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COMPENSATION OF THE COUPLED vibration AND VISCOELASTIC NONLINEARITY OF DIELECTRIC ELASTOMER ACTUATORS THROUGH CLOSED-LOOP INPUT SHAPER AND DIRECT INVERSE HYSTERESIS CONTROL 1

COMPENSATION OF THE COUPLED VIBRATION AND VISCOELASTIC NONLI...

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1st International Conference on mechanical system Dynamics, ICMSD 2022

作者： Zou, Jiang Gu, Guoying Zhu, Xiangyang State Key Laboratory of Mechanical System and Vibration The Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University 800 Dongchuan Road Minhan Distinct Shanghai China

ISBN: (数字)9781839537837

ISBN: (纸本)9781839537837

In this work, we present a control approach to remove the coupled vibration and viscoelastic nonlinearity of DEAs. To this end, we firstly characterize the dynamical responses of DEAs, demonstrating complex nonlinearities, including vibration, viscoelastic creep and hysteresis nonlinearities. Then, a closed-loop input shaper is designed to remove the vibration phenomenon and viscoelastic creep nonlinearity. Finally, based on a phenomenological hysteresis model, a direct inverse hysteresis controller is further developed to eliminate the viscoelastic hysteresis nonlinearity of the compensated system. To verify the effectiveness of the proposed control approach, several static and periodical trajectories tracking experiments are conducted. The experimental results demonstrate that: with our control approach, DEA can precisely track sinusoidal trajectories with different frequencies, and the maximum tracking error and the root mean square error decrease from 63.56% to 19.81% and 29.02% to 9.58%, respectively. This work is the early attempt to remove the coupled vibration and viscoelastic nonlinearity, which capable of improving the working bandwidth of DEAs and may pave the way for practical applications. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Hysteresis

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Tactile-Based Slip Detection Towards Robot Grasping 16th

Tactile-Based Slip Detection Towards Robot Grasping

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Gong, Yuru Xing, Yan Wu, Jianhua Xiong, Zhenhua State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Beijing Institute of Control Engineering Beijing100000 China

ISBN: (纸本)9789819964949

Precise grasp is a vital application in robot manipulation while real-time slip detection can help the control system to monitor grasp force and compensate for position deviation. However, commonly-used robots hardly have slip detection modules, and the lack of real-time slip information obstructs the robot from making timely force or position adjustments. This paper proposes a real-time slip detection method using 2D images and surface height maps provided by a tactile sensor. Marker-centered sub-height maps, which indicate the local tangential and normal deformation of the sensor surface, are compared based on fast normalized cross correlation (NCC). The object status is determined from the integration of all the local slips. The experiment validates the proposed method with the average classification accuracy of 88.89% for 21 daily objects in 90 grasp trials, including translational slip, rotational slip, and stable trials. Frame detection accuracy of 94.56% for slip frames and 98.81% for stable frames are achieved. The real-time capability of the algorithm is also tested. The proposed method demonstrates the feasibility of detecting slip using the dual-modal outputs from single tactile sensor which can be installed on robot grippers. Moreover, real-time classification results can be used to monitor force or position regulation strategies and assist precise manipulation, including assembly work and deformable objects operation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Robots

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Design and Development of a Composite Compliant Two-finger Gripper 16th

Design and Development of a Composite Compliant Two-finger G...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Guan, Tong Tang, Shujie Chen, Genliang Yan, Wei Luo, Junjie Wang, Hao State Key Laboratory of Mechanical Systems and Vibration Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789819964857

This paper proposes a composite compliant two-finger gripper for compliant assembly. During the interaction between grasped objects and the environment, objects can be stably grasped with rigid fingertips, and the flexible structure of the fingers can be passively deformed to achieve passive compliance. Additionally, flexible sensors installed on the finger can actively sense the deformation of the finger and calculate the environmental interaction force of the grasped object, thereby enabling the realization of active compliance. The prototype of the compliant gripper is developed using easily obtainable materials and simple manufacturing methods. Using the principal axes decomposition of the structural compliance method, the flexible beams of the finger are approximated as one hyper-redundant multi-body system. The kinetostatic model and sensing model of the compliant gripper are derived, and the Newton-Raphson method is used to obtain the equilibrium configuration of the flexible beams and the interaction force of the grasped object. A verification experiment demonstrates the validity of the proposed perception method in sensing the interaction force on the grasped object. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Grippers

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High-density Baropodometry Platform Based on Vision Based Tactile Sensing 46

High-density Baropodometry Platform Based on Vision Based Ta...

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46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2024

作者： Dong, Yueshi Ren, Jieji Zhang, Ningbin Zhao, Weijing Zhou, Jian Gu, Guoying Shanghai Jiao Tong University School of Mechanical Engineering The State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Department of Endocrinology and Metabolism Sixth People's Hospital Affiliated Shanghai Jiao Tong University School of Medicine Shanghai200240 China The Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9798350371499

Plantar pressure distribution measurement is significant for healthy monitoring and disease diagnosis. However, existing equipment lack of high-density resolution and may lead under-diagnosed of small abnormal regions. To address problem, we propose a special high resolution and low cost Baropodometry based on vision based tactile sensing (VBTS). Specially, we design a measurement platform with larger-scale sensing range (280 mm x 150 mm) and high-density resolution (440 ppi). To achieve the homogeneous illumination for the measure area, we also propose normally distributed light sources around the platform, and delicately adjust the incident angle to optimize the reconstruction performance. Besides, we design a example-based method to calibrate the platform and build a look-up table to reconstruct the plantar geometry from observed image. Experiments show the high lateral resolution that can discriminate the details ( © 2024 IEEE.

关键词： Barometers

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A Locust-Inspired Energy Storage Joint for Variable Jumping Trajectory Control 16th

A Locust-Inspired Energy Storage Joint for Variable Jumping ...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Yang, Yongzun Feng, Zhiyuan Jin, Cheng Tang, Lingqi Ma, Songsong Li, Yao School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China

ISBN: (纸本)9789819964949

Jumping is a good solution for small robots over obstacles. Most of the current jumping robots are not energy store adjustable due to the design of the energy storage elements and structures, which limits the effective working space of the robot. The locust is good at jumping. Thanks to the excellent structure of the hind legs, the locust can change the degree of compression of the simi-lunar process (SLP) and change the energy storage while maintaining the same jumping stance. Herein, we design a locust-inspired energy storage joint and verified its function on a jumping robot. The motors and wires were used to imitate the muscles and the torsion springs were used to imitate SLP. To accurately describe the energy stored, a static model of the torsion springs was developed. Furthermore, the number of motor revolutions and the stored energy value were also calculated and could be used for subsequent precise control. Six jumping experiments with different compression angles for torsion springs proved the feasibility of the static model. This locust-inspired energy storage joint is the basis for the next robot capable of the omnidirectional, continuous autonomous jumping. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Energy storage

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Optimal Design of Robust Wireless Power Transfer Links for Human-machine Interface *

Optimal Design of Robust Wireless Power Transfer Links for H...

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IEEE International Conference on robotics and Biomimetics

作者： Yujun Wu Yun Fang 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

Human-machine interfaces (HMIs) require minimal size and less interference to the users. Wireless and battery-free design of HMI devices can be promoted by wireless power transfer (WPT) technology. However, researchers often ignore the curvature of WPT coils. In addition, power transfer efficiency (PTE) and robustness to coil shifts are not both considered when designing WPT links. In this paper, a coaxial cylindrical coils model was presented to simulate curved coils, and several design parameters affecting robustness were investigated through electromagnetic and circuit simulation. We also proposed a novel method for designing WPT links that ensures both sufficient robustness and optimal PTE. Three sets of coils designed with the proposed method achieved an efficiency over 85% in the simulation and fulfilled the given robustness requirements at the same time. The coaxial cylindrical coils model and the proposed method were validated by experiments. A demonstration of the wireless powering of an HMI device was performed as well. In conclusion, this paper provided a guideline to model and design efficient and robust WPT coils in HMI applicaitions.

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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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IEEE International Conference on robotics and Biomimetics

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

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

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.

关键词： vibrations Solid modeling Virtual reality Amplitude modulation Robot sensing systems Motors Stability analysis Skin Haptic interfaces Spatiotemporal phenomena

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High-Precision Tracking Control of Modular Dielectric Elastomer Actuators Through Kalman Filter Base Self-Adaptive Direct Inverse Hysteresis Compensation

High-Precision Tracking Control of Modular Dielectric Elasto...

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International Conference on Control and Automation (ICCA)

作者： Bohao Xiao Guoying Gu Jiang Zou 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

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

This work proposes a Kalman filter based direct inverse hysteresis compensation approach for modularized dielectric elastomer actuators (DEAs) with rate-dependent viscoelasticity, mechanical vibration, and individual variation. To this end, we firstly investigate the dynamics of three modularized DEAs, including viscoelasticity, mechanical vibration, and their individual variation. Then, based on a rate-independent phenomenological hysteresis model, a direct inverse hysteresis compensation (DIHC) is established to eliminate the hysteresis effect. Further, a feedback controller is adopted to remove the creep and model uncertainty. Lastly, a Kalman filter is employed to automatically adjust the parameter of the DIHC, capable of achieving high-precision tracking control of modular DEAs within a wide frequency range. To verify the effectiveness of our control strategy, three modularized DEAs are employed to track periodical trajectories with different frequencies (in a range of 0.1Hz to 10Hz). The experimental results demonstrate that the Kalman filter based controller can fully eliminate the rate-dependent viscoelasticity, mechanical vibration, and individual difference, achieving high-precision tracking control of modular DEAs in a wide frequency range. The maximum error and root mean square error are reduced from 20.16% and 11.44% to 9.87% and 5.22%, respectively.

关键词： vibrations Uncertainty Creep Soft robotics Trajectory Kalman filters Root mean square

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Learn to Supervise: Deep Reinforcement Learning-Based Prototype Refinement for Few-Shot Motor Fault Diagnosis

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IEEE Transactions on Neural Networks and Learning systems 2024年第6期36卷 11428-11442页

作者： Pengcheng Xia Yixiang Huang Chengliang Liu Jie Liu State Key Laboratory of Mechanical System and Vibration and the MoE Key Laboratory of Artificial Intelligence AI Institute Shanghai Jiao Tong University Shanghai China Department of Mechanical and Aerospace Engineering Carleton University Ottawa ON Canada

Motor fault diagnosis is a fundamental aspect of ensuring the reliability of industrial equipment. However, industrial scenarios exhibit an inherent data scarcity problem, which imposes significant restrictions on the practical application of traditional deep learning-based intelligent fault diagnosis (IFD) methods. Typically, only a small volume of labeled data along with limited informative unlabeled data are available from industrial motors. Effectively utilizing informative unlabeled samples in the context of few-shot fault diagnosis poses a substantial challenge. In this article, a prototype refinement method for semi-supervised few-shot fault diagnosis based on deep reinforcement learning (DRL) is proposed. First, we propose to formalize a Markov decision process (MDP) of an iterative semi-supervised meta-learning strategy involving the selection of informative unlabeled samples and the refinement of category prototypes. Subsequently, we develop a mirror prototypical network (ProtoNet) structure for interaction with a DRL agent, which learns to adaptively select valuable samples to supervise the diagnosis process. Moreover, a state space involving feature embedding and category information is designed, and a comprehensive reward taking into account selection confidence, effectiveness, and representative is proposed. Extensive experiments on several motor experimental datasets verify the method’s effectiveness in few-shot diagnosis of unseen faults and new working conditions.

关键词： Fault diagnosis Motors Feature extraction Prototypes vibrations metalearning Rotors Training Measurement Few shot learning

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Design of a Force-Controlled End-Effector with Slender Flexible Beams 16th

Design of a Force-Controlled End-Effector with Slender Fl...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Chen, Yin Chen, Genliang Chai, Yuchen Wang, Hao Kong, Lingyu State Key Laboratory of Mechanical Systems and Vibration Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures Shanghai Jiao Tong University Shanghai200240 China Intelligent Robot Research Center Zhejiang Lab Hangzhou China

ISBN: (纸本)9789819965007

This paper proposes a force-controlled end-effector with slender flexible beams. On the one hand, it can actively control the deformation of slender flexible beams to output a constant force at the end-effector without using a force sensor. On the other hand, it serves as a passive compliant mechanism utilizing the large deformation characteristic of slender flexible beams to prevent structural damage. The kinetostatic modeling of the force-controlled end-effector has been derived to obtain the relationship between the output force and displacement. To conduct experimental tests, a prototype of the force-controlled end-effector has been fabricated. From the experimental results, it can be seen that the error of the force-controlled end-effector is within 0.5N. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Compliant mechanisms

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