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

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Hand motion recognition based on pressure distribution maps and LS-SVM

Hand motion recognition based on pressure distribution maps ...

引用

International Conference on Mechatronics and Control (ICMC)

作者： Nan Li Shourong Wei Minfeng Wei Bo Liu Hong Huo Li Jiang National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing Aerospace Automatic Control Institute Beijing China State Key Laboratory of Robotics and system Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479925391

This paper presents a novel hand motion recognition method to achieve the volitional control of a multi-DOF prosthetic hand. Based on the principle that the pressure distributions on the surface of forearm caused by the muscular activities are different when different hand motions are performed, a human-machine interface (HMI) composed of 32 force sensitive resistor (FSR) sensors, measurement unit and recognition unit is designed to measure and classify the pressure distribution maps (PDM) of 9 typical hand motions. The least-squares support vector machine (LS-SVM) is adopted as the pattern recognition algorithm to classify the selected movement modes. The multi-subject experiment results show that the method can identify each motion with high accuracy.

关键词： Accuracy Sensor arrays Prosthetic hand Thumb Support vector machines

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Optimization and design of remote center motion mechanism of Minimally Invasive Surgical robotics

Optimization and design of remote center motion mechanism of...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Bo Pan Yili Fu Guojun Niu Dianguo Xu School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479953349

Minimally Invasive Surgery (MIS) has many advantages and is achieved mainly by Remote Center Motion. In this paper, a new RCM mechanism which is triangle is proposed, this mechanism is simple and high stiffness. Optimization incorporating the requirements for MIS are performed to find the optimal link lengths of the manipulator. The results show that for the serial triangle2-link manipulator used to guide the surgical tool, the optimization link angles are (74°, 51°). Three-dimensional model design is achieved.

关键词： Minimally invasive surgery Optimization Jacobian matrices Medical robotics Service robots

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Dynamic model and balance control of two-wheeled robot with non-holonomic constraints

Dynamic model and balance control of two-wheeled robot with ...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Ling Li Shigong Jiang Fuquan Dai Xueshan Gao School of Mechatronical Engineering Beijing Institute of Technology Beijing China State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin China

Two-wheeled mobile robot is known for advantages on performing better manuever in a confined space. It is a typical mobile robot with some features such as complexity, highly nonlinear, instability, multi-variable and strongly coupling. This research is aimed to design and develop the dynamic model and balance control strategy of the robot. A Gibbs-Appell equation is applied to build the dynamic model of two-wheeled robot in this paper. The virtual prototype model of the robot and the state space model with feedback are obtained. The experiments based on the simulation model and actual model are implemented. They show that the state feedback controller carried on the robot model in the posture and the speed is effective and the dynamical balance process is stable. The nonlinear dynamics model based on non-holonomic constraints and pole placement algorithm on the basis of the dynamic model are effective.

关键词： Mathematical model Mobile robots Equations Wheels Robot kinematics Nonlinear dynamical systems

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Design of passive joint in minimally invasive surgical robot

Design of passive joint in minimally invasive surgical robot

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IEEE International Conference on robotics and Biomimetics

作者： Jiawen Yan Bo Pan Guojun Niu Yili Fu Dianguo Xu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

Several passive joints are usually needed in surgical robots to decrease the difficulty in doctors' operating, which can be manually rotated without motor pushing. When stopped at a specified position, passive joints should be locked until operation ends, and keep bearing torques. This paper is aimed to design a locking method used in minimally invasive surgical robot. Firstly choose the locking type based on the technical requirements, and then the dimension can be determined using friction theory. Before finishing this design, the structure is verified by simulation. Not only the traditional method is used in the paper, but also new method combined with simulation is applied. As a result, the structure is much more reasonable, and will be the foundation for the following study.

关键词： Friction Force Joints Stress Torque Robots Load modeling

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Finger Pinch Force Estimation Through Muscle Activations Using A Surface EMG Sleeve On the Forearm

Finger Pinch Force Estimation Through Muscle Activations Usi...

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IEEE International Conference on Fuzzy systems

作者： Yinfeng Fang Zhaojie Ju Xiangyang Zhu Honghai Liu Intelligent Systems and Biomedical Robotics Group School of Computing University of Portsmouth State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University

ISBN: (纸本)9781479920747

For prosthetic hand manipulation, the surface Electromyography (sEMG) has been widely applied. Researchers usually focus on the recognition of hand grasps or gestures, but ignore the hand force, which is equally important for robotic hand control. Therefore, this paper concentrates on the methods of finger forces estimation based on multi-channel sEMG signal. A custom-made sEMG sleeve system omitting the stage of muscle positioning is utilised to capture the sEMG signal on the forearm. A mathematic model for muscle activation extraction is established to describe the relationship between finger pinch forces and sEMG signal, where the genetic algorithm is employed to optimise the coefficients. The results of experiments in this paper shows three main contributions: 1) There is a systematical relationship between muscle activations and the pinch finger forces. 2) To estimate the finger force, muscle precise positioning for electrodes placement is not inevitable. 3) In a multi-channel EMG system, selecting specific combinations of several channels can improve the estimation accuracy for specific gestures.

关键词： Muscles Force Electromyography Electrodes Channel estimation Mathematical model Estimation

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Modeling and LQR control of a multi-DOF two-wheeled robot

Modeling and LQR control of a multi-DOF two-wheeled robot

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IEEE International Conference on robotics and Biomimetics

作者： Shigong Jiang Fuquan Dai Ling Li Xueshan Gao State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin China School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479973989

A multi-DOF two-wheeled robot is considered, the research is aimed to develop the dynamic model and balance control scheme of the robot. A balance weight is involved to compose a new DOF, the dynamic model of the robot is established with Lagrange equations. To facilitate the modelling and design control scheme, the dynamic model is simplified and the displacement of balance weight is chosen as control input instead of state variable. With the dynamic model, a LQR controller is designed for achieving the desired velocity of the robot while stabilizing the central body. Simulation and physical prototypes are established to prove the veracity of the model and confirm the validity of the designed controller.

关键词： Mathematical model Mobile robots Wheels Robot kinematics Vehicle dynamics Aerospace electronics

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A non-linear, anisotropic mass spring model based simulation for soft tissue deformation

A non-linear, anisotropic mass spring model based simulation...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Wenpeng Gao Lili Chu Yili Fu Shuguo Wang School of Life Science and Technology Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479953349

Mass Spring Model (MSM) is widely used in the simulation of soft tissue deformation due to its high efficiency. However, the anisotropic property of soft tissue challenges such a simulation. This manuscript proposed an improved MSM by taking into consideration of anisotropic property. Firstly, the anisotropic property of soft tissue is investigated. Then, the parameters of MSM are set according to the investigation. Finally, the force on each spring is combined by axial and radial forces. Experimental results illustrates the proposed method can simulate deformation accurately. It shows prospective in the application of surgical simulation.

关键词： Biological tissues Springs Deformable models Finite element analysis Force Surgery Computational modeling

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Mechanical design of wireless in vivo robot unit for surgical vision

Mechanical design of wireless in vivo robot unit for surgica...

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IEEE International Conference on Mechatronics and Automation

作者： Xingyang Liu Haibo Feng Yili Fu Yi Lv State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China Department of Hepatobiliary Surgery Xi'an Jiaotong University Xi'an Shanxi China

Compared to the traditional open surgery, minimally invasive abdominal surgery results in improved results. In order to further reduce the number of incisions, some people put forward laparoendoscopic single-site surgery (LESS) which can get better results. But it also has several disadvantages, such as the tools' interference with each other, the restriction of tools' motion space due to incision. The tools which are able to work in the abdominal cavity entirely can overcome the disadvantages mentioned above, they are ideal for the LESS. We are working on a kind of in vivo robot unit which works entirely in the abdominal cavity. It has the function of lighting and visual feedback. For the purpose of providing better surgical field, the robot unit can tilt to a certain angle and clean the lens automatically. This paper focuses on introducing the design procedure of key transmission parts, self-cleaning executive mechanism and shells.

关键词： Shafts Robots In vivo Surgery Lighting Cameras Shape

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New triangulation method for surface scattered points

New triangulation method for surface scattered points

引用

IEEE International Conference on Mechatronics and Automation

作者： Xuehe Zhang Ge Li Jie Zhao Zhenxiu Hou State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang China

Triangulations for surface scattered points are used in the field of three-dimensional reconstruction widely. In order to reconstruct surface fast and efficiently, a combination triangulation algorithm was proposed. The triangulation method includes three steps: firstly, the scattered points were carved into many regions by the Axis-Aligned Bounding Box algorithm, then searched k-Neighbor points of each scattered points and constructed its tangent plane, transformed 3D triangulation into 2D triangulation. Secondly, direct triangulation were carried out according to the criterion of different side rule; the angle of two normal vectors maximized rule; the threshold distance rule of semisphere and the internal minimal angle maximized rule. Finally, each region were connected or spliced by 3D Delaunay circumsphere rule. Experiment results shows that the combination algorithm can triangulate the scattered points precisely and efficiently.

关键词： Three-dimensional displays Vectors Algorithm design and analysis Surface reconstruction Indexes Least squares approximations Partitioning algorithms

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Dynamic modeling and analysis of rotating mechanism in planetary soil drilling sampler

Dynamic modeling and analysis of rotating mechanism in plane...

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IEEE International Conference on Mechatronics and Automation

作者： Zongquan Deng Shuai Yang Jing Sun Shengyuan Jiang Qiquan Quan Junyue Tang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Beijing Spacecrafts China Academy of Space Technology Beijing China

It is presented in this paper that a novel planetary soil drilling sampler which can be used on the surface of the Luna, the Mars and some other planets to drill deeply in the soil. The rotary and axial movement of driller in the sampler is generated by the rotating mechanism and feeding mechanism respectively. For the sake of achieving adequate driving ability and security of rotating mechanism, a detailed dynamic model is established by using the lumped parameter method in comprehensive consideration of flexible and nonlinear factors to acquire the motor moment and moments in the mechanism when the sampler is on duty. Because of the uncertainty of load moment on the driller, five typical load functions are constructed in this work to simulate the actual load and to solve the dynamic model. These functions contain constant value function, Gaussian stochastic function, step function, impulse function and time-increasing function. The analysis shows that impact can be aroused in the motor and transmissions of rotating mechanism on the moment of setup or load mutation, while the stochastic variation of load moment can make motor moment and moments in the mechanism fluctuate more seriously. The analysis results could provide theoretical basis for the design of driving ability and security of rotating mechanism in drilling sampler.

关键词： Gears Mathematical model Soil Couplings Shafts Load modeling Silicon

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