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Damping parameters measurement and preisach modeling of extra vehicular activity glove based on exoskeleton mechanism

引用

Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University 2008年第7期42卷 891-894+899页

作者： Fang, Honggen Shi, Shicai Liu, Hong Li, Tanqiu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany Institute of Space Medicine and Medical Engineering Beijing 100094 China

By combination of parallelogram link and gear, a new type of exoskeleton mechanism is developed. As placed on the back of extra vehicular activity (EVA) glove in an external way, this mechanism is able to drive the EVA glove finger to extent or flex like human finger grasp *** force sensor located at the tip of exoskeleton mechanism measures the EVA glove damping force during flexion or extension. The force reaches even to 10 N and the hysteresis of the force approaches to 31%.To predict the force which corresponds to an angular displacement of EVA glove and simulate the human factors performance metrics of extra vehicular activity, an unified Preisach numerical calculating strategy is presented by recording the number of vertices of the interface line in discrete Preisach plane and getting a series of first order reversal curves. A distance-weighted interpolation is chosen to evaluate at the points belonging to the Preisach plane except the discrete grid points. The proposed method is validated by the experiments.

关键词： Damping

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A silicon integrated micro positioning xy-stage for nano-manipulation

Pan Tao Ti Hsueh Pao/Chinese Journal of Semiconductors

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Pan Tao Ti Hsueh Pao/Chinese Journal of Semiconductors 2008年第10期29卷 1932-1938页

作者： Wang, Jiachou Rong, Weibin Sun, Lining Li, Xinxin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai 200050 China

An integrated micro positioning xy-stage with a 2 mm × 2 mm-area shuttle is fabricated for application in nanometer-scale operation and nanometric positioning precision. It is mainly composed of a silicon-based xy-stage, electrostatics comb actuator, and a displacement sensor based on a vertical sidewall surface piezoresistor. They are all in a monolithic chip and developed using double-sided bulk-micromachining technology. The high-aspect-ratio comb-driven xy-stage is achieved by deep reactive ion etching (DRIE) in both sides of the wafer. The detecting piezoresistor is located at the vertical sidewall surface of the detecting beam to improve the sensitivity and displacement resolution of the piezoresistive sensors using the DRIE technology combined with the ion implantation technology. The experimental results verify the integrated micro positioning xy-stage design including the micro xy-stage, electrostatics comb actuator, and the vertical side-wall surface piezoresistor technique. The sensitivity of the fabricated piezoresistive sensors is better than 1.17 mV/μm without amplification and the linearity is better than 0.814%. Under 30V driving voltage, a ±10m single-axis displacement is measured without crosstalk and the resonant frequency is measured at 983Hz in air.

关键词： Electrostatics

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Correction method for pixel response nonuniformity of CCD

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Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2008年第2期16卷 314-318页

作者： Cheng, Wan-Sheng Zhao, Jie Cai, He-Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Electronic and Information Engineering Liaoning University of Science and Technology Anshan 114044 China

After analyzing the reasons related to the pixel nonuniformity in details, an algorithm based on least square method is presented to correct the pixel nonuniformity of a CCD. The grey level datum sets of each pixel are acquired on the cases of different irradiances, then a least square method is used to estimate the relation between irradiance and desired grey level data. The correct parameters of each pixel are computed, and the correct matrix is established. Finally, the pixel response uniformity is achieved by using the matrix to correct the grey level data of each pixel. The maximum deviation is 76.5 before correcting, while correcting by the proposed method, the maximum deviation is only 0.00108. The experimental results indicate that the method is effective to correct CCD nonuniformity.

关键词： Charge coupled devices

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Garbage grab bucket controller based on input shaping and PD feedback control

Garbage grab bucket controller based on input shaping and PD...

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IEEE International Conference on Automation and Logistics

作者： Shijie Dai Gang Ren Lei Zhao Weiguo Ren State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin China Research Institute of Robotics and Automation Hebei University of Technology Tianjin China

ISBN: (纸本)9781424425020

A control strategy that combines input shaping with PD feedback control is presented in this paper. Input shaping was used to cancel the swing of the bucket, and feedback was used to detect and eliminate the position error of the trolley. Simulation of the bucket dynamics was carried on to evaluate the performance of the controller.

关键词： Cranes Pd control Feedback control Vibrations Robustness Switches Driver circuits

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A silicon integrated micro nano-positioning XY-stage for nano-manipulation

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Journal of Micromechanics and Microengineering 2008年第12期18卷

作者： Sun, Lining Wang, Jiachou Rong, Weibin Li, Xinxin Bao, Haifei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang Province China State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai 20050 China

An integrated micro XY-stage with a 2 × 2 mm2 movable table is designed and fabricated for application in nanometer-scale operation and nanometric positioning precision. The device integrates the functions of both actuating and sensing in a monolithic chip and is mainly composed of a silicon-based XY-stage, comb-drive actuator and a displacement sensor, which are developed by using double-sided bulk-micromachining technology. The high-aspect-ratio comb-driven XY-stage is achieved by deep reactive ion etching (DRIE) on both sides of the wafer. The displacement sensor is formed on four vertical sidewall surface piezoresistors with a full Wheatstone bridge circuit, where a novel fabrication process of a vertical sidewall surface piezoresistor is proposed. Comprehensive design and analysis of the comb actuator, the piezoresistive displacement sensor and the XY-stage are given in full detail, and the experimental results verify the design and fabrication of the device. The final realization of the device shows that the sensitivity of the fabricated piezoresistive sensors is better than 1.17 mV νm-1 without amplification, and the linearity is better than 0.814%. Under 28.5 V driving voltage, a 10 νm single-axis displacement is measured without crosstalk and the resonant frequency is measured at 983 Hz in air. © 2008 IOP Publishing Ltd.

关键词： Natural frequencies

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Electrostatically driven microgripper integrated piezoresistive force sensor

Electrostatically driven microgripper integrated piezoresist...

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Design, Test, Integration and Packaging of MEMS/MOEMS

作者： Tao Chen Liguo Chen Lining Sun Xinxin Li State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China State Key Lab ofTransducer Technology Shanghai Institute ofMicrosystem and Information Technology Chinese Academy and Sciences Shanghai China

This paper presents the design, fabrication, and application of an electrostatically driven microgripper integrated piezoresistive force sensor. The microgripper is designed to manipulate two microobjects at the same time with force sensing ability. Surface and bulk micromachining technology is employed to fabricate the microgripper from single crystal silicon wafer. The end effector of the gripper is a four arms structure, two fixed cantilever beams integrated with piezoresistive sensor are designed to sensing the gripping force, and an electrostatically driven microactuator is designed to provide the force to operate the other two movable arms. In this way, the four fingers structure enables the gripper to grasp two samples with different sizes at the same time. Experimental results show that it can successfully provide force sensing and play a main role in preventing damage of microparts in micromanipulation and microassembly tasks.

关键词： Grippers Piezoresistance Force sensors Arm Fabrication Micromachining Silicon End effectors Structural beams Microactuators

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Design of a Hybrid-type Electrostatically Driven Microgripper Integrated Vacuum Tool

Design of a Hybrid-type Electrostatically Driven Microgrippe...

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中国微米纳米技术学会第十届学术年会暨第一届国际会议(1st International Conference of the Chinese Society of Micro/Nano Technology)

作者： Lining Sun Tao Chen Liguo Chen Xinxi Li State Key Laboratory of Robotics and System Robotics InstituteHarbin Institute of TechnologyHarbin 150080CHINA State Key Lab of Transducer TechnologyShanghai Institute of Microsystem and Information TechnologyChinese Academy of SciencesShanghai 200050CHINA

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Single Neuron Adaptive PID Control of the Silicon-based Integrated Micro Nano-Positioning XY-Stage

Single Neuron Adaptive PID Control of the Silicon-based Inte...

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中国微米纳米技术学会第十届学术年会暨第一届国际会议(1st International Conference of the Chinese Society of Micro/Nano Technology)

作者： Wang Jiachou Rong Weibin Sun Lining Li Xinxin State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinHeilongjiang ProvinceChina State Key Laboratory of Transducer TechnologyShanghai Institute of Microsystem and Information TechnologyChinese Academy of SciencesShanghaiChina

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Development of a multi-DOF exoskeleton based machine for injured fingers

Development of a multi-DOF exoskeleton based machine for inj...

引用

2008 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Yili Fu Peng Wang Shuguo Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Hardin CO USA Headmasters office Harbin Institute of Technology Hardin CO USA

ISBN: (纸本)9781424420575

In order to offer a method for the rehabilitation of injured fingers and a means of quantitative detection and evaluation, an exoskeleton based continuous passive motion (CPM) machine is presented in this paper. Corresponding to each finger of human hand, the CPM machine has 4 degrees of freedom (DOF) driven by two DC motors. The joint force and position sensors are all integrated into the machine. The device can be easily attached and also be adjusted to fit different hand sizes. During the injured fingerpsilas flexion and extension motion the machine can always exert perpendicular forces on the finger phalanges, meanwhile it can achieve the precise control of scope, force and speed of the moving fingers. In order to control the CPM machine, we have also designed an embedded control system based on S3C2410 (a kind of 32-bit RISC microprocessor). The whole system is open-ended for new functions and applications. The function modularization method provides a new thinking of design for the control system.

关键词： Fingers Joints Continuous phase modulation Sensors Force Gears Control systems

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Mobile Robot Path Tracking in Unknown Dynamic Environment

Mobile Robot Path Tracking in Unknown Dynamic Environment

引用

IEEE Conference on robotics, Automation and Mechatronics

作者： Du Zhi Jiang Wang Zhong Min State key laboratory of robotics and system Harbin Institute of Technology Harbin China Department of Mechanical Engineering Tianjin University of Technology and Education Tianjin China

The paper proposes a cooperative system of fuzzy neural networks (FNN) and fuzzy logic control (FLC). And this system is used to on-line path tracking of a mobile robot in unknown dynamic environment, instead of the commonly used FLC to research on this problem. Firstly, the application of FNN based on the kinematics models of mobile robot is described in detail, moreover, it uses an improved back propagation (BP) algorithm to complete the network learning and training. Secondly, it utilizes FLC to fulfill the real-time avoiding obstacles. The simulation results show that the proposed cooperative system is effective and robust, meanwhile possesses better abilities of path tracking and real-time avoiding obstacles in unknown dynamic environment.

关键词： Mobile robots Fuzzy neural networks Fuzzy control Kinematics Cooperative systems Control systems Path planning Intelligent robots Feedback control Neural networks

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