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

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Design of a highly compliant underactuated prosthetic hand

Design of a highly compliant underactuated prosthetic hand

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Cheng, Ming Fan, Shaowei Jiang, Li Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang China

ISBN: (纸本)9781728163215

This paper presents a highly compliant prosthetic hand based on a novel synergy mechanism. The prosthetic hand consists of a synergy mechanism, four fingers and one thumb. The synergy mechanism can transmit the power from two motors to four fingers. It can effectively reduce the number of motors. At the same time, it makes the prosthetic hand have excellent dexterity. The underactuated finger has three joints with two DOF. It has two main motion modes: coupled motion in free space and self-adaptive motion when contacting with the object, which can mimic the human finger as much as possible. The thumb uses one motor to drive the two flexion-extension joints and uses a manual switch to drive the abduction-adduction joint, which can reduce the number of motors and the cost efficiently. The performance evaluation is given to demonstrate the comprehensive performance in terms of the versatility, compliance, sensing, size, weight and cost of the proposed design. © 2019 IEEE.

关键词： End effectors

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Reducing the drag of underwater vehicle in the shape of a small boat by using piezoelectric transducers 2

Reducing the drag of underwater vehicle in the shape of a sm...

引用

2nd International Conference on Modeling in Mechanics and Materials

作者： Zhang, Lu Shan, Xiaobiao Liu, Yingxiang Peng, Gaoliang Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Reducing the flow resistance of moving underwater vehicles can improve their performance and reduce the energy consumption. This paper presents a method to interfere the turbulent boundary layer for achieving the drag reduction by using piezoelectric transducers. The transducer produces ultrasonic traveling waves vibration near the hull surface. The working frequency and the maximum vibration amplitude of the transducers placed in different locations were obtained through the structural dynamic analysis. The fluid-solid coupling simulations were performed to explore the reduction drag performance. The simulation results show that better drag reduction performance can be obtained when the angle between the vibration direction of the piezoelectric transducer and the flow direction is 67.62. The method of using piezoelectric transducer vibration for drag reduction is proved to be feasible. The present work provides a valuable reference for the study of drag reduction of underwater vehicles. © Published under licence by IOP Publishing Ltd.

关键词： Piezoelectricity

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A new cable-driven torsion and bending soft actuator inspired by parallel robot

A new cable-driven torsion and bending soft actuator inspire...

引用

2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Yan, Jihong Zhang, Ruoyu Zhang, Xinbin Zhao, Jie State key laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781728137261

The cooperation of torsion and bending can improve the flexibility in the motion process especially in complex and narrow space. There is few research about torsion in soft actuators until now, most of them focus on bending and elongation. Moreover, motion form is often single so that it is hard to imply complex tasks. In this paper, inspired by the structure features of parallel robot, we propose a new cable-driven soft actuator whose driven cable is arranged imitating the supporting rod of parallel robot. This actuator can implement clockwise and anti-clockwise torsion and two modes bending motion respectively. The maximum torsion angle can realize 45瀞and the maximum bending angle is 90瀞. First, we introduce the design principle and fabrication process. After that, we utilize conservation of energy method and force decomposition analysis to establish the kinematics of actuator, in addition, based on that, we conduct the parameters optimization. Finally, we design an experiment platform to conduct experiments and make the contrast with theory. This soft actuator can highly improve the flexibility in soft robotics, especially in wrist joint imitation. © 2018 IEEE

关键词： Torsional stress

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A novel grasping control method for dexterous prosthesis based on eye-tracking

A novel grasping control method for dexterous prosthesis bas...

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Li, Jie Shi, Chunyuan Yang, Dapeng Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150081 China

ISBN: (纸本)9781728163215

The state-of-art dexterous prosthetic hand with multi-degree-of-freedom urgently requires a control method to match its dexterity. The purpose of this paper is to develop a method on rapid grasp control of prosthetic hand based on eye-tracking and verify its effectiveness by experiments. Firstly, an interactive experiment platform was established. Based on the platform, the operator can select the necessary grasping pattern from a graphic interface through eye movement and trigger the selected pattern by gazing the target for a short time (~300ms). The selected grasp pattern will be fed back to the operator during the hand prosthesis performing reach-and-grasp tasks. Finally, to verify the effectiveness of this method, experiments were conducted by an able-bodied participant wearing the prosthesis to grasp some daily-used objects. Our result shows that, by adopting the eye tracking technology in the human visual channel, the grasp control of the prosthesis can be supervised and regulated in real-time and thus an effective interaction between the dexterous prosthesis and the operator can be achieved. © 2019 IEEE.

关键词： Eye tracking

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A novel visual odometer assisted pose tracking method for mobile robots

A novel visual odometer assisted pose tracking method for mo...

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Yuan, Rupeng Zhang, Fuhai Zhu, Ying Fu, Yili Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781728163215

Pose tracking is very crucial for robot's autonomous navigation. LIDAR based pose tracking algorithms are widely used due to its high cost-effective advantage. However these methods are likely to give back wrong result if the environment is blocked by the obstacles. In this paper, a visual odometer assisted pose tracking method is proposed to increase the robustness of pose tracking. Statistical index is introduced to evaluate the samples' score of LIDAR based pose tracking. If the result is not credible, the result of visual odometer will compensate the error along the maximum error direction. The experiment shows that the proposed method is able to track the robot correctly if the environment is blocked by obstacles. © 2019 IEEE.

关键词： Mobile robots

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Revised Kinematics of Rope–Bar Variable Geometry Truss Manipulator

Revised Kinematics of Rope–Bar Variable Geometry Truss Mani...

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作者： Li, Chuanyang Yan, Huiyin Guo, Hongwei Tang, Dewei Liu, Rongqiang Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

This paper presents a design of rope–bar variable geometry truss manipulator, which consists of two models. Then, the revised kinematics with the n-module manipulator is analyzed. Based on the revised kinematic model, the workspace of a manipulator is solved. These results could be potentially applied to the engineering application. © 2019, Springer Nature Switzerland AG.

关键词： Manipulators

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Modeling and simulation of the structural and electrical characteristics for a polarized piezoelectric sensor actuator 2

Modeling and simulation of the structural and electrical cha...

引用

2nd International Conference on Modeling in Mechanics and Materials

作者： Zhang, Chong Shan, Xiaobiao Peng, Gaoliang Xie, Tao Dong, Xin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

The present work aims to design a new polarized piezoelectric sensor actuator. This sensor actuator not only can achieve sensing and execution at the same time, but also has the advantages of small size and high integration. A mathematical model of stack displacement with input voltage and number of layers was established. The relationship between the charge generated by quartz crystal and external force was numerically analysed. The static and modal analysis of the structure were carried out to obtain the measured force range and the maximum working frequency. The transient simulation is used to verify the follow-up law of the actuator to the alternating signal. The Electric field interference analysis of the piezoelectric sensor actuator was performed to eliminate the interference from the electric field generated by the actuator. The results show that the measured force range of the actuator is up to 1 kN, with the maximum working frequency is 1000 Hz, and the actuator can follow the drive voltage signal well, with an almost negligible electric field interference in the sensor part. This paper provides a new method and theory for the study of self-sensing actuators. © Published under licence by IOP Publishing Ltd.

关键词： Piezoelectricity

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Parameters Analysis of SMA Bimetallic Strip Smart Actuator

Parameters Analysis of SMA Bimetallic Strip Smart Actuator

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作者： Li, Chuanyang Tang, Dewei Guo, Hongwei Yan, Huiyin Ouyang, Weimin Liu, Rongqiang Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

This paper presents a study on the bimetallic strip smart actuator with six parameters. The impacts of these parameters on characteristics of the actuator, namely, driving torque, output displacement, and stiffness are analyzed. Then, the finite element analysis of the smart actuator is conducted and the natural frequency of the actuator is discussed. These analyses are expected to be applied for optimal design of this smart actuator. © 2019, Springer Nature Switzerland AG.

关键词： Actuators

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Experimental study on underwater fin-shaped piezoelectric energy harvester based on wake galloping 2

Experimental study on underwater fin-shaped piezoelectric en...

引用

2nd International Conference on Modeling in Mechanics and Materials

作者： Wang, Yicong Shan, Xiaobiao Feng, Ju Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

This paper presents a novel piezoelectric energy harvester based on wake galloping in water. This harvester consists of a bluff cylinder and a fin connected with a macro fiber composite (MFC) piezoelectric plate. The fluid flows through the upstream bluff cylinder and produces alternating shedding vortices behind it. Vortex shedding produces periodic crosswise vortex-induced force to drive the fin and piezoelectric plate vibrating to generate electricity. An experimental platform was established and several prototypes of energy harvesters were fabricated. The experimental results show that, under different flow velocity domains, the harvesting effect of the bluff cylinder with a diameter of 30 mm is the most ideal for the energy harvester with a fin length of 20, 30 and 40 mm. When the fin length is 20 mm, the output voltage changes most smoothly. To obtain stable open circuit output voltage, the spacing distance between the bluff cylinder with a diameter of 25 mm and the fin should be controlled within 3D, while, the spacing distance between the bluff cylinder with a diameter of 30 mm and the fin should be controlled within 2D. When the bluff cylinder with a diameter of 30 mm, a spacing distance of 100 mm, and a flow velocity of 0.427 m/s, the maximum open circuit output voltage of 7.289 V can be obtained. The present work provides an effective experimental foundation for the research of underwater fin-shaped vehicle's dynamic endurance. © Published under licence by IOP Publishing Ltd.

关键词： Flow velocity

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An Improved UAV Path Optimization Algorithm for Target Accurately and Quickly Localization

An Improved UAV Path Optimization Algorithm for Target Accur...

引用

2021 International Conference on Information, Cybernetics, and Computational Social systems, ICCSS 2021

作者： Liang, Rui Wu, Kai Xu, Sheng Xu, Tiantian Ma, Xiaoyi Fu, Lianyu City West Power Supply Branch State Grid Tianjin Electric Power Company Tianjin China Shenzhen Institute of Advanced Technology Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen China Shenzhen Institute of Advanced Technology Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China State Grid Tianjin Information Telecommunication Company Tianjin China

ISBN: (纸本)9781665402453

Angle-of-arrival (AOA) target localization using the unmanned aerial vehicle (UAV) has been widely applied in many practical applications. To localize an invasive target quickly and accurately, both the estimation and UAV path optimization algorithms are required. This paper focuses on developing a path optimization method to improve the target estimation performance. Firstly, the problem formulation of AOA target localization is introduced. Secondly, the classical pseudolinear Kalman filter (PLKF) and the gradient-based path optimization are presented. Thirdly, we analyze the problems that existed in the previous methods and propose an improved gradient-descent path optimization algorithm combined with a simple grid search method. Finally, the simulation examples verify the effectiveness of the proposed methods. © 2021 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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