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Design of a Novel Macro-Micro Integrated Brain Surgery Robot Based on Modular Parallel Mechanisms

Chinese Journal of Mechanical Engineering 2024年第5期37卷 349-364页

作者： Hao Zheng Chenbo Liang Feng Gao Chenkun Qi Bingze He Renqiang Liu Longhai Chen State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200030China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai 200030China

The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise *** turn,this urges the design and development of novel surgical robots to possess higher precision,stability,and enhanced motion *** response to this practical demand,this paper introduces a macro-micro integrated medical brain surgery robot system based on the concept of modular PMs(parallel mechanisms),which have a total of 13 active DOFs(degrees of freedom).This system divides the motion process of brain surgery into a large-scale macro-motion space and a small-scale high-precision motion space for design and planning *** introduction of the design concept that combines multiple modular parallel sub-mechanisms has brought a significant level of decoupling characteristics to the mechanism itself.A comprehensive introduction and analysis of the surgical robot are provided,covering aspects such as design,kinematics,motion planning,and performance *** address the pose allocation and coordination of motion between the macro platform and the micro platform,a pose allocation algorithm based on the decoupling and non-decoupling characteristics in various dimensions of the macro-micro platform is *** designed measurement experiments have demonstrated that the repeatability in positioning accuracy of the macro and micro platform reaches the level of micron and submicron *** experiments of motion control and simulated brain electrode implantation validate the excellent performance and stability of the entire surgical robot *** research contributes innovative insights to the development of medical surgical robot systems,particularly in the domain of mechanism design.

关键词： Medical surgical robot Macro-micro integrated system Modular parallel mechanism High-precision robot

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Wearable one-handed keyboard using hydrogel-based mechanical sensors for human-machine interaction

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Journal of Materials Science & technology 2024年第34期201卷 130-138页

作者： Wen Li Shunxin Wu Meicun Kang Xiaobo Zhang Xiyang Zhong Hao Qiao Jinghan Chen Ping Wang Luqi Tao State Key Laboratory of Power Transmission Equipment&System Security and New Technology School of Electrical EngineeringChongqing UniversityChongqing 400044China

As the Internet of Things advances,gesture recognition emerges as a prominent domain in human-machine interaction(HMI).However,interactive wearables based on conductive hydrogels for individuals with single-arm functionality or disabilities remain ***,we devised a wearable one-handed keyboard with gesture recognition,employing machine learning algorithms and hydrogel-based mechanical sensors to boost ***(PAM/CMC/rGO)hydrogels are composed of polyacrylamide(PAM),sodium carboxymethyl cellulose(CMC),and reduced graphene oxide(rGO),which function as a strain,pressure sensor,and electrode *** PAM chains offer the gel’s elasticity by covalent cross-linking,while the biocompatible CMC improves the dispersion of rGO and promotes electromechanical *** rGO sheets into the polymer matrix facilitates cross-linking and generates supple-mentary conductive pathways,thereby augmenting the gel system’s elasticity,sensitivity,and *** hydrogel sensors include high sensitivity(gage factor(GF)=8.18,395.6%-551.96%)and superior pressure sensing capabilities(Sensitivity(S)=0.3116 kPa^(-1),0-9.82 kPa).Furthermore,we developed a wearable keyboard with up to 98.13%accuracy using convolutional neural networks and a custom data acquisition *** study establishes the groundwork for creating multifunctional gel sensors for intelligent machines,wearable devices,and brain-computer interfaces.

关键词： Gesture recognition Hydrogel Mechanical sensors Human-machine interaction

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Research on Robust Current Control Algorithm for Permanent Magnet Synchronous Motor Based on Extended state Observer 20

Research on Robust Current Control Algorithm for Permanent M...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Ding, Xiaofei Qi, Bin Zhang, Bowen Shahzad, Khuram Zhang, Songyuan Harbin Institute of Technology State Key Laboratory of Robotics and System 92 Xidazhi Street Harbin China

ISBN: (纸本)9798350320831

High-performance servo joints are the basis for quadruped robots to have excellent motion performance. The current loop is the innermost loop of the servo system, and its control effect on torque directly determines the control effect of the entire servo system. This paper proposes a robust current control algorithm for permanent magnet synchronous motors (PMSM) based on the extended state observer (ESO) to improve the performance of the current loop. Traditional predictive current control relies more on the accuracy of model parameters. This paper uses ESO to obtain unknown disturbances to reduce the dependence of control effects on model parameters. Simulation and experiments show that predictive current control has more excellent dynamic performance than PI control. After adding the ESO compensation link, the static error and oscillation of current caused by controller model parameter error are effectively eliminated, significantly reducing the dependence on model parameters and improving the robustness of the current loop in the servo system. © 2023 IEEE.

关键词： Error compensation

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Swarming magnetic photonic-crystal microrobots withon-the-fly visual pH detection and self-regulated drug delivery

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InfoMat 2023年第10期5卷 64-79页

作者： Zheng Yu Luolin Li Fangzhi Mou Shimin Yu Di Zhang Manyi Yang Qing Zhao Huiru Ma Wei Luo Tianlong Li Jianguo Guan State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and Engineering Wuhan University of TechnologyWuhanthe People's Republic of China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinthe People's Republic of China Wuhan Institute of Photochemistry and Technology Wuhanthe People's Republic of China

Swarming magnetic micro/nanorobots hold great promise for biomedical applications,but at present suffer from inferior capabilities to perceive and respond to chemical signals in local *** we demonstrate swarming magnetic photonic crystal microrobots(PC-bots)capable of sponta-neously performing on-the-fly visual pH detection and self regulated drug delivery by perceiving local pH *** magnetic PC-bots consist of pH-responsive hydrogel microspheres with encapsulated one-dimensional periodic assemblies of Fe3O4 *** programming extemnal rotating magnetic fields,they can self-organize into large swarms with much-enhanced collective velocity to actively find targets while shining bright“blinking”structural *** approaching the target with abnormal pH conditions(*** ulcerated superficial tumor lesion),the PC-bots can visualize local pH changes on the fly via pH-responsive structural colors,and realize self-regulated release of the loaded drugs by recognizing local *** work facilita tes the develop-ment of intelligent micro/nanorobots for active“motile-targeting”tumor diag-nosis and treatment.

关键词： collective behaviors drug delivery micro/nanorobots on-the-fly sensing responsivephotonic crystals

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A novel rotor dynamic balancing method based on blade tip clearance measurement without the once per revolution sensor

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Chinese Journal of Aeronautics 2025年第2期38卷 445-458页

作者： Weibo LI Weimin WANG Shuai ZHANG Jiale WANG Yulong LIN Tianqing LI Key Lab of Engine Health Monitoring-Control and Networking of Ministry of Education Beijing University of Chemical TechnologyBeijing 100029China State Key Laboratory of High-end Compressor and System Technology Beijing University of Chemical TechnologyBeijing 100029China

The existence of the aeroengine casing,limited monitoring points,and multi-fault characteristics make obtaining the rotor’s vibration transmission characteristics challenging,resulting in difficulties accurately identifying the rotor *** paper utilizes a high-frequency composite sensor to monitor the engine’s blade tip clearance(BTC)and extracts unbalanced information from BTC signals for rotor dynamic balancing,while avoiding the need for the once per revolution(OPR)***,the vibration characteristics of the rotor-blade system under multi-fault conditions are ***,based on BTC measurement,a none OPR method and an unbalance identification method are proposed,in which the radial vibration of the blade tip in the BTC signals at different speeds is extracted and operated in the time domain to obtain the rotor unbalanced vibration,the signal is reconstructed,and cross-correlation analysis is used to accurately identify the magnitude and phase of the unbalanced ***,a rotor test bench is utilized for experimental *** results reveal that the dynamic balancing method based on the BTC signal can more precisely identify the rotor unbalance than the traditional rotor dynamic balancing *** application of this technique will effectively improve engine health management and fault prediction.

关键词： Aeroengine Rotor unbalance Composite sensor None once per revolution Blade tip clearance Dynamic balancing

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Position-aware pushing and grasping synergy with deep reinforcement learning in clutter

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CAAI Transactions on Intelligence technology 2024年第3期9卷 738-755页

作者： Min Zhao Guoyu Zuo Shuangyue Yu Daoxiong Gong Zihao Wang Ouattara Sie Intelligent Robotics Laboratory Faculty of Information TechnologyBeijing University of TechnologyBeijingChina Beijing Key Laboratory of Computational Intelligence and Intelligent Systems BeijingChina Laboratory of Biomechatronics and Intelligent Robotics(BIRO) Department of Mechanical and Aerospace EngineeringNorth Carolina State UniversityRaleighNorth CarolinaUSA

The positional information of objects is crucial to enable robots to perform grasping and pushing manipulations in *** effectively perform grasping and pushing manipu-lations,robots need to perceive the position information of objects,including the co-ordinates and spatial relationship between objects(e.g.,proximity,adjacency).The authors propose an end-to-end position-aware deep Q-learning framework to achieve efficient collaborative pushing and grasping in ***,a pair of conjugate pushing and grasping attention modules are proposed to capture the position information of objects and generate high-quality affordance maps of operating positions with features of pushing and grasping *** addition,the authors propose an object isolation metric and clutter metric based on instance segmentation to measure the spatial re-lationships between objects in cluttered *** further enhance the perception capacity of position information of the objects,the authors associate the change in the object isolation metric and clutter metric in cluttered environment before and after performing the action with reward function.A series of experiments are carried out in simulation and real-world which indicate that the method improves sample efficiency,task completion rate,grasping success rate and action efficiency compared to state-of-the-art end-to-end *** that the authors’system can be robustly applied to real-world use and extended to novel *** material is available at https://***/NhG\_k5v3NnM}{https://***/NhG\_k5v3NnM.

关键词： deep learning deep neural networks intelligent robots

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Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional approach

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Frontiers of Mechanical Engineering 2022年第1期17卷 2-17页

作者： Zongwu XIE Xiaoyu ZHAO Zainan JIANG Haitao YANG Chongyang LI State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Robotic System Department Jiangsu Jitri-Hust Intelligent Equipment TechnologyWuxi 214000China

When free-floating space robots perform space tasks,the satellite base attitude is disturbed by the dynamic *** disturbance of the base orientation may affect the communication between the space robot and the control center on *** this paper,the enhanced bidirectional approach is proposed to plan the manipulator trajectory and eliminate the final base attitude variation.A novel acceleration level state equation for the nonholonomic problem is proposed,and a new intermediate variable-based Lyapunov function is derived and solved for smooth joint trajectory and restorable base *** the method,the state equation is first proposed for dual-arm robots with and without end constraints,and the system stability is analyzed to obtain the system *** input modification further increases the system stability and simplifies the calculation *** are carried out in the end,and the proposed method is validated in minimizing final base attitude change and trajectory ***,the minute internal force during the coordinated operation and the considerable computing efficiency increases the feasibility of the method during space tasks.

关键词： free-floating space robot dual arm coordinated operation base attitude restoration bidirectional approach

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Fabrication of a biomimetic controllable adhesive surface by ultraprecision multistep and layered scribing and casting molding

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Science China(Technological Sciences) 2021年第8期64卷 1814-1826页

作者： WANG Wei XIE ZongWu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

Wedge-shaped microstructures have the ability to reproduce the excellent adhesive properties of geckos’feet because of their unique anisotropic *** particular,the controllability of the wedge-shaped microstructures on adhesion is beneficial to the undisturbed grasp or the capture of space ***,the problem currently remains of how to process it efficiently and with high *** a strategy called ultraprecision multistep and layered scribing is proposed for the manufacture of the biomimetic controllable adhesive *** results show that the metal master mold prepared based on the manufacturing strategy has not only good surface topography but also high reliability and ***,the controllable adhesive surface of 1.96 cm2,fabricated by the proposed manufacturing strategy,has a normal adhesion of 1.012 N,and the corresponding shear friction and adhesion coefficient are 3.105 N and 4.82,***,the controllable adhesive surface has been shown to be approximately superhydrophobic and also to possess the properties of controllable adhesion and dynamic ***,after 250 adhesion-detachment cycles,the normal adhesion and shear friction only decrease by 5%and 3%,*** research realizes an environmentally friendly and efficient method by which to manufacture a durable metal mold for fabricating a biomimetic controllable adhesive surface,laying a foundation for its effective application in the adherence of space-floating targets.

关键词： continuous and tilted wedge-shaped microstructures biomimetic controllable adhesive surface ultraprecision multistep and layered scribing controllable adhesion dynamic adhesion

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Magnetic Actuated Shape-memory Helical Microswimmers with Programmable Recovery Behaviors

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Journal of Bionic Engineering 2021年第4期18卷 799-811页

作者： Fu Zhao Weibin Rong Lefeng Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Inspired by bacterial flagella in nature,magnetic helical microswimmer is an ideal model to perform complex task in a low Reynolds number *** Memory Polymers(SMPs)with desirable properties are considered as one of the most preferred options for the development of small-scale ***,fabricating and programming strategies are still ***,we report an approach to fabricate helical microswimmers based on thermoplastic SMP(polylactic acid).Melt-spun polylactic acid fibers containing magnetic particles were enwound to form helical *** shape recovery behaviors were programmed by annealing and *** forms of helical microswimmers(constant-helix-angle conical helix,constant-pitch conical helix,and straight helix)with controlled morphological parameters were *** obtained microswimmers showed 3D locomotion capability under rotating magnetic *** maximum swimming velocity of microswimmers was nearly six body lengths per second,and the near-wall swimming of conical helixes along their sharp end exhibited a smaller ***,we demonstrated programmed shape-switching processes(spring-like contraction and elongation,coiling and uncoiling)and self-repairing of the *** demonstrations of potential applications,tasks of mobile microstent,cargo delivery,and minimally invasive injection were carried *** multifunctional shape-memory microswimmers have immense potential in a variety of applications.

关键词： helical microrobot magnetic actuation Shape Memory Polymer(SMP) polylactic acid magnetic particles

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A noncontact robot demonstration method with human supervision

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Science China(Technological Sciences) 2021年第11期64卷 2360-2372页

作者： ZHANG Qi XIE ZongWu LIU Yang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

The widely used kinesthetic demonstration method of dragging robotic manipulators cannot obtain reliable information for autonomous robot manipulation because an additional external force rather than pure contact force will be reflected on the force sensor in end-constrained manipulation tasks. Therefore, a noncontact robot demonstration method with human supervision is proposed to avoid external influence. A human demonstrator sends motion commands by mouse and observes force data reflected in a monitor to protect the robotic manipulator. Simultaneously, the human demonstrator supervises the positionorientation relationship between the end-effector and the manipulated object. The wrench insertion task is adopted to illustrate the advantage of the proposed method. A contact model is established according to demonstration data acquired from the proposed demonstration method, and an orientation adjustment strategy is verified. The strategy verification experiment illustrates not only the effectiveness of the simplified contact model and corresponding strategy but also the advantage of the proposed demonstration method.

关键词： Robot demonstration contact model orientation adjustment

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