumping leg with the capability of jumping, retracting the leg in the air and adjusting the energy of spring. For the purpose of reducing the weight and the energy consumption, the jumping leg is actuated by a single motor. The 5-bar linkage is adopted as the main part of the leg including the foot and the tarsometatarsal joint to enhance the stability during jumping and landing. The key motion of each phase in the whole jump is analyzed by simulation. Experiments are implemented on the jumping leg robot, and the result demonstrates that it has good capability of jumping, shows high jumping efficiency, and can retract the leg in the air for landing steadily. The mechanical leg will be applied to the design of jumping frog robot as hindlimb.
The dynamic vibration model of a mobile manipulator with suspension system is built with Finite element method (FEM). Using this dynamic model and the pseudo-excitation method (PEM), the transient Power spectral densi...
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The dynamic vibration model of a mobile manipulator with suspension system is built with Finite element method (FEM). Using this dynamic model and the pseudo-excitation method (PEM), the transient Power spectral density (PSD) of the mobile manipulator in random vibration is obtained. This result can provide valuable reference for the suspension design of the mobile manipulator.
Because of the fewer degree of freedom (DOF), poor flexibility and the absence of uniform mechanical and electrical interface, the micro instruments used in traditional invasive surgery can not be introduced into the ...
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ISBN:
(纸本)9781424493197
Because of the fewer degree of freedom (DOF), poor flexibility and the absence of uniform mechanical and electrical interface, the micro instruments used in traditional invasive surgery can not be introduced into the laparoscopic minimally invasive surgical robotic system (LMISRS) directly. So it is very necessary to research and develop a series of new micro instruments for the LMISRS. Having considered the difference of motion flexibility and working space in micro instruments for different use, a novel micro instrument design method was suggested in the paper. By using the method, the DOF of the micro instruments can be configured randomly. By analyzing the requirements of the working space and the DOF configuration in invasive surgery, a ingenious snake-like joint modular was designed, and based on the research of the motion character and topology, a wrist mechanism with four joints and its drive system were also developed;furthermore, the coupling character of the drive system was also analyzed;at last, a dissecting forceps with good flexibility and a fast interface modular were designed. The experiments validated that the dissecting forceps is satisfied to the clinical requirements.
Speech emotion recognition is an important issue in the development of human-robot interactions (HRI). This paper describes the realization of emotional interaction for an intelligent emotional robot, focusing on spee...
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ISBN:
(纸本)9781601321480
Speech emotion recognition is an important issue in the development of human-robot interactions (HRI). This paper describes the realization of emotional interaction for an intelligent emotional robot, focusing on speech emotion recognition. Accordingly, a series of novel robust features for emotion recognition is proposed. Those features, which derived from the Hilbert-Huang transform and empirical mode decomposition, have the characteristics of multi-resolution, self-adaptability and high precision of distinguish ability. In the experiments, seven status of emotion were selected to be recognized and the highest 83.57% recognition rate was achieved within the classification accuracy of boredom reached up to 100%. The numerical results indicate that the proposed features are robust and the performance of speech emotion recognition is improved substantially.
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