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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Zhao, Yi Zhang, Ningbin Feng, Miao Gu, Guoying State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789811993978

Although various advanced anthropomorphic hands have been proposed, the design and fabrication of thumb joints to achieve dexterity function in a limited space is still a great challenge. To promote the dexterity of the anthropomorphic thumb joints in the cramped space of the palm, we present a fabric-based flexible actuator used for thumb joints to realize two degrees of freedom (DOFs): circumduction and adduction. First, we introduce the design concept inspired by muscle groups of the human palm. A kind of pneumatic small-scale actuators that relies on fabric-crease to produce deformation is proposed. Then the properties of flexible lightweight actuators are characterized. The actuators just need ± 10 kPa pressure to realize a flexion range of 90°. Finally, we modularly assemble the actuators to construct a compact two DOFs thumb joints. Experimental results show that the applied fabric-based thumb joints can achieve dexterous manipulation like sliding the smartphone screen. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Degrees of freedom (mechanics)

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Optimized Design of a Haptic Unit for Vibrotactile Amplitude Modulation

Optimized Design of a Haptic Unit for Vibrotactile Amplitude...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Huang, Jingchen Fang, Yun Guo, Weichao Qiao, Zhijian Sheng, Xinjun School of Mechanical Engineering Meta Robotics Institute Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong Hong Kong

ISBN: (纸本)9781665481090

Communicating information to users is a crucial aspect of human-machine interaction. Vibrotactile feedback encodes information into spatiotemporal vibrations, enabling users to perceive tactile sensations. It offers advantages such as lightweight, wearability, and high stability, with broad applications in sensory substitution, virtual reality, education, and healthcare. However, existing haptic unit designs lack amplitude modulation capabilities, which limits their applications. This paper proposed an optimized design of the haptic unit from the perspective of vibration amplitude modulation. A modified elastic model was developed to describe the propagation and attenuation mechanisms of vibration in the skin. Based on the model, two types of hierarchical architectural design were proposed. The design incorporated various materials arranged in multiple layers to amplify or attenuate the vibration amplitude as it traveled through the structure. An experimental platform was built to evaluate the performance of the optimized design. © 2024 IEEE.

关键词： Virtual reality

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Decoding Wrist and Hand Movement Using a Synergy-Driven, Variable Stiffness Musculoskeletal Model Under Different Loads

Decoding Wrist and Hand Movement Using a Synergy-Driven, Var...

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IEEE International Conference on robotics and Biomimetics

作者： Jiamin Zhao Yang Yu Xinjun Sheng Xiangyang Zhu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China State Key Laboratory of Mechanical System and Vibration and the Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Myoelectric interfaces, which translate electromyography (EMG) signals into motor intentions, are extensively utilized in prosthetic control due to their intuitive nature. However, current methodologies extremely suffer from performance degradation under non-stationary EMG signals. Varying loads significantly alter muscle activation patterns, with variations in loading weights being a significant factor affecting performance. Conventional EMG-driven musculoskeletal models (MMs) demonstrate robustness across different loads but often neglect the influence of changes in muscle co-contraction levels induced by increased loads. To address this issue, we proposed an improved MM that integrated variable muscle and joint stiffnesses with synergy-based muscle activations into the muscle contraction dynamics. This model adapted to alterations in muscle co-contraction levels under diverse loads, allowing for robust estimation of hand and wrist movements without requiring additional training for different loads. Both offline and online experiments were conducted. The outcomes demonstrated that the proposed model significantly improved robustness and estimation accuracy compared to traditional envelopedriven and constant stiffness MMs. It maintained stable performance across different loads with training conducted solely under zero-load conditions, thereby reducing the training burden. This study presents a novel approach to enhance the reliability of EMG-based human-machine interfaces.

关键词： Training Wrist Adaptation models Accuracy Loading Estimation Muscles Robustness Electromyography Load modeling

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Analysis and compensation of kinematic errors in a five-axis machine tool based on an internal data-driven method 10

Analysis and compensation of kinematic errors in a five-axis...

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2024 10th International Conference on Applied Materials and Manufacturing Technology, ICAMMT 2024

作者： Wu, Junjie Ji, Yulei Zhong, Lei Wang, Yuhan State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China Shanghai TOP Numerical Control Technology Co. Ltd Shanghai201100 China

The increasing demand for highly efficient and precise machining in the aerospace industry is leading to increasingly stringent requirements for machine tool accuracy measurement and compensation technologies. However, existing methods can only measure the accuracy of machine tools after they have been shut down, using instruments that do not measure the kinematic errors during the machining process. To address this issue, a method for real-time prediction of kinematic errors in a five-axis machine tool has been proposed to enhance machining accuracy and efficiency. The method employs a neural network-based predictive model, which has been trained and validated through experimental testing and data collection using internal sensors of the machine tool. The study reveals that this predictive model can effectively forecast the kinematic errors, through real-time compensation, and can reduce errors by 60-86%, significantly enhancing machine performance. © Published under licence by IOP Publishing Ltd.

关键词： Aerospace industry

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A Pilot Study on Fabric-based Pneumatic Soft Gloves for Assisting Patients with Severe Brachial Plexus Injury

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IEEE Transactions on Biomedical Engineering 2025年 PP卷 PP页

作者： Feng, Miao Yang, Dezhi Sun, Jianing Lao, Jie Rui, Jing Gu, Guoying Shanghai Jiao Tong University Robotics Institute State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Key Laboratory of Intelligent Robotics Meta Robotics Institute Shanghai200240 China Southwest Technology and Engineering Research Institute Chongqing400039 China Fudan University Department of Hand Surgery Huashan Hospital China NHC Key Laboratory of Limbs Reconstruction Shanghai Key Laboratory of Peripheral Nerve and Microsurgery Shanghai200040 China

Objective: Robotic gloves show promise in hand assistance due to their wearability and home-based potential, yet empirical research remains limited. This pilot study presents a fabric-based pneumatic soft glove, aiming to identify its potential and challenges in clinical practice by evaluating its effectiveness in assisting patients with severe brachial plexus injury (BPI). Methods: The glove integrates a thumb abduction actuator and four bidirectional fabric-based pneumatic actuators (FPAs) with asymmetric chambers for high output force. Sixteen healthy volunteers and five individuals with BPI, all of whom lacked active hand and wrist movements, were recruited. Participants performed object grasping across 25 cm. The healthy group performed seven tasks using objects weighing up to 2 kg, with muscle activities recorded for analysis. The BPI group further performed tasks with eight objects from the action research arm test (ARAT) and twelve objects for activities of daily living (ADLs), encompassing various sizes, weights, and geometries. Results: In the healthy group, sEMG showed a decrease in 89.3% of trials, with 56.0% of these decreases being significant (p © 1964-2012 IEEE.

关键词： Pneumatic actuators

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The Autonomous Pipeline Navigation of a Cockroach Bio-Robot with Enhanced Walking Stimuli

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Cyborg and Bionic systems 2023年第1期4卷 47-55页

作者： Songsong Ma Yuansheng Chen Songlin Yang Shen Liu Lingqi Tang Bing Li Yao Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of TechnologyShenzhenChina School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhenChina The Biorobotics Institute Scuola Superiore Sant'AnnaPisaItaly

Tens of crawling bio-robots with cockroaches as the mobile platform have been developed with various *** with artificial crawling robots of the same size,they revealed better flexibility,larger payload,and stronger *** features made bio-robots ideal for pipeline inspection scenarios because the advancements in locomotion mechanisms and efficient power systems are still hurdles for current artificial *** this study,we controlled the bio-robot to crawl in the confined dark pipeline and achieved autonomous motion control with the help of an onboard sensing ***,a micro-camera was mounted on the electronic backpack of the cockroach for image collection,and an IMU sensor was used to compute its body *** electronic backpack transmitted images to the host computer for junction recognition and distance ***,the insect's habituation to electrical stimulation has long been an uncertain factor in the control of ***,a synergistic stimulation strategy was proposed to markedly reduce the habituation and increase the number of effective turning controls to over 100 *** is also found that both the increase of payload and the application of stimulations could promote the metabolic rate by monitoring carbon dioxide *** the integration of synergistic stimulation and autonomous control,we demonstrated the fully autonomous pipeline navigation with our cockroach bio-robot,which realized the cycle number of approximately 10 in a *** research provides a novel technology that has the potential for practical applications in the future.

关键词： robot artificial Robot

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Optimized Design of A Haptic Unit for Vibrotactile Amplitude Modulation

arXiv

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arXiv 2024年

作者： Huang, Jingchen Fang, Yun Guo, Weichao Sheng, Xinjun The State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering The Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

关键词： Virtual reality

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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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国家科学评论（英文版） 2023年第5期10卷 32-52页

作者： Ning Jiang Chen Chen Jiayuan He Jianjun Meng Lizhi Pan Shiyong Su Xiangyang Zhu National Clinical Research Center for Geriatrics West China Hospitaland Med-X Center for ManufacturingSichuan UniversityChengdu 610041China State Key Laboratory of Mechanical System and Vibration and Institute of RoboticsShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical EngineeringTianjin UniversityTianjin 300350China Institute of Neuroscience Université Catholique LouvainBrussel B-1348Belgium

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.

关键词： electromyography prosthetic control sensory feedback EMG decomposition robustness deep learning

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Design of an Acupuncture Robot with Vision-Guided Positioning and Force Compliance Control 6

Design of an Acupuncture Robot with Vision-Guided Positionin...

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6th International Symposium on robotics and Intelligent Manufacturing Technology, ISRIMT 2024

作者： Chen, Zhengtao Li, Bochen Feng, Yanhao Chen, Genliang Wang, Hao Shanghai Jiao Tong University Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China Shanghai Jiao Tong University State Key Laboratory of Mechanical Systems and Vibration Shanghai China

ISBN: (纸本)9798331528942

Acupuncture is a classic treatment method in traditional Chinese medicine. At present, it mainly relies on experienced doctors for manual treatment. The inheritance of skills and the guarantee of treatment effects require lots of training to guarantee, which is far from meeting needs. In this paper, an acupuncture robot system was designed to ensure the accuracy of acupoint positioning and safety during needle insertion, making robot-assisted acupuncture treatment a feasible alternative. The acupuncture robot has an acupoint marking and visual guidance system. According to the location of the acupoints accurately marked by the doctor on the patient's 3D reconstructed model, the robot is accurately guided to perform acupuncture treatment. The positioning error of this system is within 1.5mm, which meets the needs of acupuncture. In addition, a terminal needle-punching manipulator with compliant needle insertion force control, needle insertion depth feedback, and continuous needle insertion functions is designed. Through the closed-loop control of the needle-punching manipulator, the safety and accuracy of the acupuncture robot are fully guaranteed. Finally, an acupuncture experiment was designed to verify the accuracy and safety of the acupuncture robot. © 2024 IEEE.

关键词： Acupuncture

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A High-Speed Centerline Extraction Method for Multiple Laser Stripe based on Hessian Matrix

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Procedia Computer Science 2024年 250卷 235-243页

作者： Juntian Shi Weichao Guo Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China

Laser centerline extraction is a critical step in the machine vision-aided measurement process, especially in the field of aerospace drilling and riveting. We propose a novel and efficient algorithm for the extraction of multiple laser centerlines, which consists of three major parts: laser linewidth estimation, ROI (Region of Interest) extraction, and precise positioning. In the linewidth estimation part, a method based on second-order moment is used to estimate the linewidth, and the scanning frame to linewidth ratio is adopted as the convergence condition to achieve a stable estimation result. In the ROI extraction part, we use a scanning frame to perform raster scanning on the entire image, and calculate the feature function threshold based on the sampling and grayscale volume method to complete ROI extraction. In the precise positioning part, we employ an improved method based on the Hessian matrix to reduce computation time, and use a λ filtering method to eliminate noise. Finally, the K-means method is used to classify the center points belonging to different laser centerlines, and RANSAC is utilized to perform line fitting. The final results demonstrate that the proposed algorithm has certain improvements in accuracy and also exhibits high computational efficiency.

关键词： Manufacturing Laser centerline extraction Hessian matrix

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