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Biomechatronic approach to a multi-fingered hand prosthesis

Biomechatronic approach to a multi-fingered hand prosthesis

引用

IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Xinqing Wang Jingdong Zhao Dapeng Yang Nan Li Chao Sun Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German AeroSpace Center Munich Germany

The development of a biomechatronic hand with multi-FSRs (Force Sensitive Resistor) interface is presented. The cambered palm is specially designed to enhance the stability while grasping. The opposite thumb could grasp along a cone surface, while maintaining its function. By taken the advantage of coupling linkage mechanism, each finger with three phalanges could fulfill flexion and extension independently. Besides, each finger is equipped with torque and position sensors. Thus, the cosmetics and dexterity are improved remarkably compared to commercial prosthesis. The hardware architecture is hierarchically organized as control system and human-machine interaction system. To evaluate the performances of the hand, the pattern reorganization experiment based on support vector machine (SVM) was conducted. The results show that FSR sensing technology is suitable for muscle activity detection; Compared to nearest neighborhood classifier, SVM method improves the predict success rate. Moreover, it also demonstrates that the hand is dexterous and manipulates like human.

关键词： Fingers Sensors Thumb Humans Couplings Joints Muscles

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An in vitro investigation of image-guided steerable catheter navigation

An in vitro investigation of image-guided steerable catheter...

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作者： Liu, H. Fu, Y.-L. Zhou, Y.-Y. Li, H.-X. Liang, Z.-G. Wang, S.-G. State Key Laboratory of Robotics and System Harbin Institute of Technology Bio-X Centre Science Park 2 Yikuang Street Nangang District Harbin Heilongjiang 150080 China First Clinical College Harbin Medical University Harbin China

The objective of this study is to provide catheterization with a three-dimensional (3D) guiding image and reduce the collision probability between the catheter tip and vascular wall. A bidirectional steerable catheter was integrated with two magnetic position-tracking sensors on both sides of its bending segment. The tracking information was displayed on the guiding image, which helped the surgeons to determine the relative position between the catheter tip and surrounding vessels. The navigation path was generated on the basis of the vascular skeleton. Moreover, along the path, a series of guiding circular planes were set as the guidance for the catheter. Three operations (bending, advancing, and twisting) were jointly conducted to get the catheter through these guiding planes in turn and eventually into the target vessel. The effectiveness of the proposed navigation method was verified by experiments implemented in an aorta vascular phantom. The navigation system has a mean error of 0.19mm, a root mean square of 0.49?mm, and a standard deviation of 0.46?mm.

关键词： Catheters

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Slip-ratio-coordinated control of planetary exploration robots traversing over deformable rough terrain

Slip-ratio-coordinated control of planetary exploration robo...

引用

2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Liang Ding Haibo Gao Zongquan Deng Zhen Liu State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang China

Wheeled exploration robots are prone to slip during locomotion on deformable rough planetary terrain, which leads to loss of velocity and extra consumption of energy. Experimental results show that the power required for driving a wheel is an increasing function of its slip ratio; further, the tractive efficiency decreases rapidly after it reaches a peak value when the slip ratio is between 0.05 and 0.2. In this study, wheel-soil interaction terramechanics, which considers the slip ratio as an important state variable, is applied to analyze the quasi-static equations of a planar robot system. The slip ratios of wheels are controllable, but the degree of freedom is the number of wheels minus 1. A generalized algorithm for distributing the slip ratios of all the wheels of a robot to optimize the energy consumption is presented. Experimental and simulation results show that the “equal slip ratio” is at least a sub-optimal solution for optimizing energy consumption. Further, a more robust control method has been developed; this methods aims to equalize the slip ratios of all the wheels while maintaining a constant body velocity on rough terrains, without solving the values of the slip ratios. This method is verified by controlling a virtual four-wheeled robot using dynamics simulations.

关键词： Wheels Mobile robots Robot kinematics Energy consumption Soil Angular velocity

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A Novel Ant-based Clustering Algorithm with an Attractive Force Field

A Novel Ant-based Clustering Algorithm with an Attractive Fo...

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International Conference on Artificial Intelligence and Computational Intelligence (AICI)

作者： Lei Zhang Qixin Cao State Key Laboratory of Mechanical System and Vibration Research Institute of Robotics Shanghai Jiaotong University Shanghai China

This paper presents a novel ant-based clustering algorithm. Different from conventional ant-based clustering algorithms in which the objects are picked up or dropped down by virtual ants, our propose algorithm looks each object as an ant. The objects are first projected to a plane randomly. Then an attractive force field is created. The object (ant) is attracted by the similar ones in its local surrounding and moves to a certain place. The moving direction and moving range are determined by the composite of all attractive forces. The clusters are created by this attractiveness after many iterative cycles. The paper gives the detailed process of the algorithm. The performance of the algorithm is compared with other classic algorithms on several simulated and real datasets. The results are very encouraging in terms of the computation efficiency and clustering quality.

关键词： Clustering algorithms Algorithm design and analysis Silicon carbide Force Robots Partitioning algorithms Planning

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Progress in the biomechatronic design and control of a hand prosthesis

Progress in the biomechatronic design and control of a hand ...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Xinqing Wang Yiwei Liu Dapeng Yang Nan Li Li Jiang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center Munich Germany

A five-fingered, multi-sensory biomechatronic hand with sEMG interface is presented. The cambered palm is specially designed to enhance the stability while grasping. The location of the thumb is designed by maximizing interaction area between the thumb and other fingers. The opposite thumb could grasp along a cone surface, while maintaining its function. By taken the advantage of coupling linkage mechanism, each finger with three phalanges could fulfill flexion-extension movement independently. Besides, each finger is equipped with torque and position sensors. Thus, the cosmetics and dexterity are improved remarkably compared to conventional prosthesis. The hardware architecture is divided into control system and EMG signal processing system. Moreover, a novel two-stage decision strategy combing the position-based impedance control scheme is implemented to realize the real-time sEMG control of the hand. According to the grasp experiment results, the hand can accomplish several grasp modes stably; the success rate of 10 modes is up to 90%.

关键词： Fingers Thumb Electromyography Humans Joints Prosthetic hand Sensors

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Experimental study on impedance control for the five-finger dexterous robot hand DLR-HIT II

Experimental study on impedance control for the five-finger ...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Zhaopeng Chen Neal Y. Lii Thomas Wimboeck Shaowei Fan Minghe Jin Christoph H. Borst Hong Liu Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Faculty of State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents experimental results on the five-finger dexterous robot hand DLR-HIT II, with Cartesian impedance control based on joint torque and nonlinearity compensation for elastic dexterous robot joints. To improve the performance of the impedance controller, system parameter estimations with extended kalman filter and gravity compensation have been investigated on the robot hand. Experimental results show that, for the harmonic drive robot hand with joint toruqe feedback, accurate position tracking and stable torque/force response can be achieved with cartesian and joint impedance controller. In addition, a FPGA-based control architecture with flexible communication is proposed to perform the designed impedance controller.

关键词： Joints Impedance Torque Robot sensing systems Gravity Hardware

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Dynamic monitoring approach for verification of control software of robot using synchronized Petri nets

Dynamic monitoring approach for verification of control soft...

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IEEE International Conference on robotics and Biomimetics

作者： Weijun Zhang Jianjun Yuan Wei Zhang Research Institute of Robotics Shanghai Jiaotong University Shanghai China State Key Laboratory of Robotics and System HIT Shanghai Jiaotong University Shanghai China

The verification of new intelligent robotic control algorithm not only requires the correction of computation but also satisfies the timing constraints. In this paper, a synchronized Petri nets model of robot control software is presented, in which an event set is introduced to indicate the start and end of a task module in control software design. With the help of the concept of inhibitor arc, the preemptive scheduling policy with fixed priority is modeled and furthermore, a new approach for dynamic monitoring of duration of a task module and performance evaluation of schedulability is presented. The presented model is applied in the Open Real-time Robot Controller-ORRC-I, developing under the Windows NT environment and a real-time extension RTX is adopted to assure real-time performance of control actions. Experiments of scheduling and synchronization of robotic control tasks prove the effectiveness of presented approach and show it suitable for scheduling complex algorithms with large variance in execution time.

关键词： Synchronization Robots Monitoring Real time systems Petri nets Software algorithms

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Design and analysis of a new cable-driven hyper redundant manipulator

Design and analysis of a new cable-driven hyper redundant ma...

引用

2010 International Conference on Intelligent Computation Technology and Automation, ICICTA 2010

作者： Qiang, Zhao Fang, Gao State Key Laboratory of Robotics and System Computer School Harbin Institute of Technology Harbin Heilongjiang 150001 China Raffic College Northeast Forestry University Harbin Heilongjiang 150040 China Harbin Institute of Technology Mechtronical Engineering School Harbin Heilongjiang China

ISBN: (纸本)9780769540771

Hyper-redundant manipulators have been widely used in many fields, however many existing hyper redundant manipulators actuated directly by motors have the disadvantages of complicate structure and high cost. This paper proposes a novel remote cable-driven hyper redundant manipulator. This manipulator is based on elephant trunk bionics, and composed of several serial links combined by Hook joints. Each link is pulled by two antagonized pairs of cables. Two antagonized pairs belonged to the same link are tied and driven by only one motor, which can reduced largely the number of step motors needed. This paper fully discusses the structure and analyzes the cable stretching and retracting displacement. Analysis and motion simulation results show that the proposed scheme is practical and effective. © 2010 IEEE.

关键词： Cables

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Modeling and simulating the nonlinear characters of robot joints

Modeling and simulating the nonlinear characters of robot jo...

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IEEE International Conference on robotics and Biomimetics

作者： Yongqiang Xiao Zhijiang Du Wei You Ruifeng Li School of Mechatronics Engineering and State Key Laboratory of Robotics and System Harbin Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424493197

This paper presents a new approach to establish a dynamic model of robot joints. The model is constructed by ideally dividing a robot joint into high-speed block and low-speed block and described with nonlinear characteristics such as friction, backlash and hysteresis. The friction behavior of two blocks is captured by the Generalized Maxwell-Slip model. The Preisach model is used to describe the hysteresis character of joints. Because the “congruency” assumption of hysteresis, which is needed in the Preisach model, is not strictly tenable in complex joints, so there construct the hysteresis model through Preisach model plus a nonlinear stiffness. A simple and effective method is developed to model the backlash behavior in joints. The integrated joint model of an industry robot built by our laboratory is established and simulation model is constructed in Simulink of Matlab. The validity of this model is demonstrated and a new avenue opened in this way.

关键词： Friction Solid modeling Joints Hysteresis Mathematical model Robots Force

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Optimal design for a 2-dof high dynamic manipulator based on parallelogram mechanism

Optimal design for a 2-dof high dynamic manipulator based on...

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

作者： Min Xiu Kong Wei You Zhi Jiang Du Li Ning Sun School of Material Science and Engineering Harbin Institute of Technology China State Key Laboratory of Robotics and System Harbin China

In this paper, a design and optimization approach for a 2-dof manipulator based on parallelogram mechanism for high dynamic application is proposed. After the kinematic and dynamic analysis, several advantages of the mechanism are illustrated which make it possible to reach good dynamic performance through mechanism optimization. Based on the idea of design for control (DFC), a novel kind of multi-objective optimization method is presented. Several index considering both kinematic and dynamic performances are chosen as objective functions and design constraints. The cross-section area and length of the linkages are chosen as the design variables. NSGA-II algorithm is introduced to solve this complex multi-objective optimization problem. And a new expression for the measuring of dynamic coupling degree with clear physical meaning is proposed, it shows that the optimized mechanism has an approximate decoupled dynamics structure, and each active joint could be regarded as a linear SISO system. The final optimized mechanism could be used in high speed pick-plate applications only using simple linear controller.

关键词： Joints Couplings Optimization Kinematics Mathematical model Equations Manipulator dynamics

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