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Development and Analysis of an Electrically Actuated Lower Extremity Assistive Exoskeleton

Journal of Bionic Engineering 2017年第2期14卷 272-283页

作者： Yi Long Zhijiang Du Chaofeng Chen Weidong Wang Long He Xiwang Mao Guoqiang Xu Guangyu Zhao Xiaoqi Li Wei Dong State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin 150001 China Weapon Equipment Research Institute China South Industries Group Corporation Beijing 102202 China

An electrically actuated lower extremity exoskeleton is developed, in which only the knee joint is actuated actively while other joints linked by elastic elements are actuated passively. This paper describes the critical design criteria and presents the process of design and calculation of the actuation system. A flexible physical Human-Robot-Interaction （pHR1） measurement device is designed and applied to detect the human movement, which comprises two force sensors and two gasbags attached to the inner surface of the connection cuff. An online adaptive pHRI minimization control strategy is proposed and implemented to drive the robotic exoskelcton system to follow the motion trajectory of human limb. The measured pHRI information is fused by the Variance Weighted Average （VWA） method. The Mean Square Values （MSV） of pHRI and control torque are utilized to evaluate the performance of the exoskeleton. To improve the comfort level and reduce energy consumption, the gravity compensation is taken into consideration when the control law is designed. Finally, practical experiments are performed on healthy users. Experimental results show that the proposed system can assist people to walk and the outlined control strategy is valid and effective.

关键词： exoskeleton pHRI measurement data fusion pHRI minimization adaptive control

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Current detection based on GPR for grasping control of underac-tuated hands 49

Current detection based on GPR for grasping control of under...

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49th International Symposium on robotics, ISR 2017

作者： Cao, Wenwu Zhao, Siyu Wang, Weidong Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

In the actual process of grasping, the unexpected movement of objects is the main contributing factor for the failure. In order to eliminate such phenomenon and improve the success rate of grasping, a novel controlling method of current detection based on Gaussian Process Regression (GPR) for underactuated hands grasping is proposed in this paper. Ac-cording to the practical requirements, the criterion for current detection is established firstly. Then based on multiple groups of learning samples, the reference model for controlling is acquired through GPR machine learning, and imple-mented in experiments of a 3-knuckles-2-fingeres underactuated hand compared with current detection method based on the theoretical model. The experimental results prove that the reference model can be used for the collision detection of a variety of objects, and then the unexpected movement of objects can be eliminated to achieve grasping successfully. © 49th International Symposium on robotics, ISR 2017. All rights reserved.

关键词： Object detection

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A novel actuation configuration of robotic hand and the mechanical implementation via postural synergies

A novel actuation configuration of robotic hand and the mech...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Liu, Yuan Jiang, Li Fan, Shaowei Yang, Dapeng Zhao, Jingdong Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9781509046331

How to design a robotic hand for reproducing the move characteristics of human hand joints is a big challenge in robotics. In this paper, we present an approach to determine the actuation configuration based on the statistical results of hand joint angle in different grasps. A relationship between the basic statistical metrics and actuation configuration strategies is built. In this case, a novel actuation configuration is proposed and the joints of four fingers are arranged into five actuation modules. For the mechanical implementation, the motion of human four finger joints is decomposed to proportion motion, differential motion and chain proportion motion, mechanically implemented by pulley, planetary gear differential module and gear transmission chain. Finally, the implemented mechanism is embedded in palm, and the mechanical implementation to the human hand move characteristics is verified by the measured joint angles of the robotic hand when actuators separately move along PC1 and PC2. Meanwhile, the robotic hand can grasp different objects with a versatile grasp function. © 2017 IEEE.

关键词： Mechanical actuators

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Design of a highly integrated underactuated finger towards prosthetic hand

Design of a highly integrated underactuated finger towards p...

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2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017

作者： Cheng, Ming Jiang, Li Fenglei, Ni Fan, Shaowei Liu, Yuan Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9781509059980

This paper presents a highly integrated underactuated anthropomorphic finger with three joints and two DOFs using a novel coupled-Adaptive linkage mechanism. The finger has two main motion modes: coupled motion in free space and self-Adaptive motion when contacting with the object. Compared with conventional prosthetic finger, the combination of these two motion modes improves the anthropomorphic characteristics and grasping capacity remarkably. Besides, kinds of sensors embedded, force, position and tactile sensor in the finger not only intensify proactive perceptive ability, but also ameliorate the control ability. Moreover, according to a series of grasp experiments, the anthropomorphic finger can accomplish coupled motion and self-Adaptive motion stably. © 2017 IEEE.

关键词： Prosthetics

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A Novel Deployable Capture Mechanism Based on Bennett Networks for Active Debris Removal

A Novel Deployable Capture Mechanism Based on Bennett Networ...

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IEEE International Conference on robotics and Biomimetics

作者： XueAi Li Kui Sun Yuanfei Zhang Jingdong Zhao Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Harbin Institute of Technology Harbin Heilongjiang CN

ISBN: (纸本)9781728103785;9781728103778

To stabilize the space debris problem, it's of great significance to perform Active Debris Removal (ADR) missions. The capturing phase plays a crucial role in the entire ADR mission. One of the greatest challenges is to capture the target in a simple manner. In this paper, a set of principal requirements are firstly established to guide the design of the capture mechanism. A malfunctioned satellite is chosen as the target due to increased collisions it may pose. Based on spatial overconstrained Bennett linkages that are linked by scissor elements, two types of 1-DOF linkage networks are built by tessellations. Both of the networks fold into bundles and deploy into "grippers", which also enables the deployment to be reversible with only one actuator. Without the need for latching devices, a novel concept of deployable capture mechanisms is proposed according to the networks. Besides, self-locking screw transmission and linkage mechanisms are compactly designed to drive the networks. Finally, simulations of the capturing operation are conducted to verify the compliance to the requirements, and the two types of mechanisms are compared to find their respective application occasions.

关键词： Couplings Grippers Actuators Satellites Fasteners Space vehicles Compaction

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Design of a pneumatic variable stiffness ankle joint

Design of a pneumatic variable stiffness ankle joint

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IEEE International Conference on Intelligence and Safety for robotics (ISR)

作者： Xizhe Zang Jiaqi Song Yixiang Liu Xinyu Zhou the State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Harbin Institute of Technology Harbin Heilongjiang CN

ISBN: (纸本)9781538655481

The foot-ground impact is a vital problem for biped robots walking stability. Various works have been done to reduce the impact and enhance the walking stability. This paper investigates the foot-ground impact using mathematic models and introduces the design of a pneumatic variable stiffness ankle joint. First, the torque and energy consumption of the ankle joint during double support phase are derived from a seven-link idealized model. Then, in order to find the optimal range of ankle stiffness, dynamic simulations are conducted on two virtual prototypes with variable stiffness ankle and rigid ankle respectively. After that, a pneumatic unit is designed based on the simulation results and a test is performed to measure its range of stiffness. Finally, combining the pneumatic unit with a parallelogram mechanism, an integrated variable stiffness ankle joint is developed.

关键词： Legged locomotion Foot Force Stability analysis Springs Torque

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Steel Surface Defects Recognition Based on Multi-label Classifier with Hyper-sphere Support Vector Machine 29

Steel Surface Defects Recognition Based on Multi-label Class...

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第29届中国控制与决策会议

作者： Maoxiang Chu Jie Zhao Rongfen Gong Liming Liu State Key Laboratory of Robotics and System (HIT) School of Electronic and Information Engineering University of Science and Technology Liaoning

ISBN: (纸本)9781509046584

Aiming at steel surface defects recognition, this paper proposed a multi-label classifier with hyper-sphere support vector machine(HSVM-MC). Firstly, in order to describe steel surface defects well, a new set of edge distance statistical features are proposed. Then, based on twin-hypersphere support vector machine(THSVM), HSVM-MC is built by introducing binary relevance(BR) idea. This novel classifier has merits of THSVM and BR. Moreover, it can make up the shortcomings of BR method. Experimental resuslts show that the novel multi-label classificatin method has superior accuracy and efficiency for steel surface defects recognition.

关键词： Steel Surface Defect Recognition HSVM-MC Edge Distance

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Reconfigurable Control Design Based on Complete Parametric Approach for Spacecraft Rendezvous 36

Reconfigurable Control Design Based on Complete Parametric A...

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第36届中国控制会议

作者： Guangren Duan Qin Zhao State Key Laboratory of Robotics and System(HIT) Center for Control Theory and Guidance Technology Harbin Institute of Technology

ISBN: (纸本)9781538629185

This paper studies the problem of reconflgurable fault tolerant controller design for linear time-invariant systems with measurement unavailability based on a complete parametric *** attention is focused on completely recovering eigenvalues of the pre-fault system by resynthesizing an output feedback controller while the restrictions on assignable eigenvalues of existing results are ***,the complete parametric method is introduced to give the parametric expressions for all output feedback matrices with the advantage of guaranteeing the stability of the reconfigured ***'s more,reconflgurable controllers for the spacecraft rendezvous system are studied as the example in cases of different measurement failure ***,numerical calculations are given and results show the effectiveness of the proposed method.

关键词： Reconfigurable Control Spacecraft Rendezvous Measurement Unavailability Complete Parametric Approach Output Feedback

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Sparse Kernel Regression with Coefficient-based `q−regularization

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Journal of Machine Learning Research 2019年 20卷

作者： Shi, Lei Huang, Xiaolin Feng, Yunlong Suykens, Johan A.K. Shanghai Key Laboratory for Contemporary Applied Mathematics School of Mathematical Sciences Fudan University Shanghai China Institute of Image Processing and Pattern Recognition Institute of Medical Robotics Shanghai Jiao Tong University MOE Key Laboratory of System Control and Information Processing Shanghai China Department of Mathematics and Statistics State University of New York at Albany New York United States Department of Electrical Engineering ESAT-STADIUS KU Leuven Kasteelpark Arenberg 10 LeuvenB-3001 Belgium

In this paper, we consider the `q−regularized kernel regression with 0 q−penalty term over a linear span of features generated by a kernel function. We study the asymptotic behavior of the algorithm under the framework of learning theory. The contribution of this paper is two-fold. First, we derive a tight bound on the `2−empirical covering numbers of the related function space involved in the error analysis. Based on this result, we obtain the convergence rates for the `1−regularized kernel regression which is the best so far. Second, for the case 0 ©c 2019 Lei Shi, Xiaolin Huang, Yunlong Feng, and Johan A.K. Suykens.

关键词： Regression analysis

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EMG dataset augmentation approaches for improving the multi-DOF wrist movement regression accuracy and robustness

EMG dataset augmentation approaches for improving the multi-...

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IEEE International Conference on robotics and Biomimetics

作者： Wei Yang Dapeng Yang Jiaming Li Yu Liu Hong Liu State Key Laboratory of Robotics and System (SKLRS) Harbin Institute of Technology Harbin China Artificial Intelligence Laboratory (HAI) Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728103785;9781728103778

Benefiting from the powerful learning capacity of deep learning (DP), a general model for predicting 3-DOF wrist movements could achieve good prediction accuracy for those subjects even not involved in the training. This paper tends to verify this assumption. Since the quantity of training dataset in DP largely influences the model's performance, a limited dataset collected from a number of subjects should be extended first through some data-augmentation approaches. In this paper, we first summarized the possible mistakes happen in the EMG data-collection procedures. Then, according to these mistakes, we designed six data-augmentation approaches to expend our EMG dataset. Through experiments, we found the prediction accuracy can be improved when some approaches are introduced during training. As well, the model robustness could also be improved when the same mistakes occur in the predicting process. With regards to those approaches, placing all electrodes in opposite direction and random switching two channels have significant positive effect on both accuracy and robustness. These two data-augmentation approaches are highly advocated in the pre-processing of the training data for DP-based prediction models.

关键词： Myoelectric signal Simultaneous control Regression Data augmentation Convolutional neural network

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