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Soft ionic-hydrogel electrodes for electroencephalography signal recording

Science China(Technological Sciences) 2021年第2期64卷 273-282页

作者： SHENG XinJun QIN Zhun XU HaiPeng SHU XiaoKang GU GuoYing ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Wet gel electrodes have been widely used for electroencephalography(EEG) signal recording, which generally causes skin abrasion and longer preparation time. In this paper, we present soft ionic-hydrogel based electrodes to overcome such *** order to conveniently measure the EEG signals, we design the claw-like and patch-like structures for robust connection between metal(Ag/Ag Cl) electrodes and skin scalps. Next, we experimentally show that the soft ionic-hydrogel based electrodes have similar performance with the conventional wet gel electrodes in terms of the short-circuit noise, electrical impedance, and skin-electrode contact impedance on unprepared human skin, significantly better than dry electrodes and water-based *** further perform the EEG measurements and steady-state visual evoked potentials(SSVEP) experiments with five subjects to verify the effectiveness of the soft ionic-hydrogel based electrodes. The experimental results demonstrate that our developed soft ionic-hydrogel electrodes can record high-quality EEG signals in a fast and clean way, being a compelling option for EEG-based brain-computer interfaces.

关键词： brain-computer interface EEG electrodes ionic hydrogel soft materials

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AEROENGINE remaining life prediction based on grey similarity multiscale matching 20

AEROENGINE remaining life prediction based on grey similarit...

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20th International Conference on Condition Monitoring and Asset Management, CM 2024

作者： Sun, Shilong Huang, Haodong Ding, Jian Lu, Wenjie Wang, Dong School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Shenzhen518055 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shanghai Jiao Tong University Shanghai200240 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9780903132848

In this paper, we address the challenge of predicting the remaining useful life (RUL) of aero-engines, which are critical components of aircraft that operate under increasingly extreme conditions as engine performance enhances. Ensuring the safety and reliability of these engines is paramount. To this end, we introduce a novel RUL prediction methodology that leverages grey similarity multiscale matching. This approach employs the robust capabilities of Long Short-Term Memory (LSTM) networks for processing time-series data. Specifically, an LSTM Stacked AutoEncoder (L-SAE) is designed to extract pivotal operational features of the engine, thereby delineating its degradation trajectory. Furthermore, the grey correlation analysis is utilized to assess the similarity between these degradation trajectories, which is complemented by a multi-time scale sliding window technique for enhanced similarity matching. Subsequently, kernel density estimation is applied to gauge the uncertainty associated with the prediction outcomes. The efficacy and superiority of our proposed method are demonstrated through the validation of the experiment study. Comparative analysis reveals that our method outperforms existing techniques in key evaluation metrics, underscoring its potential applicability to large-scale datasets. This validation not only confirms the method’s effectiveness but also its advantage in predicting the RUL of aero-engines with greater accuracy and reliability. © 2024 20th International Conference on Condition Monitoring and Asset Management, CM 2024. All rights reserved.

关键词： Long short-term memory

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Enhancing interaction performance of soft pneumatic-networks grippers by skeleton topology optimization

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Science China(Technological Sciences) 2021年第12期64卷 2709-2717页

作者： CHEN ShiTong WANG YuSheng LI DeChen CHEN FeiFei ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

The inherent compliance of soft materials imbues robots,generally referred to as soft robots,with particular advantages in producing adaptive and safe ***,the mainstream design paradigms of soft robots have been focused on pursuing large free motions only,usually at the expense of greatly decreased stiffness,leading to limited capability of withstanding external loads in interactive *** is a pressing need to incorporate the interaction specifications at the design stage to embody soft robots with not only proper deformability but equally importantly,considerable stiffness to perform complex tasks in practical ***,inspired by the dexterity of human hands,we propose a computational design framework for soft grippers with a focus on improving their interaction performance in power grasping or precision grasping *** design paradigm rests on attaching a relatively stiffer skeleton layer to the parametric pneumatic networks based actuator which is widely used due to the geometric advantage,and the skeleton layout is designed for customized interaction conditions by a level set based topology optimization *** expected,the optimized skeleton layouts exhibit specified structural features highly relevant to the predefined concentrated loads for precision grip or distributed loads for power grip,which physically implies the compromise between deformability and *** the interaction forces are difficult to measure in situ,we devise power and precision grasping scenarios and evaluate the critical actuation pressure of the object’s falling *** experiments qualitatively demonstrate the superiority of each specified *** work represents an initial step toward the rational design for interaction in soft robots.

关键词： soft robotics interaction grippers topology optimization

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Bidirectional Fluid-Solid Coupling Characteristics and Microgroove Design of Water-Lubricated Bearings for Underwater Robots Considering Deflected Load 5

Bidirectional Fluid-Solid Coupling Characteristics and Micro...

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5th International Symposium on robotics and Intelligent Manufacturing Technology, ISRIMT 2023

作者： Zheng, Shengyao Shi, Junjie Xu, Junjie Lv, Fangrui College of Mechanical and Electrical Engineering Hohai University Changzhou213200 China Shanghai Jiao Tong University Institute of Vibration Shock and Noise State Key Laboratory of Mechanical System and Vibration Shanghai200240 China

ISBN: (纸本)9798350316087

Water-lubricated bearings have the advantages of pollution-free, simple structure, corrosion resistant, impact resistant. Therefore, they are widely used in underwater robots. Due to the low-viscosity and low-speed of water-lubricated bearings, their load-carrying capacity is naturally weak. Meanwhile, the gravity of the propeller and other factors often cause the centerline of the journal to be no longer parallel to the centerline of the bearing hole. Thus, the journal is misaligned in the vertical plane, which further decreases the load-carrying capacity of the bearing. In order to improve the load-carrying capacity of misaligned water-lubricated bearings, the CFD method is used to consider the influence of liquid cavitation and fluid-structure coupling, the lubrication characteristics of water-lubricated bearings with microgrooves under deflected load for underwater robots are simulated. The effects of distribution parameters and structural parameters of microgrooves on bearing performance are analyzed. The simulation results show that under deflected load, the pressure of the water film is unevenly distributed along the axial direction, the pressure peak is near the journal downwarping end, and the load-carrying capacity is significantly decreased. When the microgroove is arranged near the convergence wedge close to the minimum film thickness, the load-carrying capacity increases. Geometric parameters of micro grooves affect the bearing load-carrying capacity. The load-carrying capacity decreases with the increase of microgroove depth 2hA;Compared with linear microgrooves, wedge microgrooves have a more obvious effect on improving the load-carrying capacity of bearings under deflected load. © 2023 IEEE.

关键词： Machine design

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Bionic Vibrotactile Feedback for Stiffness Recognition Towards the Pinch of a Prosthetic Hand

Bionic Vibrotactile Feedback for Stiffness Recognition Towar...

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

作者： Yun Fang Yujun Wu Weichao Guo Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

The prosthetic hand has access to abundant hand-object information with equipped sensors. Nevertheless, there is a gap between high-dimensional sensory signals and effective tactile feedback for functional tasks with intuitive strategies. Here, we proposed a bionic vibrotactile interface providing stiffness feedback during a prosthetic hand pinching. The compact and flexible device consisted of four independently addressable eccentric rotating mass (ERMs). We designed a bionic coding (BC) strategy referenced from the physiological state of the force applied on skin. The proposed interface was evaluated on ten subjects with perceptual experiments, and compared with two traditional coding methods, i.e., circular coding (CC) and intensity coding (IC). The experiment results showed that CC and IC were limited by ERM pitch and the number of patterns for absolute information identification. Behavioral and psycho-physiological assessments demonstrated the superiority of BC in terms of classification accuracy $({85.94}\% \pm\ {3.29}\%)$ and cognitive burden $({4.0167} \pm {1.6376})$ . Specifically, CC with a pitch of 50 mm achieved best performance $({95.47}\% \pm\ {3.57}\%)$ for four-stiffness recognition and performed similarly to BC in psychophysical evaluation, whereas this configuration was not favorable for wearability and extendability. Moreover, subjects indicated that BC was a more natural representation for stiffness which they preferred in practical applications. The outcomes of this study indicated that the proposed vibrotactile interface can be intuitively exploited by subjects for stiffness recognition, proving the potential for extended multi-finger configuration of high-dimensional information feedback.

关键词： Sockets Force Tactile sensors Biomechatronics Encoding Skin Physiology Sensors Object recognition Prosthetic hand

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An Efficient Planner for Dual-Arm Massage Robots in Constrained state

An Efficient Planner for Dual-Arm Massage Robots in Constrai...

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IEEE International Conference on robotics and Biomimetics

作者： Yuan Xu Wenxiao Wang Lechuan Zhou Weichao Guo Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Dual-arm massage robots necessitate reaching the massage pose along an optimal collision-free path in constrained state, where traditional path planning methods often exhibit inefficiency. This paper proposes a sampling-based planning algorithm that integrates lazy evaluation, transition testing, and bidirectional Rapidly-exploring Random Tree to reduce computational load, enhance planning efficiency, and improve the planner's ability to effectively explore the state space, avoid local minima, and converge to high-quality solutions. Comparative experiments conducted on a simulation platform across multiple algorithms have demonstrated the efficacy of the proposed planner, achieving a 95 % planning success rate within 1 second. The paths generated by the algorithm exhibit superior quality and enhanced consistency. In summary, the proposed algorithm is capable of producing asymptotically optimal, collision-free paths for a dual-arm massage robot.

关键词： Hands Simulated annealing Path planning Skin Planning Space exploration Computational efficiency Collision avoidance Optimization Testing

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Crosstalk-Free Dual-Mode Tactile Skin Based on 3D-Constrained Electric Field and Isolated Porous Iontronic Dielectric

Crosstalk-Free Dual-Mode Tactile Skin Based on 3D-Constraine...

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IEEE International Conference on robotics and Biomimetics

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

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Proximity-pressure dual-mode capacitive sensor is a novel sensing form to simultaneously detect distance and pressure information through a single device. In recent years, much effort has been devoted to improve its performance. However, it still suffers from robustness issues such as crosstalk and noise in practical applications. Electromagnetic coupling crosstalk caused by the outward electric fields as well as the response from unexpected directions also limit its distributed or array arrangements. In this regard, this paper proposes 3D-shielding structure as well as isolated iontronic dielectric designs to reduce the effects of electromagnetic/mechanical crosstalk. Through simulations and experiments, we demonstrate the effectiveness of the proposed design and optimise the structural parameters. The finally obtained sensing skin has an excellent crosstalk rejection ratio (15.68 dB, approximately three times improvement) while maintaining high response sensitivity.

关键词： Performance evaluation Sensitivity Crosstalk Robot sensing systems Skin Robustness Sensors Dielectrics Structural engineering Electric fields

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Multi-DoF Continuous Estimation for Wrist Torques Using Convolutional Neural Network

Multi-DoF Continuous Estimation for Wrist Torques Using Conv...

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IEEE International Conference on robotics and Biomimetics

作者： Yun Fang Yang Yu Weichao Guo Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Using surface electromyography (sEMG) signals for simultaneous and proportional control (SPC) is appealing for natural control in human-machine interaction (HMI). Introducing spatial information across sEMG channels in the decoding process provides a more complete approach than methods that focus only on time and frequency domain features. In this article, we proposed an sEMG-based model for thesi-multaneous estimation of two degree-of-freedom (DoF) wrist torques, namely, Pro-Sup and Fle-Ext. Specifically, the 8 × 24 channels sEMG signals were transformed into images, which further served as inputs in a 29-layer convolutional neural network to estimate multi-DoF wrist torques. To prove the superiority of the CNN-based model, comparisons with other regression methods were performed on eight healthy subjects and two amputees in terms of the determination coefficient (R2) and normalized root mean square error (nRMSE). The results demonstrated that the CNN-based model (CNN-WAF) outperformed two conventional regression methods on estimation accuracy (R2: 0.851 ± 0.024 for Pro-Sup and 0.863 ± 0.016 for Fle-Ext; nRMSE: 6.933% ± 0.872% for Pro-Sup and 6.830% ± 0.856% for Fle-Ext). The average filtering in data preprocessing greatly improves (p < 0.05) the smoothness and performance of the estimation (CNN-WOAF: R2: 0.837 ± 0.015 for Pro-Sup and 0.853 ± 0.021 for Fle-Ext; nRMSE: 7.487% ± 0.870% for Pro-Sup and 7.370% ± 0.866% for Fle-Ext). Overall, the outcomes of this study provide meaningful methods to utilize spatiotemporal information from sEMG signals for SPC in practical applications.

关键词： Wrist Accuracy Torque Filtering Data preprocessing Estimation Decoding Convolutional neural networks Robots Surface treatment

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Enhancing Household Service Robots with a Dual-Arm Mobile Manipulator and Multimodal Large Language Models

Enhancing Household Service Robots with a Dual-Arm Mobile Ma...

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IEEE International Conference on robotics and Biomimetics

作者： Yang Liu Yanchao Zhao Weichao Guo Xinjun Sheng Han Ding State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

This research aims to enhance the practicality of household service robots by integrating multimodal large language models (MLLMs). Utilizing a dual-arm mobile manipulator platform, our focus is on advancing autonomous mobile manipulation in home environments. By leveraging the advanced text understanding and visual processing capabilities inherent in MLLMs, the proposed system adeptly converts user dialogues and environmental visual inputs into precise robotic plans. Among the suite of tested models, GPT-4o mini and Gemini 1.5 flash perform exceptionally well in generating accurate robotic plans. These results underscore a significant enhancement in the robot's ability to manipulate objects within complex home environments, thereby contributing to more seamless human-robot interactions and markedly improved task execution. We anticipate that our findings will inspire future advances in the field of human-robot interaction for home robots.

关键词： Visualization Translation Service robots Target recognition Large language models Human-robot interaction Grasping Manipulators Software Plastics

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Contact Force Guidance Assembly towards Unknown-Shaped Dual Peg-in-Hole

Contact Force Guidance Assembly towards Unknown-Shaped Dual ...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Ninglong Jin Wei Du Jianhua Wu Zhenhua Xiong The School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Institute of Robotics Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

The automatic assembly of dual peg-in-hole often relies on the concrete CAD model, either explicitly or implicitly. However, especially in daily life, the shapes of pegs vary, and the robot cannot always obtain an accurate CAD model of the peg before performing the insertion task. Therefore, inspired by the force constraint during contact, we used contact force as the completion indicator of the assembly and proposed a novel two-stage assembly strategy for unknown-shaped dual peg-in-hole. Additionally, a variable remote compliance center method is employed to decouple the contact forces of two pegs and their adjustments. Three types of unidirectional movement modes—exploration, compliance, retention—are utilized to guide the peg to contact with the hole under large initial offsets. The performance of the proposed assembly strategy was evaluated through a series of experiments using various shapes of pegs. The results show that our method effectively completes arbitrary mixed-shaped dual peg-in-hole task under large initial offsets in terms of orientation error (>20°) and position error (>30mm) acorss all test cases.

关键词： Solid modeling Shape Force Process control Switches Robustness Assembly Admittance control Robots Oscillators

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