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IEEE International Conference on robotics and Automation (ICRA)

作者： Yuyang Chen Haozhe Yang Xu Liu Kai Xu RII Lab (Lab of Robotics Innovation and Intervention) UM-SJTU Joint Institute Shanghai Jiao Tong University Shanghai China State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Needle-based procedures, such as biopsy and percutaneous tumor ablation, highly depend on the accuracy of needle placement. The accuracy is significantly affected by the needle-tissue interaction no matter what needles (straight or steerable) are used. Due to the unknown tissue mechanics, it is challenging to achieve high accuracy in practice. This paper hence proposes a needle design with an articulated tip for increased steerability and improved needle path consistency. Due to the passive needle tip articulation, tissue mechanics always plays a dominant role such that the needle creates similar paths with approximately piece-wise constant curvature in different tissues. Kinematics model for the proposed needle is presented. The algorithms of path planning and needle tip pose estimation under external imaging modality are developed. Experimental verifications were conducted to demonstrate the needle's steerability as well as the target-reaching capability with obstacles avoidance.

关键词： Needles Kinematics Fasteners Path planning Shape Electron tubes Laser beam cutting

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meta-fences: Blocking waves utilizing a layer of identical tiny scatters

arXiv

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arXiv 2021年

作者： Zhang, Yunhao Sha, Zhendong Su, Guangyuan Zhou, Hao Yang, Jiangzhong Jiang, Peng Liu, Yongquan Li, Bing Wang, Tiejun State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace Engineering Xi’an Jiaotong University Xi’an710049 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering China Academy of Space Technology Beijing100094 China School of Aeronautics Northwestern Polytechnical University Shaanxi Xi'an710072 China

Wave steering by artificial materials (for example, phononic crystals and acoustic metamaterials) is a fascinating frontier in modern physics and engineering, but suffers from bulky sizes and intractable challenges in fabrication. Here, a sparse layer of identical tiny scatters, which we call meta-fences, is presented with a non-destructive way to omnidirectionally block flexural waves in plates. The underlying mechanism is that the restraining force and moment of the scatter are tuned simultaneously to counter-balance the incident wave. Both our experimental results and numerical analysis have demonstrated that broadband wave sources ranging from 3 to 7 kHz can be segregated from the protected area by the meta-fence. In addition, the meta-fence is further assembled into a waveguide routing with an arbitrary configuration. Compared with previous isolators and waveguides, our meta-fences exhibit absolute advantages in compact size, flexible configuration, and high structural strength. The current scenario sheds light on the design of lightweight-and-strong architectures for vibration control and energy harvesting with a high efficiency, and can be extended to microfluidics, acoustics, seismology and other fields. Copyright © 2021, The Authors. All rights reserved.

关键词： Energy harvesting

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Closed loop control of a continuum surgical manipulator for improved absolute positioning accuracy

Closed loop control of a continuum surgical manipulator for ...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Li, Qi Yang, Haozhe Chen, Yuyang Xu, Kai Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Minhang Shanghai Province China UM-SJTU Joint Institute Minhang Shanghai Province China

ISBN: (纸本)9781728163215

Robotic assistance in MIS (Minimally Invasive Surgery) has attracted worldwide attention in the past decades. Even though majority of the implemented robotic surgical manipulators have articulated structures, continuum structures have been more widely applied due to their advantages of intra-abdominal dexterity and safe interaction with anatomy. However, absolute positioning accuracy of a continuum surgical manipulator can be low due to its nonlinear bending behaviors under different loads and un-modeled manufacturing clearance. This paper hence presents a proof-of-concept investigation of closed loop control scheme for improving the manipulator's absolute positioning accuracy. system descriptions, kinematics modeling and experimental validations are reported in detail to demonstrate the effectiveness of the proposed control scheme. © 2019 IEEE.

关键词： Manipulators

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Apple Vision Pro for Healthcare: "The Ultimate Display"? Entering the Wonderland of Precision Medicine

arXiv

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arXiv 2023年

作者： Egger, Jan Gsaxner, Christina Chen, Xiaojun Bian, Jiang Kleesiek, Jens Puladi, Behrus Girardetstraße 2 Essen45131 Germany Hufelandstraße 55 Essen45147 Germany Hufelandstraße 55 Essen45147 Germany Department of Oral and Maxillofacial Surgery University Hospital RWTH Aachen Pauwelsstraße 30 Aachen52074 Germany Institute of Computer Graphics and Vision Graz University of Technology Inffeldgasse 16/II Graz8010 Austria Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Dongchuan Road 800 Minhang District Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Dongchuan Road 800 Minhang District Shanghai200240 China Health Outcomes & Biomedical Informatics College of Medicine University of Florida GainesvilleFL32610 United States Partner Site Essen Hufelandstraße 55 Essen45147 Germany Department of Physics TU Dortmund University August-Schmidt-Str. 4 Dortmund44227 Germany Institute of Medical Informatics University Hospital RWTH Aachen Pauwelsstraße 30 Aachen52074 Germany

At the Worldwide Developers Conference (WWDC) in June 2023, Apple introduced the Vision Pro. The Vision Pro is a Mixed Reality (MR) headset, more specifically it is a Virtual Reality (VR) device with an additional Video See-Through (VST) capability. The VST capability turns the Vision Pro also into an Augmented Reality (AR) device. The AR feature is enabled by streaming the real world via cameras to the (VR) screens in front of the user’s eyes. This is of course not unique and similar to other devices, like the Varjo XR-3. Nevertheless, the Vision Pro has some interesting features, like an inside-out screen that can show the headset wearers’ eyes to "outsiders" or a button on the top, called "Digital Crown", that allows you to seamlessly blend digital content with your physical space by turning it. In addition, it is untethered, except for the cable to the battery, which makes the headset more agile, compared to the Varjo XR-3. This could actually come closer to the "Ultimate Display", which Ivan Sutherland had already sketched in 1965. Not available to the public yet, like the Ultimate Display, we want to take a look into the crystal ball in this perspective to see if it can overcome some clinical challenges that - especially - AR still faces in the medical domain, but also go beyond and discuss if the Vision Pro could support clinicians in essential tasks to spend more time with their patients. © 2023, CC BY.

关键词： Augmented reality

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Design of a cable driven floating robotic arm with continuum joints

Design of a cable driven floating robotic arm with continuum...

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Wu, Zhonghao Cederle, Marco Giani, Elisa Rosalinda Xu, Kai UM-SJTU Joint Institute Shanghai Jiao Tong University Shanghai China Politecnico di Milano Department of Mechanical Engineering Milano Italy State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781728137261

Long-reach manipulator shows potentials in inspection, search and rescue. However, the reach of such a manipulator is often limited, due to fact that the distal structures become payloads of the proximal joints. This research hence focuses on a proof-of-concept study of a slim long-reach robotic arm designed with continuum joints and floating links. A float link and a continuum joint constitute a module that is weightless due to buoyancy. The reach hence becomes unlimited in theory. The actuation of each joint is decoupled via a transmission arrangement, providing a simple kinematic model no matter how many robotic modules are used. Each floating link is composed of a from-the-shelf helium-filled Mylar balloon that is caged by acrylic rings. Each of the two-degree-of-freedom continuum joints is made from a super-elastic nitinol (nickel-titanium alloy) rod and actuated by three cables pulled by three stepper motors. Preliminary experimental results on this constructed 3-meter prototype show that the floating robotic arm can move with acceptable accuracy in still air, validating the proposed concept. © 2019 IEEE.

关键词： Robotic arms

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Networked Dielectric Elastomer Balloon Actuators with Large Deformation

Networked Dielectric Elastomer Balloon Actuators with Large ...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Feifei Chen Kun Liu 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: (数字)9781728107707

ISBN: (纸本)9781728107714

Soft robots have recently received much interest because of their advantages over traditional rigid robots in terms of withstanding large deformations and interacting well with environments. Soft actuators, as a critical part of a soft robot, provide actuation force to generate desired motion. Dielectric elastomers have shown great promise because of their considerable voltage-induced deformation. Particularly, air-filled dielectric elastomer actuators have been well investigated, where the air inside provides prestretches to improve the actuation capability. This paper proposes a networked design of inflated dielectric elastomer actuators, capable of spanning a large actuation space and a corresponding large control space. Through comparing the performance of modulated operation mode and that of independent operation mode, we theoretically demonstrate that the networked design is able to, to a large extent, postpone the occurrence of material failures of the actuators, resulting in a large and continuous actuation range for their control.

关键词： Aerospace electronics Strain Dielectric elastomers Soft robotics Voltage control

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Buckling-induced Shape Morphing using Dielectric Elastomer Actuators Patterned with Spatially-varying Electrodes

Buckling-induced Shape Morphing using Dielectric Elastomer A...

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Feifei Chen Kun Liu 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 Shanghai China

Shape morphing is at the core of future research, which shows promise for wide applications ranging from reconfigurable electronics to soft material robots. In this paper, we present a novel buckling-induced mechanism for shape morphing using dielectric elastomer actuators (DEAs), by bonding the planar precursor structure's “feet” with the DEA. With spatially-varying electric fields applied, the inplane deformation of the DEA generates compressive loads to trigger buckling of planar precursors into desired three-dimensional configurations. To enlarge the achievable motion range at the “feet”, we develop a design optimization approach to the electrode arrangement which is concisely described by cosine functions. By numerically optimizing the cosine function coefficients, we obtain the optimal spatially-varying electrodes for various precursors with different patterns of bonding sites. The experimental results demonstrate the remarkable shape-morphing from two dimensions to three dimensional configurations. Our work paves the way to novel actuation mechanisms for shape-morphing structures, with advantages of rapid response and reversible controllability.

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Cell Nanomechanics Based on Dielectric Elastomer Actuator Device

引用

Nano-Micro Letters 2019年第4期11卷 690-708页

作者： Zhichao Li Chao Gao Sisi Fan Jiang Zou Guoying Gu Mingdong Dong Jie Song Institute of Nano Biomedicine and Engineering Department of Instrument Science and EngineeringSchool of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Shanghai Engineering Research Center of Advanced Dental Technology and Materials Shanghai Ninth People’s HospitalShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Interdisciplinary Nanoscience Center(iNANO) Aarhus UniversityAarhus 8000Denmark

As a frontier of biology,mechanobiology plays an important role in tissue and biomedical *** is a common sense that mechanical cues under extracellular microenvironment affect a lot in regulating the behaviors of cells such as proliferation and gene expression,*** such an interdisciplinary field,engineering methods like the pneumatic and motor-driven devices have been employed for ***,such techniques usually rely on complex structures,which cost much but not so easy to *** elastomer actuators(DEAs)are well known as a kind of soft actuation technology,and their research prospect in biomechanical field is gradually concerned due to their properties just like large deformation(>100%)and fast response(<1 ms).In addition,DEAs are usually optically transparent and can be fabricated into small volume,which make them easy to cooperate with regular microscope to realize real-time dynamic imaging of *** paper first reviews the basic components,principle,and evaluation of DEAs and then overview some corresponding applications of DEAs for cellular mechanobiology *** also provide a comparison between DEA-based bioreactors and current custom-built devices and share some opinions about their potential applications in the future according to widely reported results via other methods.

关键词： Dielectric elastomer actuator mechanical stimulus Bioreactor Mechanobiology

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Design of A Multi-Functional Soft Ankle Exoskeleton for Foot-Drop Prevention, Propulsion Assistance, and Inversion/Eversion Stabilization

Design of A Multi-Functional Soft Ankle Exoskeleton for Foot...

引用

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

作者： Haisheng Xia Junghan Kwon Prabhat Pathak Jooeun Ahn Peter B. Shull Yong-Lae Park State Key Laboratory of Mechanical Systems and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Department of Mechanical Engineering Soft Robotics Research Center (SRRC) the Institute of Advanced Machines and Design (IAMD) Seoul National University Seoul South Korea Department of Physical Education Seoul National University Seoul South Korea

ISBN: (数字)9781728159072

ISBN: (纸本)9781728159089

Stroke often results in hemiplegia, which greatly affects the walking ability of the patients. We propose a multi-functional portable ankle exoskeleton for use in preventing foot-drops, assisting propulsion, and stabilizing inversion/eversion during walking to help gait rehabilitation of stroke patients. The portable ankle exoskeleton was fabricated by 3D printing a soft/rigid hybrid structure. The device was able to prevent foot-drop and assist propulsion with a bi-directional cable-driven actuation system. It also showed a capability of stabilizing inversion/eversion motions using a counter-electromotive force of two small, lightweight gear motors. The device was controlled by a microcontroller based on real-time feedback from one inertial measurement unit and a customized force sensitive resistor. The device is fully untethered with all the components integrated on-board, with a total weight of less than 1 kg. Five healthy subjects performed over-ground walking tests with the proposed ankle exoskeleton for three different walking situations (normal walking, walking with simulated foot-drop, and walking on an uneven terrain) and three walking conditions (without the exoskeleton, with the exoskeleton powered off, and with the exoskeleton powered on). From the test results, we confirmed the feasibility of the proposed ankle exoskeleton for foot-drop prevention, propulsion assistance, and inversion/eversion stabilization. The ankle exoskeleton showed a potential for wearable gait rehabilitation for stroke patients with high mobility and portability.

关键词： Legged locomotion Exoskeletons Propulsion Robots DC motors Stroke (medical condition) Connectors

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Nonlinear Contact Mechanics of Soft Elastic Spheres Under Extreme Compression

引用

Journal of the Mechanics and Physics of Solids 2025年

作者： Tong Mu Ruozhang Li Changhong Linghu Yanju Liu Jinsong Leng Huajian Gao K. Jimmy Hsia Centre of Composite Materials and Structures Harbin Institute of Technology (HIT) Harbin 150080 China School of Mechanical and Aerospace Engineering Nanyang Technological University 50 Nanyang Avenue Singapore 639798 Singapore State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University 800 Dongchuan Road Shanghai 200240 China Department of Astronautical Science and Mechanics Harbin Institute of Technology (HIT) Harbin 150080 P. R. China Mechano-X Institute Applied Mechanics Laboratory Department of Engineering Mechanics Tsinghua University Beijing 100084 China School of Chemistry Chemical Engineering and Biotechnology Nanyang Technological University 50 Nanyang Avenue Singapore 639798 Singapore

The contact of soft elastic spheres on substrates is a fundamental problem with significant relevance to fields such as bioengineering, robotics, micro-assembly, and wearables. Accurate analytical solutions for contact behaviors under extreme compression, particularly at compression ratios (compression displacement normalized by sphere radius) exceeding 10%, are still lacking. This study investigates the contact mechanics of an elastic sphere against a rigid substrate (i.e., the flattening problem) under large deformations, integrating theoretical analysis, finite element analysis (FEA) simulations, and experiments. A finite-deformation theory framework for the flattening problem is proposed, accounting for finite-thickness and radial expansion effects. This framework facilitates analytical solutions for contact force, contact radius, and contact pressure. systematic analysis of the three key sources of nonlinearity—geometry, material, and contact properties—reveals that geometric nonlinearity is the primary factor causing deviations in contact forces from the Hertzian theory. Based on these insights, explicit solutions for contact force, contact radius, and contact pressure are obtained using simple linear correction functions, achieving excellent agreement with FEA results. Experimental validation with Ecoflex samples demonstrates the high accuracy of these solutions at compression ratios up to 80%. Additionally, their applicability to cellular mechanics is validated through precise predictions of contact forces reported in the literature for various cell types at compression ratios up to 75%. This work provides an effective approach to addressing nonlinearities in the flattening problem, enabling accurate predictions of contact behavior under extreme compression. Our findings offer valuable guidelines for contact analysis and structural design involving soft elastomers.

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