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

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A dynamic model for the active catheter actuated by the shape memory alloy coil spring

A dynamic model for the active catheter actuated by the shap...

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IEEE International Conference on Mechatronics and Automation

作者： Hao Liu Yili Fu Zengyi Yan Peng Wang Shuguo Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

This paper focuses on the transient behavior of a simple active catheter composed of a bias stainless steel spring and a one-way SMA coil spring. We combine the bending mechanics derived using a circular arc model, the SMA actuator characteristic described by Liang's model, and a heat transfer model to form the dynamics of the catheter. The phase transformation condition is modified according to whether there is overlapping between two phase transform bands. The response of derived dynamic model is simulated and verified for both complete and incomplete phase transformation. A self-tuning fuzzy PID controller is also designed to be used for such a SMA structure, which exhibits effective performance through simulations.

关键词： Catheters Shape memory alloys Coils Springs Actuators Heat transfer Hysteresis Minimally invasive surgery Blood vessels Steel

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Estimation of hand grasp force based on forearm surface EMG

Estimation of hand grasp force based on forearm surface EMG

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IEEE International Conference on Mechatronics and Automation

作者： Dapeng Yang Jingdong Zhao Yikun Gu Li Jiang Hong Liu State key laboratory of robotics and system Harbin Institute of Technology Harbin Heilongjiang China

In the force control of multi-functional prosthetic hands, it is important to extract grasp force information besides mode specifications directly from the myoelectric signals. In this paper, a force sensor is adopted to record the hand's enveloping force when the hand is performing several grasp modes, synchronously with 6 channels surface electromyography (EMG) which are extracting from the subject's forearm. Three pattern regression methods, locally weighted projection regression (LWPR), artificial neural network (ANN) and support vector machine (SVM) are used to find the best representative relationship of these two kinds of signals. Experimental results show that the SVM method is better than LWPR and ANN, especially in the case of cross-session validation. Also, the force regression performance is better when grasping within several specific modes than grasping randomly. Based on these results, an efficient online prediction of the hand grasp force is present finally, with an accuracy of around 0.9 in squared correlation coefficient (SCC) and 5~10 N error over a range of 60 N. It can be utilized for the prosthetic hand's control to provide a reasonable exerting force reference.

关键词： Electromyography Force sensors Prosthetic hand Support vector machines Force control Muscles Grasping Artificial neural networks Data mining Biosensors

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EMG pattern recognition and grasping force estimation: Improvement to the myocontrol of multi-DOF prosthetic hands

EMG pattern recognition and grasping force estimation: Impro...

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Dapeng Yang Jingdong Zhao Yikun Gu Li Jiang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

The multi-DOF prosthetic hand's myocontrol needs to recognize more hand gestures (or motions) based on myoelectric signals. This paper presents a classification method, which is based on the support vector machine (SVM), to classify 19 different hand gesture modes through electromyographic (EMG) signals acquired from six surface myoelectric electrodes. All hand gestures are based on a 3-DOF configuration, which makes the hand perform like three-fingered. The training performance is very high within each test session, but the cross-session validation is typically low. Acceptable cross-session performance can be achieved by training with more sessions or fewer gesture modes. A fast rhythm muscle contraction is suggested, which can make the training samples more resourceful and improve the prediction accuracy comparing with a relative slow muscle contraction method. For many precise grasp tasks, it is beneficial to the prosthetic hand's myocontrol if we can efficiently extract the grasp force directly from EMG signals. Through grasping a JR3 6 dimension force/torque sensor, the force signal applying to the sensor can be recorded synchronously with myoelectric signals. This paper uses three methods, local weighted projection regression (LWPR), artificial neural network (ANN) and SVM, to find the best regression relationship between these two kinds of signals. It reveals that the SVM method is better than ANN and LWPR, especially in the case of cross-session validation. Also, the performance of grasping force estimation based on specific hand gestures is superior to the performance of grasping with random fingers.

关键词： Electromyography Pattern recognition Grasping Prosthetic hand Support vector machines Force sensors Artificial neural networks Support vector machine classification Muscles Electrodes

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A self-adjusted precise liquid handling system

A self-adjusted precise liquid handling system

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yaxin Liu Chen Liguo Lining Sun Weibin Rong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

In biomedical areas, such as protein crystallization, drug discovery and medical diagnostics, thousands of reagents with different viscosities need to be transferred or dispensed in submicroliter range. Most of the commercial automated liquid dispensing systems need to be calibrated through experiment to accurately dispense liquids when the reagents viscosities change, which is time consuming and less accurate. In this paper, an intelligent precise liquid handling system was developed, in which a high speed MEMS flow sensor was used. Benefiting from the feedback of sensor information, the system can self-adjust the open time of the solenoid vale to accurately dispensing desired reagent volume without pre-calibration. Firstly, the system construction was introduced in detail. Secondly, a novel closed-loop control strategy was proposed to calculate valve open-time for each dispensing cycle, which makes the system immune to liquid viscosity, pressure fluctuation and some other disturbances. Finally, experiments results are presented with different dispensing volumes, coefficient of variance (CV) has been shown to be below 3% at 1ldquol and approach 4% at 100 nl.

关键词： Viscosity Intelligent sensors Sensor systems Proteins Crystallization Drugs Medical diagnosis Liquids Micromechanical devices Feedback

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Modified Particle Filter Algorithm for Mobile Robot Simultaneous Localization and Mapping

Modified Particle Filter Algorithm for Mobile Robot Simultan...

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第三届国际机械工程与力学会议

作者： Zhongmin WANG Dehua MIAO Tianjin Key Laboratory of High Speed Cutting and Precision Machining (TUTE) State Key Laboratory of Robotics and System (HIT)

The ability to simultaneous localization and mapping （SLAM） is a predetermination of autonomous mobile robots. Rao-Blackwellised particle filtering （RBPF） SLAM is a linear time algorithm proportional to number of landmarks, and this algorithm has obvious computational superiority for dense map or large-scale SLAM. To mobile robot SLAM, an improved Rao-Blackwellised particle filter （IRBPF） algorithm is proposed, which can simultaneously localize the robot and build up the map in the structured indoor environment. Firstly, IRBPF respectively uses particle filters （PF） to estimate the posterior probability distributions of robot postures and landmarks in the environment map. Secondly, to avoid the depletion problem and decide which weight of the particles are reserved, regularized particle filtering （RPF） are used in IRBPF to re-sample in continuous approximate distributions, so a consistency RBPF SLAM are obtained. Thirdly, a robust motion model and an observation model with only ranging sensor and odometer are constructed. Experimental results show that IRBPF-SLAM performs well on both weight variance and the number of effective samples. More over, the estimation accuracy of path and map is improved to some extent, and the simulation results also indicate that the methods are valid.

关键词： mobile robot simultaneous localization and mapping（SLAM） Rao-Blackwellised particle filter（RBPF） regularized particle filtering（RPF）

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A novel phase current reconstruction method using a single DC-link current sensor

A novel phase current reconstruction method using a single D...

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IEEE International Conference on Mechatronics and Automation

作者： Yikun Gu Fenglei Ni Dapeng Yang Hong Liu State key laboratory of robotics and system Harbin Institute of Technology Harbin Heilongjiang China

Instantaneous phase currents are required for successful operation of three-phase current controllers. The technique for reconstructing motor phase currents using information from a single current sensor in the dc-link of an inverter has been applied to reduce the cost, weight and volume of system. However, the duration of an active switching state may be so short that the dc-link current cannot be measured reliably. This paper presents an improved PWM modulation strategy named switching state axial translation (SSAT) to overcome this problem. The new SSAT method modifies the PWM voltage vectors by moving the switching state waveforms along the axis when the phase currents cannot be measured. A combination of analytical and experimental results shows that this method offers an attractive phase current reconstruction performance.

关键词： Reconstruction algorithms Pulse width modulation Switches Pulse width modulation inverters Voltage Sensor systems AC motors Current measurement Observers Leg

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Gesture recognition system based on acceleration data for robocup referees

Gesture recognition system based on acceleration data for ro...

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5th International Conference on Natural Computation, ICNC 2009

作者： Lo, Charles Cao, Qixin Xiao, Zhu Zhen, Zhang Research Institute of Robotics Shanghai Jiaotong University 800 Dongchuan Road Shanghai 200240 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiaotong University 800 Dongchuan Road Shanghai 200240 China

ISBN: (纸本)9780769537368

In this paper, we present a proof-of-concept gesture recognition based on Artificial Neural Networks (ANN) for referees participating in the Robocup competitions. Here, we aim at recognizing gestures to interact with an application (Robocup Referee Box) and present the design and evaluation of our sensor-based gesture recognition. As input device we employ the Wii-controller (Wiimote) and the use of the iPhone, both of which recently gained much attention world-wide. We use both devices ' independent acceleration data for gesture recognition. The system allows the training of arbitrary gestures by users which can then be recalled for interacting with the systems. We exploit the devices' sensor data and employ an artificial Neural Network model for training and recognizing user-chosen gestures. Our evaluation shows that our system is intuitive and easy to use. © 2009 IEEE.

关键词： Gesture recognition

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Design of a novel snake-like robotic colonoscope

Design of a novel snake-like robotic colonoscope

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Haiyan Hu Pengfei Wang Bo Zhao Mantian Li Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology.Harbin150001 China

ISBN: (纸本)9781424447749

The colonoscope is an important surgical tool to diagnose various colon diseases. However, the conventional colonoscope usually causes the patient a great deal of discomfort and pain. In order to develop a colonoscope for less discomfort of the patient and less demanding operation techniques of the doctor, a novel snake-like robotic colonoscope is proposed in this paper. This robotic colonoscope adopts a kind of continuum structure which features continuously deformable backbone as opposed to the traditional robot featuring rigid links and identifiable rotational joints. The robotic colonoscope is 600mm in total length and 12mm in diameter that is less than the average diameter of human colon. The robotic colonoscope is divided to five sections, and each driven remotely by two DC servo motors through cables. Thus, each section of the robotic colonoscope has 2 DOF (Degrees of Freedom) and the robotic colonoscope has a total of 10 DOF. The mechanical structure, kinematics and DSP-based control system are presented. The workspace simulation and prototype experiments are carried out to verify the kinematics and show the motion performance.

关键词： robotic colonoscope continuum robot kinematics DSP-based control system

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A micro biomimetic manta ray robot fish actuated by SMA

A micro biomimetic manta ray robot fish actuated by SMA

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Zhenlong Wang Yangwei Wang Jian Li Guanrong Hang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001HeilongjiangChina

ISBN: (纸本)9781424447749

The paper presented a design of a micro biomimetic manta ray robot fish actuated by shape memory alloy SMA wire, verified that SMA wire is a feasible actuator. The robot fish is quitely similar to manta ray in shape. It also have a flat-form body and a pair of triangular flexible pectoral fins. In our experiment, we researched the flexible pectoral fin shape change, and then the forward swimming and turning swimming performance were evaluated. We also give the results of the robot fish's speed and amplitude in different actuating pulse width. It can swim with good stability and stealthily. The micro biomimetic manta ray robot fish is suitable to do investigation in narrow space of the ocean.

关键词： Stone matrix asphalt Shape memory alloys Robot Half line Ray RAYS narrow space Biomimetics PULSE WIDTH oceans micro Pairing Amplitude Fishes

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Study on turning in place of a spherical robot based on stick-slip principle

Study on turning in place of a spherical robot based on stic...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Bo Zhao Pengfei Wang Haiyan Hu Mantian Li Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology.Harbin150001 China

ISBN: (纸本)9781424447749

The paper deals with the motion of turning in place of a spherical robot for military reconnaissance and unknown environment exploration developed by us. The robot belongs to a nonholonomic and under-actuated system. The robot has 3 DOF and 2 inputs. The motion of turning in place can make a spherical robot with higher dexterity and environmental adaptability. The mathematical model of the turning motion is established by theory of moment of momentum. The relationship between the motion parameters is deduced, which is the basis of motion simulation and control system. Based on the analysis of mathematical model, a stick-slip principle is proposed for turning in place of the robot which is driven by double ballast masses. The stick-slip process is divided to three stages which are interpreted in theory. The principle is verified by numerical simulation and prototype experiment. The results confirm the effectiveness of the principle. The errors between theoretical analysis and experiment are analyzed at last.

关键词： spherical robot turning in place stick-slip principle

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