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IEEE/Institute of Complex Medical Engineering International Conference on Complex Medical Engineering

作者： Wang, Weidong Wu, Dongmei Sun, Pengfei Du, Zhijiang State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781424493241

A novel robot-assisted PET/CT/MRI image fusion method is presented. The robot carries the patient from one device to another automatically, securely and precisely. The images obtained in each device are fused by the robot position transformational matrix. First, a 4WD and 4WS mobile robot is introduced. Its design features are super payload capability, precise navigation and positioning, ultrasonic obstacle avoidance and Anti- magnetic. Second, the general kinematics model of the 4WD and 4WS mobile robot is presented. Several special modes are simplified from the general model, Such as ZRT mode, navigation mode and so on. At last several clinical trial of this system is introduced. The comparison result between the result of robot-assisted PET/MRI image fusion and the result of combined machine is presented. The method of the robot-assisted PET/MRI image fusion can make the process of image fusion more automatically, securely and precisely. © 2011 IEEE.

关键词： Mobile robots

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Development of a panoramic simulation for robot assisted endoscopic surgery

Development of a panoramic simulation for robot assisted end...

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IEEE/Institute of Complex Medical Engineering International Conference on Complex Medical Engineering

作者： Yan, Zhiyuan Wu, Dongmei Ma, Ruqi Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781424493241

In recent years, the robot for minimally invasive surgery has been expanded for wide application in clinic. However, robot assisted surgery is quite different from traditional surgery, so the training and practice are very important to the surgeon. The development of a panoramic simulation for robot assisted endoscopic surgery is described in the paper. The simulation is appropriate for da Vinci and other similar system. In this simulation, the robot model is accurately presented, and its kinematic analysis is precise. The soft tissue model used in the simulation is an improved mass-spring model. This model is suited for real-time and visual deformation. A commercial haptic device known as Omega is used in this simulation, we can easily obtain haptics by it. As a result, the user can switch between panoramic display and local scene by zoom, and can easily manipulate the virtual surgical robot to perform many surgical operations such as grasping and pushing, at the same time, the user can feel the force feedback. © 2011 IEEE.

关键词： Robotic surgery

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A drive-control system for 3D piezoelectric stick-slip positioner

A drive-control system for 3D piezoelectric stick-slip posit...

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6th International Forum on Strategic Technology, IFOST 2011

作者： Rong, Weibin Zhang, Shizhong Liu, Xingxing Yu, Miao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781457703966

The micro-positioning system composed of dynamic piezoelectric translation devices features nanoscale resolution, millimeters range, compact structure and availability in extreme operating conditions, and it is commonly used in field of micro-nano operation. To solve the problem of the drive and control of the piezoelectric stick-slip positioner, a 3-channel drive-control system is developed. The driver is designed with a high-power integrated operational amplifier based on a mixed approach of voltage control and current control. The two modes can be switched easily in the use. A high speed DSP chip is chosen as the core of the controller which receives and processes the commands from PC. Experimental results show that the drive-control system has a resolution less than 4.6mV, a linearity error of 0.014% and a full power response bandwidth up to 5 kHz. © 2011 IEEE.

关键词： Stick-slip

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A 3D stick-slip nanopositioner for nanomanipulation

A 3D stick-slip nanopositioner for nanomanipulation

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Rong, Weibin Zhang, Shizhong Yu, Miao Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781424481149

A compact nanopositioner which consists of three stick-slip inertial stages was designed and built particularly for nanomanipulation inside a scanning electron microscope (SEM). Considering linear dynamics of PZT and nonlinear friction between slider and rod, a comprehensive model representation of the stick-slip stage was presented and verified by being compared with experimental results. Resolution to 10nm has been achieved and the ability to lift up to 70g has been demonstrated. Some manipulations of nanowires were performed in assistant of the nanopositioner we developed, including picking up and bending single ones. Both results of experiments and manipulations demonstrated the excellent performance of the nanopositioner. © 2011 IEEE.

关键词： Stick-slip

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Design and development of a hand rehabilitation robot for patient-cooperative therapy following stroke

Design and development of a hand rehabilitation robot for pa...

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Fu, Yili Zhang, Qinchao Zhang, Fuhai Gan, Zengkang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781424481149

Stroke is very common and always leads to severe hand impairment. Traditional robotic systems have been introduced to assist therapy for a long time and already achieved certain effect. However, with further development of therapy strategies in the last few years, higher request to the rehabilitation robot has been put forward. Thus, we are developing a novel hand rehabilitation robot named HIT-glove to provide patient-cooperative therapy for hand-impaired post-stroke patients. In this paper, the mechanical design of the actuated hand exoskeleton is detailed and the control strategy for patient-cooperative therapy is introduced. The actuated hand exoskeleton, which can be applied to hands in different sizes and shapes, is able to bilaterally actuate every joint of the fingers. The patient-cooperative control strategy, based on the sensing system and an interactive interface, is well designed to let the patient actively participate into the therapy. Besides, to get a better effect of functional rehabilitation of the hand, our robot is expected to provide the following two categories of therapy: motor function exercise for joints and movement coordination training for fingers. © 2011 IEEE.

关键词： Exoskeleton (robotics)

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The research on release micromanipulation mechanism and method of microparticle based on dynamic adhesion control

The research on release micromanipulation mechanism and meth...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Shao, Bing Chen, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Robotics and Microsystems Center Soochow University Suzhou China

ISBN: (纸本)9781424487554

The manipulation of particles at the micro-scale is of great importance and challenge in the fields of electronics and bioengineering. A compound vibration adhesion control technique has been proposed in this article in order to achieve the manipulation of mciro spheres. This paper firstly analyzes the micro-scale adhesive force generated during the release process. Then a dynamic adhesive contact model was established. Based on this model, a novel microgripper has been developed. Its performances such as the micromanipulation acceleration, inertial force, and adhesion force for the release manipulation are investigated by dynamics modeling and simulation. Precision positioning problem of the released micro-scale object is analysed. Experiments are conducted under different size of microparticles, to verify the performance the novel microgripper, such as effective release and accurate positioning. The results have confirmed that microgripper by the use of the compound vibration adhesion control technique can achieve an effective and reliable release manipulation of microparticles. This novel microgripper has the advantages of the high release repeatibility and accuracy. © 2011 IEEE.

关键词： Adhesion

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Approximating the stance map of a SLIP Monopod: A perturbation approach

Approximating the stance map of a SLIP Monopod: A perturbati...

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2011 IEEE 5th International Conference on robotics, Automation and Mechatronics, RAM 2011

作者： Yu, Haitao Li, Mantian Cai, Hegao State Key Laboratory of Robotics and System Harbin Inst. of Tech. Harbin 150001 China

ISBN: (纸本)9781612842509

In this paper, a novel method with perturbation technique is proposed to obtain analytic approximate solutions to the SLIP dynamics in stance phase with considering the effect of gravity. The perturbation solution achieves higher accuracy in predicting the apex trajectory and stance locomotion by comparing with other existing analytic approximations. Particularly, our solution is validated for non-symmetric case in a large angle range. Additionally, the approximate apex return map is established, of which the fixed point stability is analyzed base on the approximations. © 2011 IEEE.

关键词： Perturbation techniques

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Network-based humanoid robot remote interaction with the actual situation Fusion Technology

Network-based humanoid robot remote interaction with the act...

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The 2011 International Conference on Advanced Materials and Information Technology Processing(AMITP 2011)

作者： YU Guochen WANG Zhiliang XIE Lun XU Jiaming State Key Laboratory of Robotics and System Harbin Institute of Technology School of Computer and Communication Engineering University of Science and Technology Beijing

ISBN: (纸本)9783037851579

With the rapid development of network technology, network-based humanoid robot technology will also be open to the development of gradual and orderly progress. This article is based on the C / S architecture, the server responsible for controlling the record of news and information network transit between paragraphs;through remote interaction, real-time client to complete the real humanoid robot control functions. Interoperability between the client, first to sign the server. Server information of all registered users to return to the client process, then the client users will be able to get online users to select the remote robot interaction..When a user operation, the client program as a virtual robot through the virtual robot laboratory will be displayed in realtime robot control results.

关键词： Humanoid robot,remote interactive,virtual,real-time,network

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Algorithm for simulator's road spectrum signal

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key Engineering Materials 2011年 458卷 237-245页

作者： Zhao, Zhenmin Kong, Minxiu Du, Zhijiang Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China College of Electric and Information Engineering Heilongjiang Institute of Science and Technology Harbin 150027 China

In response to the impossibility of directly using data of the actual road show experiment to the motion simulation of simulators, due to the limited work space of simulators, this paper begins with an attempt to extract the main frequency components of original signals by spectrum analysis and allow the input signal to meet performance requirements by adjusting the phase offset corresponding to the various frequency components. The paper proceeds with the regeneration of the signals capable of reflecting the motion characteristics of the original data and meeting the performance requirements of motion simulators by selecting these phase offsets as the design variables, selecting simulator's displacement, velocity, and acceleration as the optimization objectives and applying Genetic Algorithm toolbox of Matlab to develop the optimization model. The paper ends with the efforts to check mechanism singularity by calculating the Jacobian matrix condition number of the regenerating signals and thus obtain the regenerating signals compatible with the work space, capable of fulfilling the performance requirements of motion simulators and free of continuous region singularity. © 2011 Trans Tech Publications, Switzerland.

关键词： Genetic algorithms

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Adaptive Trajectory Tracking Control for a Nonholonomic Mobile Robot

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 546-552页

作者： CAO Zhengcai ZHAO Yingtao WU Qidi College of Information Science and Technology Beijing University of Chemical Technology Beijing 100029 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China CIMS Research Center Tongji University Shanghai 200092 China

As one of the core issues of the mobile robot motion control, trajectory tracking has received extensive attention. At present, the solution of the problem only takes kinematic or dynamic model into account separately, so that the presented strategy is difficult to realize satisfactory tracking quality in practical application. Considering the unknown parameters of two models, this paper presents an adaptive controller for solving the trajectory tracking problem of a mobile robot. Firstly, an adaptive kinematic controller utilized to generate the command of velocity is designed based on Backstepping method. Then, in order to make the real velocity of mobile robot reach the desired velocity asymptotically, a dynamic adaptive controller is proposed adopting reference model and Lyapunov stability theory. Finally, through simulating typical trajectories including circular trajectory, fold line and parabola trajectory in normal and perturbed cases, the results illustrate that the control scheme can solve the tracking problem effectively. The proposed control law, which can tune the kinematic and dynamic model parameters online and overcome external disturbances, provides a novel method for improving trajectory tracking performance of the mobile robot.

关键词： nonholonomic mobile robot trajectory tracking model reference adaptive

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