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Evaluation of motor unit tracking across hand movements by combining high-density surface electromyography with ultrafast ultrasound

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Computers in Biology and Medicine 2025年 193卷 110325-110325页

作者： Yin, Zongtian Chen, Chen Meng, Jianjun Zhu, Xiangyang State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

Objective: Motor unit (MU) activities provide the primary output from the central nervous system to muscles, and have found wide applications in neurophysiological investigation and human-machine interface. However, the current decoding methods usually struggle with MU tracking across movements. A common compromise is comparing motor unit action potentials extracted from electromyography (EMG) signals, but this only considers electrical responses and requires further validation. This study aims to simultaneously collect EMG and ultrasound (US) signals, extracting both electrical and mechanical responses of MU discharges, to validate their feasibility for MU tracking across movements. Methods: Ten able-bodied subjects participated in experiments involving isometric contraction of six hand movements. High-density surface EMG signals and ultrafast US images were concurrently recorded from the forearm muscles. The EMG signals were decomposed into MU spike trains and the separation vectors were kept for MU decoding across movements. The three-dimensional activation zone of each MU, including the action potentials on the skin surface and the twitch area in the muscle cross-sections, was extracted to validate the tracking performance. Main results: On average, 37 ± 17 MUs were identified from each decomposition, of which 20±16,2±2, and 2 ± 1 MUs were successfully tracked based on action potential, twitch area, and both, respectively. Conclusion and Significance: These results demonstrate strong evidence for the feasibility of tracking MUs using pre-trained separation vectors, supported by both electrical and mechanical responses. In addition, the study provides a benchmark to track MU activities across hand movements, extending the potential applications of neural decoding in neurophysiological investigation and human-machine interfacing. © 2025 Elsevier Ltd

关键词： Blind source separation

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Accurate Prediction of Knee Joint Angles Using a Hybrid CNN-LSTM-Attention Network from Surface Electromyography

Accurate Prediction of Knee Joint Angles Using a Hybrid CNN-...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Wang, Zhuo Chen, Hui Yang, Fangliang Wang, Xiangyang Wu, Xinyu Chen, Chunjie Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781665481090

In various fields such as robotics, rehabilitation, biomechanics, human-machine interfaces, and clinical research, human motion prediction has extensive applications. A hybrid networks model based on Convolutional Neural Network-Long Short-Term Memory-Attention (CNN-LSTM-Attention) was employed in this paper to extract features from the high-dimensional space and time series of surface electromyography (sEMG) data for continuous prediction of knee angles. Five able-bodied subjects participated in the study, walking at a self-selected pace while six surface electromyography (sEMG) signals from muscles involved in knee flexion and extension, along with knee angles, were synchronously recorded. The performance was assessed using the root mean square error (RMSE), Pearson Correlation Coefficient (r), and coefficient of determination (R2) between estimated and measured knee joint angles. Compared to the CNN, LSTM, and CNN-LSTM algorithms, the adopted method estimated knee angles more accurately, achieving an average RMSE, ρ, and R2 of 3.09± 0.90,\ 0.9911 ± 0.0052, and 0.9817± 0.0108, respectively. As the advance time increased, the accuracy of knee joint angle estimation decreased, particularly when the advance time reached 100 ms, at which point the RMSE is 4.83 degress. In addition, the computing time of the prediction model was less than 1 ms, which was shorter than the advance time 100 ms it could predict, thereby facilitating real-time computation in practical environments. Compared to previous studies, the proposed method excelled at extracting features directly from raw signals, avoiding the need for handcrafted feature extraction. Consequently, the model effectively achieved continuous and accurate predictions of joint motion angles and demonstrated potential to reduce latency in the human-machine interface. © 2024 IEEE.

关键词： Clinical research

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Compliance while resisting: a shear-thickening fluid controller for physical human-robot interaction

arXiv

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arXiv 2025年

作者： Chen, Lu Chen, Lipeng Chen, Xiangchi Lu, Haojian Zheng, Yu Wu, Jun Wang, Yue Zhang, Zhengyou Xiong, Rong State Key Laboratory of Industrial Control Technology Zhejiang University Zhejiang Hangzhou China Tencent Robotics X Lab Shenzhen China

Physical human-robot interaction (pHRI) is widely needed in many fields, such as industrial manipulation, home services, and medical rehabilitation, and puts higher demands on the safety of robots. Due to the uncertainty of the working environment, the pHRI may receive unexpected impact interference, which affects the safety and smoothness of the task execution. The commonly used linear admittance control (L-AC) can cope well with high-frequency small-amplitude noise, but for medium-frequency high-intensity impact, the effect is not as good. Inspired by the solid-liquid phase change nature of shear-thickening fluid, we propose a Shear-thickening Fluid Control (SFC) that can achieve both an easy human-robot collaboration and resistance to impact interference. The SFC’s stability, passivity, and phase trajectory are analyzed in detail, the frequency and time domain properties are quantified, and parameter constraints in discrete control and coupled stability conditions are provided. We conducted simulations to compare the frequency and time domain characteristics of L-AC, nonlinear admittance controller (N-AC), and SFC, and validated their dynamic properties. In real-world experiments, we compared the performance of L-AC, N-AC, and SFC in both fixed and mobile manipulators. L-AC exhibits weak resistance to impact. N-AC can resist moderate impacts but not high-intensity ones, and may exhibit self-excited oscillations. In contrast, SFC demonstrated superior impact resistance and maintained stable collaboration, enhancing comfort in cooperative water delivery tasks. Additionally, a case study was conducted in a factory setting, further affirming the SFC’s capability in facilitating human-robot collaborative manipulation and underscoring its potential in industrial applications. Copyright © 2025, The Authors. All rights reserved.

关键词： Industrial robots

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Review of Research on Electric Vehicle V2G Schedule technology Under Multi Perspective 22

Review of Research on Electric Vehicle V2G Schedule Technolo...

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2022 Asia Conference on Electrical, Power and Computer Engineering, EPCE 2022

作者： Wu, Changlong Yu, Haoming Yang, Zhe Liu, Jie Sun, Tao Zhang, Qian State Grid Yantai Power Supply Company China State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing University China

ISBN: (纸本)9781450396127

Electric vehicles (EVs) are attracting wide attention because of its environment protection and energy saving. As an important controllable load, the large-scale of EV fleets connect will have negative effects on the grid without appropriate control. To solve the EV fleets schedule problem, this paper firstly analyzed the modeling approach of uncertainty of EVs, which will increase the accuracy of schedule plan. Then the latest researches are introduced from schedule objectives, methods and environments. Finally, the probably research directions in the future are analyzed. © 2022 ACM.

关键词： Electric vehicles

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Seasonal Prediction of Pre-Summer Clustered Heavy Precipitation Days in South China

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Journal of Tropical Meteorology 2025年第1期31卷 107-119页

作者： ZHI Yao HAN Ting-ting JIANG Shun-li WANG Hui-jun HAO Xin LI Shang-feng State Key Laboratory of Climate System Prediction and Risk Management/Key Laboratory of Meteorological Disaster Ministry of Education/Collaborative Innovation Center on Forecast and Evaluation of Meteorological DisastersNanjing University for Information Science and TechnologyNanjing 210044 China Nansen-Zhu International Research Centre Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029 China Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai) ZhuhaiGuangdong 519080 China Jilin Provincial Key Laboratory of Changbai Mountain Meteorology&Climate Change Laboratory of Research for Middle-High Latitude Circulation Systems and East Asian MonsoonInstitute of Meteorological Sciences of Jilin ProvinceChangchun 130062 China

Clustered heavy precipitation(CHP)events can severely impact human society,infrastructure,and natural ***,short-term climate prediction of CHP events is vital for the prevention and mitigation of associated *** year-to-year increment(DY)and multiple linear regression approaches,this study developed a seasonal prediction model for pre-summer(i.e.,May and June)CHP frequency in South China(SC)during 1981–*** robust predictor factors were identified:March sea surface temperature in Southwestern Atlantic,early-winter snow depth in East Europe,and winter soil moisture in Central *** predictors exert substantial impacts on presummer precipitation in SC via modulation of an anomalous anticyclone(cyclone)over the(subtropical)western North *** leave-one-out cross-validation test during 1981–2022,the prediction model exhibited reasonable performance in predicting the interannual and interdecadal variations and trends of CHP *** temporal correlation coefficient(TCC)was 0.66 between the observations and *** the independent hindcast for 2013–2022,the TCC was as high as ***,coherent covariations were observed between the frequency and the amounts of CHP,with a TCC of 0.99 for 1981–*** three predictors show good performance in forecasting CHP amounts over SC,with a TCC of 0.68 between the predictions and observations in the cross-validation test during 1981–2022 and of 0.86 in the independent hindcasts during 2013–***,the predictors also showed good predictive skill for years with high CHP occurrence(e.g.,1998 and 2019).The predicted high-incidence areas of heavy precipitation days were highly consistent with observations,with a pattern correlation coefficient of 0.44(0.55)for 1998(2019).This study provides valuable insights to improve seasonal prediction of pre-summer CHP frequency in SC.

关键词： seasonal prediction clustered heavy precipitation South China interannual increment

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Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mechanism 1

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

作者： Li, Chuanyang Qin, Zhongbao Hu, Changhua Liu, Rongqiang Liu, Ruiwei Song, Xiaoke PLA Rocket Force University of Engineering Xi’an710025 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China College of Naval Architecture and Ocean Engineering Guangzhou Maritime University GuangZhou510725 China School of Mechatronics and Vehicle Engineering East China Jiaotong University Nanchang330013 China

ISBN: (数字)9789811993985

ISBN: (纸本)9789811993978

The 3-R(SRS)RP multi-loop Mechanism is regarded as one module of a multi-stage manipulator for space manipulation operations, such as capturing free-flying objects. The mechanism has two rotational and one translational degrees of freedom, as well as includes coupled kinematic chains, which can be constructed to the modular system for space operation. The dynamics analysis of the mechanism is the basis of its structural design and actuation control. In this paper, the twist shaping matrix between the twists of links and the input rate array is derived by decoupling the mechanism and motion analysis. Based on the Newton–Euler equation, the dynamics model of the mechanism is established. the theoretical values of actuation power consumption on the certain motion modes is calculated via programming, then being compared with the simulation values obtained through ADAMS model. The results are basically consistent, which verifies the correctness of the dynamics analysis of the mechanical system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Dynamics

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Biofabrication of brain-like living tissue:structure to intelligence

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International Journal of Extreme Manufacturing 2025年第3期7卷 160-181页

作者： Ling Wang Sen Wang Yingjie Liu Bowen Zhang Zhaoyu Pan Luge Bai Siqi Yao Chenrui Zhang Huangfan Xie Jiankang He Dichen Li State Key Laboratory for Manufacturing System Engineering School of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710054People’s Republic of China National Medical Products Administration(NMPA)Key Laboratory for Research and Evaluation of Additive Manufacturing Medical Devices Xi’an Jiaotong UniversityXi’an 710054People’s Republic of China National Innovation Platform(Center)for Industry-Education Integration of Medical Technology Xi’an Jiaotong UniversityXi’an 710054People’s Republic of China Laboratory of Neurological Diseases and Brain Function The Affiliated HospitalSouthwest Medical UniversityLuzhou 646000People’s Republic of China Institute of Epigenetics and Brain Science Southwest Medical UniversityLuzhou 646000People’s Republic of China

Brain,the material foundation of human intelligence,is the most complex tissue in the human *** diseases are among the leading threats to human life,yet our understanding of their pathogenic mechanisms and drug development remains limited,largely due to the lack of accurate brain-like tissue models that replicate its complex structure and ***,constructing brain-like models—both in morphology and function—possesses significant scientific value for advancing brain science and pathological pharmacology research,representing the frontiers in the biomanufacturing *** review outlines the primary requirements and challenges in biomanufacturing brain-like tissue,addressing its complex structures,functions,and ***,the existing biomanufacturing technologies,strategies,and characteristics for brain-like models are depicted,and cutting-edge developments in biomanufacturing central neural repair prosthetics,brain development models,brain disease models,and brain-inspired biocomputing models are systematically ***,the paper concludes with future perspectives on the biomanufacturing of brain-like tissue transitioning from structural manufacturing to intelligent functioning.

关键词： biofabrication brain-like tissue multicellular printing nerve repair prostheses brain-inspired biocomputing pharmacopathological models

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Voltage Control for Black-Start Based on Energy Storage Station and Wind Farm 4

Voltage Control for Black-Start Based on Energy Storage Stat...

引用

4th International Conference on Intelligent Power and systems, ICIPS 2024

作者： Zhu, Yuanzhen Wei, Xinyu Li, Tianshu Chen, Yiheng Zhou, Ning Fang, Qiao Zhao, Kang Sun, Runjia State Grid Shandong Electric Power Company Electric Power Science Research Institute Shandong Smart Grid Technology Innovation Center Jinan China Key Laboratory of Power System Intelligent Dispatch and Control The Ministry of Education Jinan China

ISBN: (纸本)9798331532765

Energy storage station (ESS) and wind farm (WF) have the potential to serve as a black-start sources to accelerate the power system restoration after blackout. However, the voltage security problem when start the auxiliary machines of power plants limit their reliability as black-start sources. A voltage control method is proposed for ESS and WF combined black-start sources to improve the voltage security during black-start. Firstly, the black-start process based on grid-forming ESS and WF is presented, and the voltage control framework is established. Then, a predictive control method considering the impact of active power on voltage variations is proposed, in which different optimization modes are established to obtain the active and reactive control sequences for WF and ESS. Finally, black-start simulation with Matlab/Simulink demonstrate the proposed method can improve the voltage security level when starting auxiliary machines of power plants. © 2024 IEEE.

关键词： Predictive control systems

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Viscoplastic constitutive model of a nickel-based superalloy under multiaxial loading conditions

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Journal of Iron and Steel Research International 2021年第9期28卷 1190-1202页

作者： Wen-bin Jia Xin Li Zhi Chen Kai Zhao Lei Fang Key Laboratory of Aero-Engine Thermal Environment and Structure Ministry of Industry and Information TechnologyJiangsu Province Key Laboratory of Aerospace Power SystemState Key Laboratory of Mechanics and Control of Mechanical StructuresCollege of Energy and Power EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016JiangsuChina

Based on Chaboche constitutive model,a viscoplastic constitutive model of nickel-based alloy under multiaxial loading is proposed by introducing Lemaitre damage model and non-proportional hardening *** damage model can characterize the effect of microscopic defects on the fatigue behavior and non-proportional hardening factor is used to describe non-proportional hardening ***,the stress–strain hysteresis loops at room and high temperatures under different loading conditions are simulated by the proposed constitutive *** between experiments and simulations confirms that the proposed model can reasonably predict the fatigue behavior of nickel-based alloy under different multiaxial *** last,the fatigue life predictions under different multiaxial loadings are investigated,and comparison between experiments and simulations verifies the accuracy of the proposed model.

关键词： Nickel-based alloy Multiaxial loading Viscoplastic constitutive model Lemaitre damage model Non-proportional hardening factor

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A capacitor-type DC circuit breaker for offshore all-DC grids 4

A capacitor-type DC circuit breaker for offshore all-DC grid...

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4th International Conference on Energy, Power and Electrical Engineering, EPEE 2024

作者： Xu, Qianqian Liu, Qihui Cai, Xipeng Zhu, Yihua Luo, Chao North China Electric Power University State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources Beijing China National Energy Power Grid Technology R&d Centre Laboratory of Hvdc Electric Power Research Institute China Southern Power Grid Guangzhou China National Energy Power Grid Technology R&d Centre Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power System Laboratory of Hvdc Electric Power Research Institute China Southern Power Grid Guangzhou China

ISBN: (纸本)9798331518066

Full DC of offshore wind farms is the future development trend of large-scale offshore wind farms, however, the probability of DC line faults is high, and the use of DC circuit breakers can realise the fault ride-through of offshore full DC wind farms, improve the safe operation of the system during faults, and is one of the mainstream solutions to realise DC fault isolation. In this paper, a capacitive DC circuit breaker suitable for offshore full DC grid is proposed, which can effectively suppress the fault current by introducing a current limiting device. The topology and working principle of this circuit breaker are analysed, and the circuit breaker fault handling process is theoretically analysed. Finally, for the single-end equivalent system using capacitor-type DC circuit breaker, a simulation model is established in Matlab/Simulink software for verification, and the simulation results show that the proposed circuit breaker has a better current limiting effect and has the ability to isolate faults quickly. © 2024 IEEE.

关键词： Offshore wind farms

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