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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Wang, Fuguang Xu, Zhidong Yan, Jihong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Laboratory for Space Environment and Physical Sciences Harbin Institute of Technology Heilongjiang Harbin150001 China

ISBN: (纸本)9789819964918

Multi-mode motion equips robots with better flexibility and adaptation for dynamically complex environments as well as low energy consumption, becoming a hot spot of robot research. In this work, a dual-mode miniature flapping wing robot featuring gliding and take-off on the water surface is designed via string actuation and attitude adjustment mechanism. The string actuation composed of line and roller is lightweight and adjustable, providing the pneumatic power required for the robot. The posture-modulation mechanism of spatial six bar ensures non-interference of the two motion manners without increasing weight. The dynamic model is established to optimize water-surface glide performance, and lift-force experiments with different wings are carried out for better taking-off properties. The gliding speed and take-off height of the robot are 290.9 mm/s with body length ratio 2.64 and 105 mm with body height 2.1, respectively. This work can provide a reference for the research of the multi-mode flapping wing robot. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Robots

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On-Orbit Thermal Analysis of Ring Truss-Type Deployable Antenna 23rd

On-Orbit Thermal Analysis of Ring Truss-Type Deployable Ante...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Zhang, Xiong Kang, Xi Huang, Hailin Li, Bing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9789811993978

As space antenna tends to be large-scale, deployable antenna is more and more widely used. As a key part of antenna structure, the antenna profile will be deformed due to uneven heating during on-orbit operation, which affects the service performance of the antenna. In this paper, the thermal effect mode of space environment on the on-orbit antenna is analyzed firstly, and the differential heat conduction equation is obtained by taking the profile as research object. Then, thermal simulation of the ring truss-type deployable antenna in the sun-synchronous orbit is carried out by using the NX-TMG software. The temperature characteristics of the antenna profile and the influence law of material parameters on the profile temperature during on-orbit operation are analyzed. It is concluded that temperature of antenna profile changes in one orbital period. The selection of low absorption rate and high density materials can reduce the profile temperature difference, which provides the reference for ring truss-type deployable antenna design. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Antennas

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Analysis of normal force of wheel-sand interaction for planetary rovers with active suspension

Analysis of normal force of wheel-sand interaction for plane...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Wang, Zhengyin Yang, Huaiguang Ding, Liang Lan, Qingning Gao, Haibo Terze, Zdravko Deng, Zongquan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China University of Zagreb Faculty of Mechanical Engineering and Naval Architecture Zagreb10000 Croatia

ISBN: (纸本)9798350325706

The planetary rover with active suspension can climb steeper slopes and cross bigger obstacles in a wheel-step motion mode, which enables the planetary rover to perform more complex exploration tasks. However, wheel-step motion requires coordinated movement of the suspension and the wheels: the suspension can determine the wheel's sinkage depth and translation speed. Matching up with the wheel rotation speed can actively construct the slip ratio. The forces exerted on the wheels by sand during this process are a key index for motion control. This poses new challenges to existing wheel-sand interaction models. In this paper, dynamic normal force tests are carried out. The dynamic variation of wheel normal force with slip ratio is investigated at different sinkage depths. It is found that the normal force exerted on the wheel increases firstly and then decreases with the slip ratio, and reaches the maximum value near s=0. The distributed stresses of the wheel were analysed by discrete element method (DEM) simulation, and the phenomenon of the distribution stress reconstruction of the wheel is found. Further, by analyzing the local particles in contact with the wheel, it is found that the particle movement direction and morphology vary with slip ratio. The analysis of the wheel's normal force and the granular material variation with slip ratio provides the basis for establishing a physics-based wheel-sand interaction model. © 2023 IEEE.

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Multi-DoF Continuous Estimation for Wrist Torques Using Convolutional Neural Network

Multi-DoF Continuous Estimation for Wrist Torques Using Conv...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Fang, Yun Yu, Yang Guo, Weichao Sheng, Xinjun School of Mechanical Engineering Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Using surface electromyography (sEMG) signals for simultaneous and proportional control (SPC) is appealing for natural control in human-machine interaction (HMI). Introducing spatial information across sEMG channels in the decoding process provides a more complete approach than methods that focus only on time and frequency domain features. In this article, we proposed an sEMG-based model for thesi-multaneous estimation of two degree-of-freedom (DoF) wrist torques, namely, Pro-Sup and Fle-Ext. Specifically, the 8 × 24 channels sEMG signals were transformed into images, which further served as inputs in a 29-layer convolutional neural network to estimate multi-DoF wrist torques. To prove the superiority of the CNN-based model, comparisons with other regression methods were performed on eight healthy subjects and two amputees in terms of the determination coefficient (R2) and normalized root mean square error (nRMSE). The results demonstrated that the CNN-based model (CNN-WAF) outperformed two conventional regression methods on estimation accuracy (R2: 0.851 ± 0.024 for Pro-Sup and 0.863 ± 0.016 for Fle-Ext;nRMSE: 6.933% ± 0.872% for Pro-Sup and 6.830% ± 0.856% for Fle-Ext). The average filtering in data preprocessing greatly improves (p © 2024 IEEE.

关键词： Convolutional neural networks

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Channel Attention Network for Feature Fusion of Ultrasonic and IMU Signals in Cross-Subject Gait Recognition

Channel Attention Network for Feature Fusion of Ultrasonic a...

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IEEE International Conference on systems, Man and Cybernetics

作者： Xujia Huang Zixiang Zhou Xinglong Xu Zhiyong Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Shenzhen Shenzhen China

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

In traditional human-machine interface research, a single sensing mode is often adopted, focusing on individual human motion classification experiments. However, the performance often declines when applied across individuals. Ultrasonic and inertial sensing, as mainstream technologies in human-machine interfaces, can respectively detect the muscle states and limb information of the human body, offering potential complementary benefits. The fusion of ultrasonic(US) and Inertial Measurement Unit(IMU) is expected to significantly enhance the generalization ability of physiological signals in motion intention recognition. This paper presents a method that employs fusion of ultrasound and IMU signals, and designs a Convolutional Neural Network with Channel Attention Module (IU-CAM-CNN) for gait classification experiments. The experimental results demonstrate that by introducing channel attention modules, the model's ability to extract features from fused signals can be effectively enhanced, resulting in a classification accuracy of 90% for cross-individual movements. In contrast, traditional LDA and CNN networks achieve only 22% and 47% classification accuracy, respectively. This method provides an effective solution for cross-individual movement intention recognition.

关键词： Ultrasonic imaging Accuracy Ultrasonic variables measurement Human-machine systems Feature extraction Physiology Acoustics Robustness Sensors Convolutional neural networks

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Crosstalk-Free Dual-Mode Tactile Skin Based on 3D-Constrained Electric Field and Isolated Porous Iontronic Dielectric

Crosstalk-Free Dual-Mode Tactile Skin Based on 3D-Constraine...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhao, Yanchao Guo, Weichao Sheng, Xinjun School of Mechanical Engineering Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Proximity-pressure dual-mode capacitive sensor is a novel sensing form to simultaneously detect distance and pressure information through a single device. In recent years, much effort has been devoted to improve its performance. However, it still suffers from robustness issues such as crosstalk and noise in practical applications. Electromagnetic coupling crosstalk caused by the outward electric fields as well as the response from unexpected directions also limit its distributed or array arrangements. In this regard, this paper proposes 3D-shielding structure as well as isolated iontronic dielectric designs to reduce the effects of electromagnetic/mechanical crosstalk. Through simulations and experiments, we demonstrate the effectiveness of the proposed design and optimise the structural parameters. The finally obtained sensing skin has an excellent crosstalk rejection ratio (15.68 dB, approximately three times improvement) while maintaining high response sensitivity. © 2024 IEEE.

关键词： Crosstalk

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An Efficient Planner for Dual-Arm Massage Robots in Constrained state

An Efficient Planner for Dual-Arm Massage Robots in Constrai...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Xu, Yuan Wang, Wenxiao Zhou, Lechuan Guo, Weichao Sheng, Xinjun Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai200240 China Shanghai Jiao Tong University Meta Robotics Institute Shanghai200240 China

ISBN: (纸本)9781665481090

Dual-arm massage robots necessitate reaching the massage pose along an optimal collision-free path in constrained state, where traditional path planning methods often exhibit inefficiency. This paper proposes a sampling-based planning algorithm that integrates lazy evaluation, transition testing, and bidirectional Rapidly-exploring Random Tree to reduce computational load, enhance planning efficiency, and improve the planner's ability to effectively explore the state space, avoid local minima, and converge to high-quality solutions. Comparative experiments conducted on a simulation platform across multiple algorithms have demonstrated the efficacy of the proposed planner, achieving a 95 % planning success rate within 1 second. The paths generated by the algorithm exhibit superior quality and enhanced consistency. In summary, the proposed algorithm is capable of producing asymptotically optimal, collision-free paths for a dual-arm massage robot. © 2024 IEEE.

关键词： Robot programming

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Kirigami-inspired continuum soft arm with embedded sensing for non-destructive inspection and sorting

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Science China Materials 2025年第2期68卷 552-560页

作者： Jinsui Xu Boyi Xu Honghao Yue Yifan Lu Zheping Wang Zongquan Deng Fei Yang State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China Wu Xianming School of Intelligent Engineering South China University of TechnologyGuangzhou 510641China

The sensing capabilities of a soft arm are ofparamount importance to its overall performance as they allow precise control of the soft arm and enhance its interactionwith the surrounding environment. However, the actuationand sensing of a soft arm are not typically integrated into amonolithic structure, which would impede the arm’s movement and restrict its performance and application scope. Toaddress this limitation, this study proposes an innovativemethod for the integrated design of actuator structures andsensing. The proposed method combines the art of kirigamiwith soft robotics technology. In the proposed method, sensorsare embedded in the form of kirigami structures into actuatorsusing laser cutting technology, achieving seamless integrationwith a soft arm. Compared to the traditional amanogawakirigami and fractal-cut kirigami structures, the proposedmiddle-cut kirigami (MCK) structure does not buckle duringstretching and exhibits superior tensile performance. Based onthe MCK structure, an advanced interdigitated capacitivesensor with a high degree of linearity, which can significantlyoutperform traditional kirigami sensors, is developed. Theexperimental results validate the effectiveness of the proposedsoft arm design in actual logistics sorting tasks, demonstratingthat it is capable of accurately sorting objects based on sensorsignals. In addition, the results indicate that the developedcontinuum soft arm and its embedded kirigami sensors havegreat potential in the field of logistics automation *** work provides a promising solution for high-precisionclosed-loop feedback control and environmental interaction ofsoft arms.

关键词： kirigami embedded sensing continuous soft arm non-destructive inspection

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Dual Transducers Co-Focusing Method for Ultrasound Stimulation in Calf Peripheral Nervous system: A Feasibility Study

Dual Transducers Co-Focusing Method for Ultrasound Stimulati...

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IEEE International Conference on systems, Man and Cybernetics

作者： Haoran Zheng Xiaoxin Wang Hongwei Zhang Honghai Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Shenzhen Shenzhen China

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

As a neuromodulation technology, ultrasound stimulation exhibits great potential due to its non-invasive and targeted nature. Low-Intensity Focused Ultrasound (LIFU) allows for precise targeting of the peripheral nervous system, enabling the elicitation of diverse sensations in the human body, including tactile, cold, heat, and pain. Current research efforts predominantly focus on ultrasound stimulation of the upper limbs, specifically the fingers. However, there is a paucity of investigation pertaining to the stimulation of the peripheral nervous system in the lower limb of the human body. Furthermore, the utilization of a singularly focused transducer for stimulation introduces anisotropy, thereby rendering it challenging to enhance the axial resolution. This study aims to explore an innovative approach using dual transducers that synergistically focus ultrasound to achieve highly precise stimulation and reduce the disparity between axial and lateral resolution. The primary objective is to investigate the feasibility of utilizing this approach for deep muscle stimulation in the human calf muscles, thus delving into the realm of lower limb neuromodulation.

关键词： Peripheral nervous system Legged locomotion Limbs Transducers Ultrasonic imaging Pain Muscles Brain modeling Rendering (computer graphics) Neuromodulation

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A High-Speed Centerline Extraction Method for Multiple Laser Stripe based on Hessian Matrix

A High-Speed Centerline Extraction Method for Multiple Laser...

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International Conference on Biomimetic Intelligence and robotics & Medical robotics Forum, ICBIR+MRF 2024

作者： Shi, Juntian Guo, Weichao Sheng, Xinjun State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

Laser centerline extraction is a critical step in the machine vision-aided measurement process, especially in the field of aerospace drilling and riveting. We propose a novel and efficient algorithm for the extraction of multiple laser centerlines, which consists of three major parts: laser linewidth estimation, ROI (Region of Interest) extraction, and precise positioning. In the linewidth estimation part, a method based on second-order moment is used to estimate the linewidth, and the scanning frame to linewidth ratio is adopted as the convergence condition to achieve a stable estimation result. In the ROI extraction part, we use a scanning frame to perform raster scanning on the entire image, and calculate the feature function threshold based on the sampling and grayscale volume method to complete ROI extraction. In the precise positioning part, we employ an improved method based on the Hessian matrix to reduce computation time, and use a λ filtering method to eliminate noise. Finally, the K-means method is used to classify the center points belonging to different laser centerlines, and RANSAC is utilized to perform line fitting. The final results demonstrate that the proposed algorithm has certain improvements in accuracy and also exhibits high computational efficiency. © 2024 The Authors.

关键词： Linewidth

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