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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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Fragment Distance-Guided Dual-Stream Learning for Automatic Pelvic Fracture Segmentation

SSRN

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SSRN 2024年

作者： Zeng, Bolun Wang, Huixiang Joskowicz, Leo Chen, Xiaojun Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Department of Orthopedics National Center for Orthopedics Shanghai Sixth People’s Hospital Shanghai Jiao Tong University School of Medicine Shanghai China School of Computer Science and Engineering Edmond and Lily Safra Center for Brain Sciences Hebrew University of Jerusalem Jerusalem Israel Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China

Pelvic fracture is a complex and severe injury. Accurate diagnosis and treatment planning require the segmentation of the pelvic structure and the fractured fragments from preoperative CT scans. However, this segmentation is a challenging task, as the fragments from a pelvic fracture typically exhibit considerable variability and irregularity in the morphologies, locations, and quantities. In this study, a novel dual-stream learning framework is proposed for the automatic segmentation and category labeling of pelvic fractures. First, we develop a dual-branch architecture leveraging distance learning from bone fragments for enhanced spatial information, aiding in fracture segmentation and improving the identification of bone fragments with variable positioning. Second, we implement a multi-size feature fusion module that adaptively aggregates features from diverse receptive fields tailored to targets of different sizes and shapes, thus boosting segmentation performance. Extensive experiments on two pelvic fracture datasets from different medical centers demonstrated the accuracy and generalizability of the proposed method. It achieves a mean Dice coefficient and mean F1-score of 0.935[[EQUATION]]0.068 and 0.930[[EQUATION]]0.057 in the dataset FracCLINIC, and 0.955[[EQUATION]]0.072 and 0.912[[EQUATION]]0.129 in the dataset FracSegData, which are superior than other comparing methods. Our method optimizes the process of pelvic fracture segmentation, potentially serving as an effective tool for preoperative planning in the clinical management of pelvic fractures. © 2024, The Authors. All rights reserved.

关键词： Computerized tomography

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Multi-Parameter Optimization for a Robust RGB-D SLAM system

Multi-Parameter Optimization for a Robust RGB-D SLAM System

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yizhao Wang Xiaoxiao Zhu Guohan He Qixin Cao State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China

SLAM systems can retrieve their metric scales and depth information using RGB-D cameras. However, limited by the sensing range and objects structure, RGB-D cameras can not always work well, resulting in failures sometimes. In this work, we present initialization and localization methods based on maximum-a-posteriori estimation. Our system endows monocular keypoints with valid depth values and introduce them into bundle adjustment. Depth bias coefficient and scale factor are also optimized in the local window, obtaining robustness in large scale environments and long-running operations. The experimental results indicate that our system provides the best robustness compared with other excellent methods in the literature, being able to process the most challenging sequences in the TUM RGB-D dataset.

关键词： Location awareness Measurement Simultaneous localization and mapping Tracking Conferences Pose estimation Cameras

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Bio-robotics research for non-invasive myoelectric neural interfaces for upper-limb prosthetic control: a 10-year perspective review

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National Science Review 2023年第5期 38-58页

作者：江宁陈晨何家源孟建军潘立志苏世勇朱向阳 National Clinical Research Center for Geriatrics West China Hospitaland Med-X Center for ManufacturingSichuan University State Key Laboratory of Mechanical System and Vibration and Institute of RoboticsShanghai Jiao Tong University Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical EngineeringTianjin University Institute of Neuroscience Université Catholique Louvain

A decade ago,a group of researchers from academia and industry identified a dichotomy between the industrial and academic state-of-the-art in upper-limb prosthesis control,a widely used bio-robotics *** proposed that four key technical challenges,if addressed,could bridge this gap and translate academic research into clinically and commercially viable *** challenges are unintuitive control schemes,lack of sensory feedback,poor robustness and single sensor ***,we provide a perspective review on the research effort that occurred in the last decade,aiming at addressing these *** addition,we discuss three research areas essential to the recent development in upper-limb prosthetic control research but were not envisioned in the review 10 years ago:deep learning methods,surface electromyogram decomposition and open-source *** conclude the review,we provide an outlook into the near future of the research and development in upper-limb prosthetic control and beyond.

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A robotic laparoscopic tool with enhanced capabilities and modularactuation

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Science China(Technological Sciences) 2019年第1期62卷 47-59页

作者： DAI ZhengChen WU ZhongHao ZHAO JiangRan XU Kai The RII Lab(Lab of Robotics Innovation and Intervention) UM-SJTU Joint Institute Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University

Due to the improved treatment outcomes, research on robotic MIS(Minimally Invasive Surgery) thrived in the past decades. A benchmark example is the da Vinci system that dominates robotic laparoscopy via its technology excellence and strong holding of intellectual properties. This study provides an alternative approach to realize robotic laparoscopic surgeries, by presenting the development and experimentation of the SMARLT(Strengthened Modularly Actuated Robotic Laparoscopic Tool) for MIS. A dual continuum mechanism is used in the design to achieve enhanced distal dexterity, improved reliability, increased payload capability, and actuation modularity. With kinematics modelling and actuation compensation, the SMARLT can be manipulated by a generic manipulator to carry out typical laparoscopic MIS tasks, such as tissue peeling, suturing, and knot tying. Payload capability was also experimentally characterized. The SMARLT-manipulator system essentially formed a continuum-rigid hybrid structure that makes full use of the advantages from each component: the continuum mechanism as a wrist for distal dexterity and other rigid parts for position accuracy and payload capability. With the experimental demonstration of the desired functionalities, the SMARLT design can lead to promising opportunities for commercialization.

关键词： dexterous wrist dual continuum mechanism medical robotics modular laparoscopic tools surgical instruments

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Design of soft smart shoes for joint angle estimation in human gait

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Procedia CIRP 2020年 89卷 143-147页

作者： Jiantao Yang Xianghan Lin Yuehong Yin the State Key Laboratory of Mechanical System and Vibration the Robotics Institute Shanghai Jiao Tong University Shanghai 200240

Human gait involves activities in nervous and biomechanics of the musculoskeletal system. Thus, approaching the dynamics may be challenging. This paper aims to present the design of soft smart shoes for joint angle estimation in human gait. There are three pneumatic chambers at the heel, arch, and forefoot of the soft sole. Barometers embedded in every chambers are used to measure the ground reaction forces (GRFs). The inertial sensors are installed on the outsole of shoes to detect the foot attitudes. The soft soles are made of silicone rubber to provide good compliance and ensure the comfort of human. Gaussian process regression (GPR) is established and serves as the mathematics foundation to explore the deep layer correlation between the joint angle and GRFs and foot attitudes which are regarded as the inputs of the model. The statistic nature of the proposed model offers superior flexibility and encouraging estimation results of joint angles. One potential use of the novel designed shoes and the proposed joint estimation method is the high-level control of exoskeletons and prosthetic legs. Finally, experiments were conducted to verify the superiority of the proposed algorithms.

关键词： Smart shoes Gaussian process joint angle estiamtion

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Design and Development of a Rapidly Deployable Low-Cost Tensegrity In-Pipe Robot

Design and Development of a Rapidly Deployable Low-Cost Tens...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Yixiang Liu Xiaolin Dai Kai Guo Jiang Wu Rui Song Jie Zhao Yibin Li School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Mechanical Transmissions Chongqing University Chongqing China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Co. Ltd Hangzhou China Engineering Research Center of Intelligent Unmanned System of Ministry of Education School of Control Science and Engineering Shandong University Jinan China School of Mechanical Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Existing in-pipe robots have insufficient adaptability when dealing with accidents in unfamiliar pipe environments. Developing a pipe robot that can be designed and manufactured quickly is one solution. The tensegrity structure is a self-stressing spatial structure formed by the interaction of rigid members and flexible cables, which has the advantages of simple structure, good flexibility, deformability, and impact resistance. Inspired by this structure, we design a novel worm-like tensegrity robot for different pipe environments, which can be manufactured rapidly at low cost. Firstly, a robotic module based on the tensegrity structure is designed inspired by the motion patterns of worm-like organisms. Then, the design process of the module is presented based on the mathematical analysis of the deformation. Finally, a prototype of the tensegrity robot is developed using simple and low-cost parts in less than an hour. To test the motion performance, load performance, and inspection capability of the tensegrity robot, we designed a series of experiments on horizontal pipes, vertical pipes, elbows, and steel pipes. Experimental results show that the worm-like tensegrity robot is simple in structure, easy to manufacture, low in cost, and good in performance.

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Type Synthesis of Fully-isotropic 2T3R 5-DoF Hybrid Mechanisms

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Journal of the Chinese Society of mechanical Engineers, Transactions of the Chinese institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao 2019年第3期40卷 307-314页

作者： Zhang, Hong Zhou, Hui Qin, Youlei Ge, Shuyi Wang, Kun Cao, Yi School of Mechanical Engineering Jiangnan University Wuxi214122 China State Key Laboratory of Mechanical System and Vibration Shanghai200240 China State Key Laboratory of Robotics and System Harbin150080 China Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology Wuxi214122 China

In mechanical design, it is necessary to synthesize the mechanism,especially for the fully-isotropic hybrid mechanisms (HMs). This article proposes a simple but very effective approach for fully-isotropic HMs by means of GF set theory. firstly, a type synthesis method for HMs is simply presented, especially, the option standard of the input motion joint and the steps for the integration of the branches are given which provide the theoretical foundations for the integration of the type structure of completely isotropic HMs. Secondly, the process of type synthesis for fully-isotropic HMs is described in detail. To corroborate the usefulness of the proposed method for fully-isotropic HMs, type synthesis of fully-isotropic 2T3R 5-Degree-0f-Freedom (DoF) HMs is illustrated with example, where T denotes translation and R denotes rotation. Finally, the forward displacement analysis of a synthesized 2T3R fully-isotropic HM is carried out. The expression of the Jacobian matrix is deduced, it shows that the Jacobian matrix of the synthesized fully-isotropic HM is a 5×5 identity matrix throughout the entire workspace validating the fully-isotropic feature of the HM and the effectiveness of the type of composite approach for fully-isotropic HMs. © 2019, Chinese mechanical Engineering Society. All right reserved.

关键词： Jacobian matrices

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Mechanics of soft-body rolling motion without external torque

arXiv

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arXiv 2024年

作者： Liang, Xudong Ding, Yimiao Yuan, Zihao Jiang, Junqi Xie, Zongling Fei, Peng Sun, Yixuan Gu, Guoying Zhong, Zheng Chen, Feifei Si, Guangwei Gong, Zhefeng School of Science Harbin Institute of Technology Shenzhen518055 China Department of Neurology The Fourth Hospital and School of Brain Science and Brain Medicine Zhejiang University School of Medicine Hangzhou310058 China Liangzhu Laboratory MOE Frontier Science Center for Brain Science and Brain-Machine Integration State Key Laboratory of Brain-Machine Intelligence Zhejiang University 1369 West Wenyi Road Hangzhou311121 China NHC and CAMS Key Laboratory of Medical Neurobiology Zhejiang University Hangzhou310058 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China State Key Laboratory of Brain and Cognitive Science Institute of Biophysics Chinese Academy of Sciences 15 Datun Road Beijing100101 China University of Chinese Academy of Sciences 19A Yuquan Road Beijing100049 China Huazhong University of Science and Technology Optical and Electronic Information Wuhan430074 China Zhejiang Lab. Hangzhou311121 China

The Drosophila larva, a soft-body animal, can bend its body and roll efficiently to escape danger. However, contrary to common belief, this rolling motion is not driven by the imbalance of gravity and ground reaction forces. Through functional imaging and ablation experiments, we demonstrate that the sequential actuation of axial muscles within an appropriate range of angles is critical for generating rolling. We model the interplay between muscle contraction, hydrostatic skeleton deformation, and body-environment interactions, and systematically explain how sequential muscle actuation generates the rolling motion. Additionally, we constructed a pneumatic soft robot to mimic the larval rolling strategy, successfully validating our model. This mechanics model of soft-body rolling motion not only advances the study of related neural circuits, but also holds potential for applications in soft robotics. © 2024, CC BY.

关键词： Pneumatics

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Review of surgical robotic systems for keyhole and endoscopic procedures:state of the art and perspectives

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Frontiers of Medicine 2020年第4期14卷 382-403页

作者： Yuyang Chen Shu’an Zhang Zhonghao Wu Bo Yang Qingquan Luo Kai Xu State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China RII Lab(Lab of Robotics Innovation and Intervention) UM-SJTU Joint InstituteShanghai Jiao Tong UniversityShanghai 200240China Department of Urology Shanghai Changhai Hospitalthe Second Military Medical UniversityShanghai 200433China Shanghai Lung Cancer Center Shanghai Chest HospitalShanghai Jiao Tong UniversityShanghai 200030China

Minimally invasive surgery,including laparoscopic and thoracoscopic procedures,benefits patients in terms of improved postoperative outcomes and short recovery *** challenges in hand–eye coordination and manipulation dexterity during the aforementioned procedures have inspired an enormous wave of developments on surgical robotic systems to assist keyhole and endoscopic procedures in the past *** paper presents a systematic review of the state-of-the-art systems,picturing a detailed landscape of the system configurations,actuation schemes,and control approaches of the existing surgical robotic systems for keyhole and endoscopic *** development challenges and future perspectives are discussed in depth to point out the need for new enabling technologies and inspire future researches.

关键词： surgical robots keyhole surgery endoscopic surgery

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