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Evaluation of motor unit tracking across hand movements by combining high-density surface electromyography with ultrafast ultrasound

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Computers in Biology and Medicine 2025年 193卷 110325-110325页

作者： Yin, Zongtian Chen, Chen Meng, Jianjun Zhu, Xiangyang State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

Objective: Motor unit (MU) activities provide the primary output from the central nervous system to muscles, and have found wide applications in neurophysiological investigation and human-machine interface. However, the current decoding methods usually struggle with MU tracking across movements. A common compromise is comparing motor unit action potentials extracted from electromyography (EMG) signals, but this only considers electrical responses and requires further validation. This study aims to simultaneously collect EMG and ultrasound (US) signals, extracting both electrical and mechanical responses of MU discharges, to validate their feasibility for MU tracking across movements. Methods: Ten able-bodied subjects participated in experiments involving isometric contraction of six hand movements. High-density surface EMG signals and ultrafast US images were concurrently recorded from the forearm muscles. The EMG signals were decomposed into MU spike trains and the separation vectors were kept for MU decoding across movements. The three-dimensional activation zone of each MU, including the action potentials on the skin surface and the twitch area in the muscle cross-sections, was extracted to validate the tracking performance. Main results: On average, 37 ± 17 MUs were identified from each decomposition, of which 20±16,2±2, and 2 ± 1 MUs were successfully tracked based on action potential, twitch area, and both, respectively. Conclusion and Significance: These results demonstrate strong evidence for the feasibility of tracking MUs using pre-trained separation vectors, supported by both electrical and mechanical responses. In addition, the study provides a benchmark to track MU activities across hand movements, extending the potential applications of neural decoding in neurophysiological investigation and human-machine interfacing. © 2025 Elsevier Ltd

关键词： Blind source separation

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Towards Ultrasonic Scalpel for Single-Port Robotic Surgery: Design of a Miniature Langevin Ultrasonic Transducer

Towards Ultrasonic Scalpel for Single-Port Robotic Surgery: ...

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

作者： Yuzhen Cao Yue Ding Chuanxiang Zhu Haomin Kuang Ren Zhao Kai Xu State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Department of General Surgery Shanghai Institute of Digestive Surgery Ruijin Hospital Shanghai Jiao Tong University School of Medicine Shanghai China

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

The manipulation difficulties in laparoscopic procedures inspire the development of surgical robotic systems. To perform tissue dissection and coagulation, electrosurgical instruments and ultrasonic scalpels are integrated. Ultrasonic scalpels, which utilize high-frequency vibration generated by ultrasonic transducer to dissect and coagulate tissues, are safer than electrosurgical instruments due to concentrated energy release. However, the rigid straight waveguides involved in conventional ultrasonic scalpels prevent their integration into single-port surgical robots, within which multi-joint articulated or continuum bendable instruments are used. Putting miniature transducers at the distal end of the instruments is a potential way to integrate ultrasonic scalpels. However, the existing miniature ultrasonic transducers arranged at instrument distal ends have limited energy efficiency due to their 55.5-kHz half-wavelength design. This paper hence proposes the design of a 6-mm 120-kHz full-wavelength miniature ultrasonic transducer. The proposed 120-kHz full-wavelength structure can provide sufficient energy efficiency while maintaining the transducer’s compact size. Finite-element model is utilized to optimize the proposed transducer’s structure. The tissue dissection capability of the proposed 120-kHz miniature ultrasonic scalpel is demonstrated experimentally. It’s promising for the proposed design to be integrated into an 8 mm continuum instrument for single-port robotic surgery.

关键词： Ultrasonic transducers vibrations Medical robotics Transducers Mechatronics Instruments Surgery

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Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton

Optimal Energy Shaping Control for a Backdrivable Hip Exoske...

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American Control Conference (ACC)

作者： Jiefu Zhang Jianping Lin Vamsi Peddinti Robert D. Gregg Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Robotics University of Michigan Ann Arbor MI USA

Task-dependent controllers widely used in exoskeletons track predefined trajectories, which overly constrain the volitional motion of individuals with remnant voluntary mobility. Energy shaping, on the other hand, provides task-invariant assistance by altering the human body’s dynamic characteristics in the closed loop. While human-exoskeleton systems are often modeled using Euler-Lagrange equations, in our previous work we modeled the system as a port-controlled-Hamiltonian system, and a task-invariant controller was designed for a knee-ankle exoskeleton using interconnection-damping assignment passivity-based control. In this paper, we extend this framework to design a controller for a backdrivable hip exoskeleton to assist multiple tasks. A set of basis functions that contains information of kinematics is selected and corresponding coefficients are optimized, which allows the controller to provide torque that fits normative human torque for different activities of daily life. Human-subject experiments with two able-bodied subjects demonstrated the controller’s capability to reduce muscle effort across different tasks.

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The long-acting walking control of a cockroach bio-bot for vision-aided pipeline navigation

The long-acting walking control of a cockroach bio-bot for v...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Songsong Ma Shen Liu Songlin Yang Yuansheng Chen Yao Li Bing Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R. China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen P.R. China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen P.R. China

Many small bionic crawling robots have been invented for search and rescue missions in narrow spaces. However, their locomotion capability is far from that of insects of the same size. Transforming a cockroach into a bio-bot has been a hot topic in the past decade. Herein, we modified this insect to perform surveillance work in dark confined environments. The synergistic electrical stimulation for turning control was proposed by alternating electrical stimulation of the cerci and antennae every 5 trials. The result showed that this method was able to control cockroaches turning steadily 117 times. An electronic backpack was designed, which was capable of transmitting images in real time, and a light emitting diode (LED) was installed on the backpack providing a light source for the camera. Thus, a vision-aided navigation system was formed for dark confined environments, e.g. pipelines. With a host computer software, the operator controlled the bio-bot to pass through a completely dark and closed pipeline. The electronic backpack and the host computer were connected via transmission control protocol (TCP), which allows the operator to manipulate the bio-robot remotely. This technology can be applied in pipeline surveillance in the future.

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Automatic Segmentation Method for Cone-Beam Computed Tomography Image of the Bone Graft Region within Maxillary Sinus Based on the Atrous Spatial Pyramid Convolution Network

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Journal of Shanghai Jiaotong university(Science) 2021年第3期26卷 298-305页

作者： XU Jiangchang HE Shamin YU Dedong WU Yiqun CHEN Xiaojun Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory of Mechanical System and VibrationSchool of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China Department of Second Dental Centre Shanghai Ninth People’s HospitalShanghai Jiao Tong University School of MedicineCollege of StomatologyShanghai Jiao Tong UniversityNational Center for StomatologyNational Clinical Research Center for Oral DiseasesShanghai Key Laboratory of StomatologyShanghai200011China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai200240China

Sinus floor elevation with a lateral window approach requires bone graft(BG)to ensure sufficient bone mass,and it is necessary to measure and analyse the BG region for follow-up of postoperative ***,the BG region from cone-beam computed tomography(CBCT)images is connected to the margin of the maxillary sinus,and its boundary is *** segmentation methods are usually performed manually by experienced doctors,and are complicated by challenges such as low efficiency and low *** this study,an auto-segmentation approach was applied to the BG region within the maxillary sinus based on an atrous spatial pyramid convolution(ASPC)*** ASPC module was adopted using residual connections to compose multiple atrous convolutions,which could extract more features on multiple ***,a segmentation network of the BG region with multiple ASPC modules was established,which effectively improved the segmentation *** the training data were insufficient,our networks still achieved good auto-segmentation results,with a dice coefficient(Dice)of 87.13%,an Intersection over Union(Iou)of 78.01%,and a sensitivity of 95.02%.Compared with other methods,our method achieved a better segmentation effect,and effectively reduced the misjudgement of *** method can thus be used to implement automatic segmentation of the BG region and improve doctors’work efficiency,which is of great importance for developing preliminary studies on the measurement of postoperative BG within the maxillary sinus.

关键词： atrous spatial pyramid convolution(ASPC) bone graft(BG)region medical image segmentation residual connection

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Hardware Programming of a Single-input Pneumatic Mechanism to Control Multiple Elastic Inflatable Actuators

Hardware Programming of a Single-input Pneumatic Mechanism t...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Ningbin Zhang Guoying Gu Xiangyang Zhu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University and Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University China

ISBN: (纸本)9781665431545

Elastic inflatable actuators (EIAs) are widely used in the emerging field of soft robotics. Although integrating multiple EIAs in soft robots has been demonstrated successful, these EIAs typically require independent control inputs that results in a complex actuation process. This paper proposes a single-input pneumatic mechanisms (SIPM) to generate a wide range of output pressures via hardware programming, enabling multiple EIAs to achieve different motions. We first present a conceptual design of the SIPM and build its pneumatic model based on air compressibility, which relates the control inputs, the structural parameters of the SIPM, and the output pressures. Then, we perform a series of parametric analyses and numerical simulations to investigate the hardware programming of structural parameters for target output pressures. Finally, a SIPM prototype whose structural parameters are derived from simulation results is developed. The experimental results validate the effectiveness of the proposed mechanism.

关键词： Actuators Atmospheric modeling Simulation Prototypes Process control Programming Predictive models

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Conditional Generative Models for Simulation of EMG During Naturalistic Movements

arXiv

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arXiv 2022年

作者： Ma, Shihan Clarke, Alexander Kenneth Maksymenko, Kostiantyn Deslauriers-Gauthier, Samuel Sheng, Xinjun Zhu, Xiangyang Farina, Dario The Department of Bioengineering Imperial College London United Kingdom The State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China The Meta Robotics Institute Shanghai Jiao Tong University Shanghai China Neurodec Sophia Antipolis France Inria Centre Université Côte d’Azur Nice France

Numerical models of electromyographic (EMG) signals have provided a huge contribution to our fundamental understanding of human neurophysiology and remain a central pillar of motor neuroscience and the development of human-machine interfaces. However, whilst modern biophysical simulations based on finite element methods are highly accurate, they are extremely computationally expensive and thus are generally limited to modelling static systems such as isometrically contracting limbs. As a solution to this problem, we propose a transfer learning approach, in which a conditional generative model is trained to mimic the output of an advanced numerical model. To this end, we present BioMime, a conditional generative neural network trained adversarially to generate motor unit activation potential waveforms under a wide variety of volume conductor parameters. We demonstrate the ability of such a model to predictively interpolate between a much smaller number of numerical model’s outputs with a high accuracy. Consequently, the computational load is dramatically reduced, which allows the rapid simulation of EMG signals during truly dynamic and naturalistic movements. Copyright © 2022, The Authors. All rights reserved.

关键词： Numerical models

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Shape Optimization of Soft Pneumatic Bellows for High Energy Density

Shape Optimization of Soft Pneumatic Bellows for High Energy...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Yunpeng Miao Feifei Chen State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665431545

Pneumatic bellows can perform extending or contracting and output certain forces at the same time. However, after many years of development, there are few detailed shape design of soft bellows, which leads to relatively low energy density and hinders miniaturization of soft robotic systems. In this paper, to explore the design space, linear bellows are parameterized by variables concerning the cross section and lateral profile with sinusoid functions. Then, a fast finite element analysis script is developed to evaluate the mechanical behavior of bellows under different parameter sets. With the maximal radius ballooning strain constrained below 0.1, the optimal design is obtained with the axial strain up to 0.74, blocking force up to 228.7 N, and volumetric energy density up to 6549.7 J/m 3 . Besides, we also adopt the idea of modular design which makes this soft bellow easy to be integrated. The developed soft pneumatic bellows are promising for use in scenarios where compact soft robots are expected.

关键词： Bellows Mechatronics Shape Machine vision Soft robotics Space exploration Finite element analysis

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Modeling and Design of Periodic Polygonal Lattices Constructed from Microstructures with Varying Curvatures

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Physical Review Applied 2022年第4期17卷 044032-044032页

作者： Le Dong Dong Wang Jinqiang Wang Chengru Jiang Hui Wang Biao Zhang Mao See Wu Guoying Gu Robotics Institute and State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China Frontiers Science Center for Flexible Electronics (FSCFE) Xi’an Institute of Flexible Electronics (IFE) and Xi’an Institute of Biomedical Materials & Engineering (IBME) Northwestern Polytechnical University 127 West Youyi Road Xi’an 710072 China School of Mechanical and Aerospace Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore

Lattice structures can exhibit unusual mechanical properties by appropriate design and arrangement of the microstructures, and have already found applications in areas such as tissue engineering, stretchable electronics, and soft robotics. However, the designed microstructures generally follow simple geometric patterns with constant curvatures and theoretical models are developed for each geometry particularly. It lacks a universal method to model and design the periodic lattice constructed from microstructures with varying curvatures. In this paper, we develop a universal approach to design polygonal lattices with a wide range of microstructures with varying curvatures using instant curvature and parametric functions. A finite deformation model is proposed for the microstructures and the corresponding lattices, which considers the wavy or curled microstructure, hierarchical geometry, and large deformation. Experiments and finite-element simulations are conducted to validate the theoretical model. All of Young’s modulus, stretchability, and Poisson’s ratio can be inversely designed using the developed theoretical model. Results show that the stretchability of the highly stretchable lattice can be further increased by more than 4 times using densely curled microstructure. The signs of Poisson’s ratio can also change with the axial strain by rationally designing the microstructures. By combining curve fitting and curvature and parametric functions, the mechanical behaviors of lattices constructed by bioinspired microstructures can also be predicted. The lattice structures are then demonstrated to reinforce a hydrogel with modulus increased by around 2 orders and act as a biomimetic soft-strain sensor. This work could aid the design of a hierarchical lattice and have potential applications in tissue engineering, stretchable electronics, and soft robotics.

关键词： Biomimetic & bio-inspired materials Devices Elastic deformation Flexible electronics mechanical metamaterials Origami & Kirigami Strain Smart materials

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Look-to-Touch: A Vision-Enhanced Proximity and Tactile Sensor for Distance and Geometry Perception in Robotic Manipulation

arXiv

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arXiv 2025年

作者： Dong, Yueshi Ren, Jieji Liu, Zhenle Peng, Zhanxuan Yuan, Zihao Zhang, Ningbin Gu, Guoying State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with additional sensors, which makes the system bulky and limits its adaptability to unstructured environments. In this work, we present a vision-enhanced camera-based dual-modality sensor, which realizes full-scale distance sensing from 50 cm to -3 mm while simultaneously keeping ultra-high-resolution texture sensing and reconstruction capabilities. Unlike conventional designs with fixed opaque gel layers, our sensor features a partially transparent sliding window, enabling mechanical switching between tactile and visual modes. For each sensing mode, a dynamic distance sensing model and a contact geometry reconstruction model are proposed. Through integration with soft robotic fingers, we systematically evaluate the performance of each mode, as well as in their synergistic operation. Experimental results show robust distance tracking across various speeds, nanometer-scale roughness detection, and sub-millimeter 3D texture reconstruction. The combination of both modalities improves the robot’s efficiency in executing grasping tasks. Furthermore, the embedded mechanical transmission in sensor allows for fine-grained intra-hand adjustments and precise manipulation, unlocking new capabilities for soft robotic hands. Copyright © 2025, The Authors. All rights reserved.

关键词： Robotic arms

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