检索结果-内蒙古大学图书馆

IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Fuhai Zhang Xiangyu Wang Yili Fu S. K. Agrawal State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Mechanical Engineering Columbia University New York NY USA

Aiming at the physical coupling feature between the finger and the hand exoskeleton, a human-robot interaction modeling approach is proposed. The muscle motion formulas are established based on the finger physiological structure and Hill model. The equilibrium equations between exoskeleton and finger are connected by static analysis. In order to solve the redundancy problem of the system, a method based on the physiological cross-sectional area (PCSA) is adopted to get the optimized solution of muscle force, and an optimization method based on the total minimum error (TME) is presented to obtain the parameters of Hill model. The experimental setup is established to receive the finger data of motion and force for optimization. The approach proposed can get the quantifiable muscle parameters to study the statistical analysis of muscle motion and rehabilitation state. And it will be possible for the exoskeleton and the finger to be combined as a controlled plant so as to introduce muscle parameters into the controller design.

关键词： Thumb Muscles Force Electronics packaging Tendons Exoskeletons

来源：评论

学校读者我要写书评

暂无评论

Synergistic Effect of Sandwich Polyoxometalate and Copper-Imidazole Complexe for Enhancing Peroxidase-like Activity

Synergistic Effect of Sandwich Polyoxometalate and Copper-Im...

引用

中国化学会第九届全国无机化学学术会议

作者： Dong-Feng Chai Yun-Feng Qiu Hong Liu Department of Chemistry College of Pharmacy Jiamusi University State Key Laboratory of Robotics and System (HIT) Academy of Fundamental and Interdisciplinary SciencesHarbin Institute of Technology

H2O2 detection has attracted much attention in recent years due to that its production may affect many biochemistry reactions in the body that may be dangerous for human health.[1-3] Herein, an inorganic-organic hybrid based on copper(II)-imidazole complexe modified sandwich-type tungstobismuthate, Na4H2[Cu4(H4im)12(H3im)2][Cu3(H2O)6(Bi W9O33)2]·40H2O(H4im = imidazole, H3 im = deprotonated imidazole)(1) has been synthesized and structurally characterized by single crystal X-ray diffraction. Compound 1 was demonstrated to possess high peroxidase-like activity when using 3, 3', 5, 5'-tetramethylbenzidine(TMB) as a peroxidase substrate in the presence of H2O2. The synergistic effects of sandwich-type polyoxometalate and copper(II)-imidazole complexe is responsible for the enhancement of peroxidase-like activity than polyoxometalate and copper(II)-imidazole complexe. Considering the dependence of TMB coloration on H2O2 concentrations, 1 can be used as an effective biosensor to detect H2O2 through facile colorimetric method in a linear range from 1 μM to 50 μM with a low detection limit of 0.12 μM. Compound 1opens a new approach to the H2O2 sensor by inorganic-organic hybrid compounds.

关键词： Polyoxometalate,peroxidase-like,enzyme,copper-imidazole

来源：评论

学校读者我要写书评

暂无评论

Dynamics forces modelling and simulation for 3-RUU parallel main hand

Dynamics forces modelling and simulation for 3-RUU parallel ...

引用

IEEE International Conference on Mechatronics and Automation

作者： Lingtao Yu Wenjie Wang Huajian Song Jing Yang Lan Wang College of Mechanical and Electrical Engineering Harbin Engineering University State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479970995

In the master-slave robot control process, accuracy for force feedback as an important index of the haptic master hands is usually a force model of the main hand to be determined. As the main Acupressure model is usually based on their sense of static model, so the accuracy is relatively low in the process of movement. To further enhance the precision of force feedback, according to the general equation of multi-body dynamics and Lagrange equations, obtained the inverse dynamics model of 3-RUU parallel main hand, thereby establishing a dynamic forces model based on master manipulator dynamics. Through application of Adams to compare the dynamic simulation results with the driving torque of the dynamic forces model, and thus demonstrated the dynamic forces model of the main hand is right; Further, compare the simulation results of the dynamic forces model with the static simulation torque, we can get the curve about percentage error between the force model of main hand and the dynamic forces model, and demonstrated the dynamic forces model has a higher precision in force feedback.

关键词： Mathematical model Dynamics Manipulator dynamics Solid modeling Torque Force Force feedback

来源：评论

学校读者我要写书评

暂无评论

Velocity Control of a Bounding Quadruped via Energy Control and Vestibular Reflexes

引用

Journal of Bionic Engineering 2014年第4期11卷 556-571页

作者： Xin Wang Mantian Li Wei Guo Pengfei Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Department of Advanced Robotics (Fondazione) Istituto Italiano di Tecnologia Genova 16163 Italy

In this paper a bio-inspired approach of velocity control for a quadruped robot running with a bounding gait on compliant legs is set up. The dynamic properties ofa sagittal plane model of the robot are investigated. By analyzing the stable fixed points based on Poincare map, we find that the energy change of the system is the main source for forward velocity adjustment. Based on the analysis of the dynamics model of the robot, a new simple linear running controller is proposed using the energy control idea, which requires minimal task level feedback and only controls both the leg torque and ending impact angle. On the other hand, the functions of mammalian vestibular reflexes are discussed, and a reflex map between forward velocity and the pitch movement is built through statistical regression analysis. Finally, a velocity controller based on energy control and vestibular reflexes is built, which has the same structure as the mammalian nervous mechanism for body posture control. The new con- troller allows the robot to run autonomously without any other auxiliary equipment and exhibits good speed adjustment capa- bility. A series simulations and experiments were set to show the good movement agility, and the feasibility and validity of the robot system.

关键词： legged robots biologically-inspired robots biomimetics energy control vestibular reflexes

来源：评论

学校读者我要写书评

暂无评论

Simulation on fused biconical tapering of the fiber based on creep experiments

Simulation on fused biconical tapering of the fiber based on...

引用

IEEE International Conference on Mechatronics and Automation

作者： Yao Lu Weibin Rong Wei Zhang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Key Laboratory of Micro-systems and Micro-structures Manufacturing Ministry of Education Harbin Institute of Technology Harbin Heilongjiang Province P.R. China

ISBN: (纸本)9781479970995

Fused biconical tapering is the main method to fiber coupler manufacture. The fiber rheological shape has an important influence on the optical performance of couplers. In order to obtain the influence of process parameters such as the drawing force and melting temperature in the fiber rheological forming process, the fused biconical tapering technology is simulated based on the viscoelastic model and creep experiment in this paper. Firstly, viscoelastic mechanics performance of fiber is described by the Maxwell model and time temperature equivalence principle. Then the creep experiment is performed to obtain viscoelastic parameters. Finally, simulation analysis on the fused biconical tapering is carried out using finite element method. The simulation results show that the drawing force is inversely proportional to the diameter of neck area. When the drawing force increased to 500mgf, the shape of neck region is unstable. And the fiber deformation is more stable, when the melting temperature is above 1170 □.

关键词： Optical fiber couplers Force Creep Couplers Neck Strain

来源：评论

学校读者我要写书评

暂无评论

Kinematic Analysis of Pipe Robot in Elbow Based on Virtual Prototype Technology

Kinematic Analysis of Pipe Robot in Elbow Based on Virtual P...

引用

IEEE International Conference on robotics and Biomimetics

作者： Jun Chen Xiuchao Cao Zongquan Deng Department of Mechanical Engineering Harbin Institute of Technology at Weihai Weihai 264209 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9781467396769

This paper focuses on kinematic characteristics of articulated multi-unit wheel type pipe robot system. After establishing the posture model of the robot system in elbow considering wheel dimensions, wheel center coordinates and corresponding contact point coordinates of each wheel are presented. Based on the posture model, the ratio relations of theoretical angular velocity for each wheel are presented. To confirm the effectiveness of the proposed theoretical analysis, simulation analyses based on virtual prototype technology are performed, and the analysis results with theoretical calculations are basically identical. This provide theoretical basis for the selection of driving mechanism design and control mode of wheel type pipe robot.

关键词： establishing posture control

来源：评论

学校读者我要写书评

暂无评论

Active Gravity Compensation Test Bed for a Six-DOF Free-flying Robot

Active Gravity Compensation Test Bed for a Six-DOF Free-flyi...

引用

IEEE International Conference on Information and Automation

作者： Lifang Li Haibo Gao Zongquan Deng Pengzhen Guo Research Center of Basic Space Science Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Physics Harbin Institute of Technology

ISBN: (纸本)9781467391054

A novel active gravity compensation concept is proposed to simulate space on-orbit microgravity environments for free-flying robots on ground. Here, robots are suspended by active-controlled motion path tracking mechanisms through wires to compensate for gravitational forces. Based on the concept, an experimental test bed was designed and fabricated in laboratory to study on-ground kinematic and dynamic behaviors of a free-flying robot. The experimental fabrication contains an active horizontal motion tracking mechanism composed of primary and secondary active rotating arms. An multi-objective optimization method calculating the tension of the wires to minimize torques on robot joints is approved. The tension of the suspension wires is obtained through passive counterweights using pulley mechanisms. The kinematics and dynamics of a 6-DOF free-flying manipulator were calculated in MATLAB and simulated in MSC Adams under three working conditions: zero-gravity, gravity compensation and gravity. The lowest ratio of the torque compensation reached 80%. Agreements between numerical analyses and simulation results confirm the ability of this gravity compensation concept to simulate the kinematic and dynamic behaviors of free-flying manipulator in space.

关键词： Free-flying manipulators Space robots Gravity compensation

来源：评论

学校读者我要写书评

暂无评论

Intention detection in upper limb kinematics rehabilitation using a GP-based control strategy

Intention detection in upper limb kinematics rehabilitation ...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Yongzhuo Gao Yanyu Su Wei Dong Zhijiang Du Yan Wu Harbin Institute of Technology Harbin Heilongjiang CN State Key Laboratory of Robotics and System Harbin Institute of Technology China A*STAR Institute for Infocomm Research Singa-pore

In robot-assisted upper limb rehabilitation, detecting the intentions of hemiplegic patients is essential towards assisting the patients to actively exercise instead of driving passive motions. Many interactive channels, such as voice, EMG and EEG, have been studied to estimate the motion intentions. However, limitations of these techniques, such as high complexity, have constrained their applications in practice. In this paper, we integrate a virtual environment and a low-cost motion sensor into a novel control strategy to detect motion intentions for a rehabilitation robot. Several bimanual motion sequences are intuitively programmed by a professional therapist for subjects to repeat. The strategy uses the unaffected arm and the programmed motion sequence to estimate the motion intentions of the affected arm. We adopt this strategy in Mirror Therapy, a widely-practised therapeutic intervention method. Experiments have been conducted to validate the control strategy.

关键词： Skeleton Kinematics Robot sensing systems Virtual environments Training Mirrors

来源：评论

学校读者我要写书评

暂无评论

High integrated modular joint for Chinese Space Station Experiment Module Manipulator

High integrated modular joint for Chinese Space Station Expe...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： ShiCai Shi Da Wang SiPu Ruan Rong Li MingHe Jin Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Honors School of Harbin Institute of Technology Harbin Department of Automobile Heilongjiang Institute of Technology Harbin

ISBN: (纸本)9781467391085

Around 2020, China is going to build its own space station and to carry out space science research of larger scale. Chinese Space Station (CSS) will operate in orbit for about ten years. This period will provide much more opportunities to scientists in China after the international space station. The space manipulators as cost-effective, energy-efficient tools supporting humans on extended space missions have played an important role in space exploration, such as aided cabin docking, cargo handling, supporting EVA and carrying out scientific experiments. So an Experiment Module Manipulator (EMM) was proposed for CSS. The principle prototype of the modular joint has been developed as the crucial component of the EMM and passed through the preliminary thermal vacuum test and dynamics environment tests.

关键词： Joints Temperature sensors Torque Brushless motors

来源：评论

学校读者我要写书评

暂无评论

A Reconfigurable Three-Finger Robotic Gripper

A Reconfigurable Three-Finger Robotic Gripper

引用

IEEE International Conference on Information and Automation

作者： Guozhi Li Cong Fu Fuhai Zhang Shuguo Wang State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781467391054

This paper presents a multi-DOF and reconfigurable robotic gripper which has three fingers and is easy to control. Every finger of the gripper has three joints that are actuated by two motors. The mechanical gripper structure contains the same three fingers, while every finger can be driven and controlled independently. Based on the four-bar linkage, a model of reconfigurable mechanism is obtained, while input variables can determine the motion and trajectory. The gripper consists of palm, three fingers, rotating base. The first phalange and the second phalange are coupled and driven by first servo motor, while the second DC motor rotate the finger using a type of worm-and-wheel beside the third joint of finger. The third DOF of every finger is not coupled that makes the reconfiguration of the gripper can be obtained by adjusting the orientation of the fingers. Potentiometers integrated in the motors detect rotate angers of every finger in order to measure the rotation of joints for controlling the gripper to adapt to different shapes of the object and determine the final configurations. The gripper is designed to provide the ability of performing industrial tasks involving the grasping of a variety of different sizes of objects. The primary experimental exhibits a good capability to versatile grasping with reduced complexity.

关键词： Grasping Reconfigurable Hand Multiple configurations

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：