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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Zhang, Le Ye, Yanchen Niu, Baoshan Xiong, Genliang Yang, Dapeng State Key Laboratory of Robotics and System Harbin Institute of Technology Yikuang Street NanGang District HeilongJiang Harbin China School of Mechanical and Automotive Engineering Shanghai University of Engineering Science Longteng Rd 333 Shanghai201620 China

ISBN: (纸本)9781665481090

Surgical simulation plays an essential role for surgeons to familiarize themselves with surgical procedures and improve the success rate of surgery. In this paper, a flexible and easy-extendable intervention surgery simulation framework was presented, which can perform virtual simulation training and realize synchronous interaction between the real and virtual environment. In particular for breast surgery, the simulation framework was exemplified for an ultrasound-guided minimally invasive robotic breast surgery. The framework used Visual Studio®(Microsoft, USA) and Chai3D open graphics library to realize the virtual surgery environment, and integrated the anti-collision warning of the robotic arms and teleoperation communication support. A layered deformation model of breast was established based on the Mass-Spring Model to simulate the real-time deformation of breast during puncture surgery. In addition, due to the hyperelasticity and great deformation characteristics of breast soft tissue, we further used an improved meshless Radial Point Interpolation Method to improve the simulation accuracy of breast soft tissue deformation model. Finally, experiments on robot pressing a rectangular parallelepiped breast phantom were carried out to verify the simulation accuracy of the deformation model. © 2022 IEEE.

关键词： Tissue

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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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IEEE International Conference on robotics and Biomimetics

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

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

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 < 0.05) the smoothness and performance of the estimation (CNN-WOAF: R2: 0.837 ± 0.015 for Pro-Sup and 0.853 ± 0.021 for Fle-Ext; nRMSE: 7.487% ± 0.870% for Pro-Sup and 7.370% ± 0.866% for Fle-Ext). Overall, the outcomes of this study provide meaningful methods to utilize spatiotemporal information from sEMG signals for SPC in practical applications.

关键词： Wrist Accuracy Torque Filtering Data preprocessing Estimation Decoding Convolutional neural networks Robots Surface treatment

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Bionic Vibrotactile Feedback for Stiffness Recognition Towards the Pinch of a Prosthetic Hand

Bionic Vibrotactile Feedback for Stiffness Recognition Towar...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

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

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

The prosthetic hand has access to abundant hand-object information with equipped sensors. Nevertheless, there is a gap between high-dimensional sensory signals and effective tactile feedback for functional tasks with intuitive strategies. Here, we proposed a bionic vibrotactile interface providing stiffness feedback during a prosthetic hand pinching. The compact and flexible device consisted of four independently addressable eccentric rotating mass (ERMs). We designed a bionic coding (BC) strategy referenced from the physiological state of the force applied on skin. The proposed interface was evaluated on ten subjects with perceptual experiments, and compared with two traditional coding methods, i.e., circular coding (CC) and intensity coding (IC). The experiment results showed that CC and IC were limited by ERM pitch and the number of patterns for absolute information identification. Behavioral and psycho-physiological assessments demonstrated the superiority of BC in terms of classification accuracy $({85.94}\% \pm\ {3.29}\%)$ and cognitive burden $({4.0167} \pm {1.6376})$ . Specifically, CC with a pitch of 50 mm achieved best performance $({95.47}\% \pm\ {3.57}\%)$ for four-stiffness recognition and performed similarly to BC in psychophysical evaluation, whereas this configuration was not favorable for wearability and extendability. Moreover, subjects indicated that BC was a more natural representation for stiffness which they preferred in practical applications. The outcomes of this study indicated that the proposed vibrotactile interface can be intuitively exploited by subjects for stiffness recognition, proving the potential for extended multi-finger configuration of high-dimensional information feedback.

关键词： Sockets Force Tactile sensors Biomechatronics Encoding Skin Physiology Sensors Object recognition Prosthetic hand

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Tsun: A Traversability-Based Safety-Ensured Uneven Terrain Navigation system

SSRN

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SSRN 2024年

作者： Wang, Han Wang, Gongcheng Zhu, Hongbiao Du, Chengjin Bai, Hua Ding, Pengchao Xu, Wenda Du, Zhijiang Wang, Weidong The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China Istituto Italiano di Tecnologia The BioRobotics Institute Scuola Superiore Sant’Anna Genova16163 Italy

The application of autonomous navigation in mobile robots has seen notable success in indoor, structured 2D environments. However, applying this technology to outdoor, 3D unstructured environments — especially on uneven terrains, presents significant challenges. To address this, we propose a navigation framework for uneven terrain based on continuous traversability analysis. Our methodology unfolds in three stages: First, Bayesian generalized kernel inference is employed to estimate attributes of the unobserved point cloud, enabling the computation of continuous terrain traversability values by using dispersed point cloud data. Second, an improved A* (TRA-A*) algorithm is proposed for global path determination. In the final stage, nonlinear model predictive control (NMPC) is utilized for path following. This involves integrating the traversable exponents and uncertainty into the cost function, resulting in a safety-focused motion planning algorithm that encourages the navigation stability of the robot. The effectiveness of this method was verified through simulation and actual scene experiments. This algorithm improves the robot's navigation success rate by 8% while sacrificing a small amount of 9.83% of the path length in the actual environment, preventing the robot from tipping over or getting stuck in rough terrain, and improving the stationarity of the robot during driving. It reduces the cost of the terrain the robot travels on by 42.6%, reduces the robot's longitudinal acceleration fluctuation and lateral angular velocity fluctuation by 28.52% and 28.9% respectively, and improves the robot's driving stability. © 2024, The Authors. All rights reserved.

关键词： Cost functions

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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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IEEE International Conference on robotics and Biomimetics

作者： Xiangxiao Chai Shihua Wang Erzhen Pan Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

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.

关键词： Legged locomotion Torque Limiting Navigation Propellers Roads Wheels Prototypes Motors system analysis and design

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Learning to Identify Footholds from Geometric Characteristics for a Six-legged Robot over Rugged Terrain

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Journal of Bionic Engineering 2020年第3期17卷 512-522页

作者： Jie Chen Chong Liu Haibin Zhao Yanhe Zhu Jie Zhao School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Foothold identification is a key ability for legged robots that allows generating terrain adaptive behaviors(e.g.,gait and control parameters)and thereby improving mobility in complex *** this end,this paper addresses the issue of foothold characterization and identification over rugged terrain,from the terrain geometry point of *** a terrain region that might be a potential foothold of a robotic leg,the characteristic features are extracted as two first-order partial derivatives and two curvature parameters of a quadric regression surface at this *** features are able to give an intuitive and,more importantly,accurate characterization towards the specific geometry of the ground *** this basis,a supervised learning technique,Support Vector Machine(SVM),is employed,seeking to Ieam a foothold identification policy from human expert *** a result,an SVM classifier is leamt using the extracted features and human-demonstrated labels,which is able to identify whether or not a certain ground location is suited as a safe foot support for a robotic *** is shown that over 90%identification rate can be achieved with the proposed ***,preliminary experiment is implemented with a six-legged robot to demonstrate the effectiveness of the proposed approach.

关键词： six-legged robot foothold characterization foothold identification geometric characteristics support vector machine

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Study on wear mechanism of small ball-end grinding wheel and surface integrity of complex component under high-speed machining condition

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Wear 2025年 570卷

作者： Qin, Biao Liu, Henan Cheng, Jian Tian, Jinchuan Sun, Jiangang Chen, Mingjun School of Mechatronics Engineering Harbin Institute of Technology Heilongjiang Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China

The small ball-end fine diamond grinding wheel is well-suited for machining complex components with small curved surface structures, demonstrating high-precision and high-quality machining capabilities. By increasing the speed of the workpiece, the issue of poor grinding performance caused by the small diameter of the ball-end grinding wheel can be effectively overcome. However, this strategy inevitably increases wheel wear and affects surface integrity. To address these challenges, this paper systematically investigates the grinding characteristics of the small ball-end grinding wheel. First, grinding experiments were performed to investigate the influence of workpiece speed, feed rate, and grinding depth on the material removal rate, wheel wear, and surface integrity. Then, the wear mechanism of the grinding wheel was analyzed. The wear modes of the grinding wheel at high workpiece speeds include metal adhesive wear and abrasive grain fracture, which enhance the self-sharpening of the grinding wheel while accelerating its wear. Furthermore, the surface morphology creation mechanism of fused silica under different material removal modes was revealed. Moreover, the correlation between material removal rate and surface roughness caused by wheel wear was revealed. A high-speed grinding strategy was subsequently proposed based on the relationship between the grinding characteristics and grinding parameters of the small ball-end grinding wheel under various grinding conditions. Finally, the feasibility of this grinding strategy was validated through its application to the machining of the complex curved fused silica hemispherical resonator (HSR). Experimental results indicate that under the high workpiece speed condition, the best surface roughness of HSR decreases from 90.5 nm to 62.2 nm, while the maximum grinding wheel wear increases from 9.7 μm to 11.5 μm, with minimal impact on surface integrity. Therefore, the high-speed grinding strategy proposed in this study ho

关键词： Fused silica

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Aeroengine remaining useful life prediction via integrating enhanced inverted transformer and spatiotemporal graph learning

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ISA Transactions 2025年

作者： Sun, Shilong Ding, Hao Zhao, Zida Zhou, Yu Wang, Dong Xu, Wenfu School of Robotics and Advanced Manufacturing College of Artificial Intelligence Harbin Institute of Technology Shenzhen China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China

Accurate prediction of aeroengine Remaining Useful Life (RUL) is critical for ensuring flight safety, minimizing maintenance costs, and improving operational efficiency. This study proposes a novel model, the Fourier-Enhanced Inverted Transformer with Graph-Augmented Spatiotemporal Modeling (FIT-GSTM), to enhance RUL prediction performance. FIT-GSTM combines an inverted Transformer with a Spatiotemporal Graph Convolutional Network (STGCN) to effectively capture global spatiotemporal dependencies across multi-sensor data. To further enrich feature representation, the model incorporates Fast Fourier Transform (FFT) to extract frequency-domain information and fuses it with time-domain features, enhancing robustness to noise. Additionally, the integration of Memory Tokens and Reversible Instance Normalization (RevIN) strengthens the model's ability to retain long-term dependencies and adapt to heterogeneous data distributions. Experimental evaluations on the C-MAPSS dataset demonstrate that FIT-GSTM achieves superior RUL prediction accuracy and generalization compared to existing methods, highlighting its potential for real-world deployment in aeroengine health management. © 2025 ISA

关键词： Fast Fourier transforms

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On Networked Dynamical systems with Heterogeneous Constraints:Equilibrium Points and Stability 41

On Networked Dynamical Systems with Heterogeneous Constraint...

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第41届中国控制会议

作者： Qichao Ma Jiahu Qin Yu Kang Huijun Gao Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Institute of Advanced Technology University of Science and Technology of China Research Institute of Intelligent Control and Systems and the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.

关键词： Multi-agent systems heterogeneous constraints equilibrium point and its stability constrained consensus

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Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mechanism 23rd

Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mecha...

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

作者： Li, Chuanyang Qin, Zhongbao Hu, Changhua Liu, Rongqiang Liu, Ruiwei Song, Xiaoke PLA Rocket Force University of Engineering Xi’an710025 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China College of Naval Architecture and Ocean Engineering Guangzhou Maritime University GuangZhou510725 China School of Mechatronics and Vehicle Engineering East China Jiaotong University Nanchang330013 China

ISBN: (纸本)9789811993978

The 3-R(SRS)RP multi-loop Mechanism is regarded as one module of a multi-stage manipulator for space manipulation operations, such as capturing free-flying objects. The mechanism has two rotational and one translational degrees of freedom, as well as includes coupled kinematic chains, which can be constructed to the modular system for space operation. The dynamics analysis of the mechanism is the basis of its structural design and actuation control. In this paper, the twist shaping matrix between the twists of links and the input rate array is derived by decoupling the mechanism and motion analysis. Based on the Newton–Euler equation, the dynamics model of the mechanism is established. the theoretical values of actuation power consumption on the certain motion modes is calculated via programming, then being compared with the simulation values obtained through ADAMS model. The results are basically consistent, which verifies the correctness of the dynamics analysis of the mechanical system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Dynamics

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