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Hybrid Static-dynamic Sensation Electrotactile Feedback for Hand Prosthesis Tactile and Proprioception Feedback

Journal of Bionic Engineering 2023年第1期20卷 267-277页

作者： Bin Yang Li Jiang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

Tactile and proprioception feedback are essential to myoelectric hand prostheses control for regaining functionality of lost hands of *** studies focus on tactile feedback,while the lack of appropriate multisensory feedback,especially proprioception feedback,limits the grasping ***,a typical non-invasive stimulation scheme for sensation feedback uses stimulation on the stationary site of the skin continuously,which can lead to fatigue and adaptation of sensation,further reduces the feedback consistency,and increases the cognitive burden for the *** the sensitivity and modality matching of sensation,this study presented a multimodal sensations feedback scheme based on hybrid static-dynamic sensation elicited by multisite Transcutaneous Electrical Nerve Stimulation(TENS)to deliver grasping force and joint position *** the proposed scheme,stimulation of single electrode produced only in-loco tactile sensation under the electrode,and the sensation intensity was adjusted according to grasping force;sequential activation of multi-electrodes produced an illusion dynamic sensation of a stimulus moving,and the velocity and direction of movement were adjusted according to finger joint *** test results demonstrated the identifiability of stimulus in the proposed ***,prosthetic hand closed-loop grasping tasks evaluate the effectiveness of the proposed feedback *** results showed that the proposed feedback scheme could substantially improve the grasping accuracy and *** addition,the study outcomes also demonstrated the benefit of artificial proprioception feedback in grasping rapidity and security.

关键词： TENS-Prosthetic hand control-Bioinspired sensation-Multimodal sensations Proprioception feedback Tactilefeedback Myoelectric control

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Multi-modal Bionic Motion Analysis of A Cpg-controlled Pneumatic Soft Robot

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Journal of Bionic Engineering 2024年第5期21卷 2247-2257页

作者： Yu Zhang Peiyu Huang Dongjie Li Jiangyu Zhou Yu Li Bo You Yanhe Zhu Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China

This paper designs a soft robot with a multi-chamber,multi-airbag mimicking soft biological structure,where the airbags of the same chamber are interconnected with each *** upper and lower chambers are separated by an intermediate layer(thin plate),which is extended and widened to achieve robot movement and *** applying pressure to the different chambers of the soft robot,it is possible to produce a variety of bionic movements of the inchworm and *** to the strong nonlinearity and infinite number of degrees of freedom properties of the material,it is impossible to obtain the analytical solution of the bending morphology and pressure of the soft robot ***,a method to establish a mathematical model of soft robot deformation based on the classical stacked plate theory is proposed,and a chain composite model of soft robot bending motion is established based on the large-deflection modeling *** paper proposes a method to generate a multi-mode soft robot motion control based on the Central Pattern Generator(CPG)using a single controller,which achieves the switching of sine wave-like patterns,half-wave-like patterns,and dragging patterns by adjust-ing frequency,amplitude and period of ***,a pneumatic control platform is built for the validation of the theoretical model and different experimental models of the motion of the *** comparation of the different motion modes of the soft robot under similar non-load and load conditions.

关键词： Soft robot Bionic multi-modal movement Laminated plate theory CPG control

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Light weight design and integrated method for manufacturing hydraulic wheel-legged robots

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第9期25卷 701-715页

作者： Xu LI Haoyang YU Huaizhi ZONG Haibo FENG Yili FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China

Design and manufacturing play pivotal roles in hydraulic-driven robotic ***,previous studies have emphasized mainly results and performance,often overlooking the specifics of the design and manufacturing *** paper introduces a novel approach known as light weight design and integrated manufacturing(LD&IM)for hydraulic wheel-legged *** LD&IM method leverages topology optimization and generative design techniques to achieve a substantial 45%weight reduction,enhancing the robot’s dynamic motion *** innovative design method not only streamlines the design process but also upholds the crucial attributes of light weight construction and high strength essential for hydraulic wheel-legged ***,the integrated manufacturing method,incorporating selective laser melting(SLM)and high-precision subtractive manufacturing(SM)processes,expedites the fabrication of high-quality *** the LD&IM approach,a hydraulic-driven single wheel-legged robot,denoted as WLR-IV,has been successfully *** robot boasts low mass and inertia,high strength,and a simplified component *** assess its dynamic jumping capabilities,the control loop integrates a linear quadratic regulator(LQR)and zero dynamic-based controller,while trajectory planning uses the spring-loaded inverted pendulum(SLIP)*** jumping results confirm the WLR-IV single-legged robot’s exceptional dynamic performance,validating both the effectiveness of the LD&IM method and the rationale behind the control strategy.

关键词： Wheel-legged robot Hydraulic driven Topology optimization Wheel-legged robot Hydraulic driven Topology optimization Additive manufacturing(AM) Jump control

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Contact Force Optimization to Enhance Fault-tolerant Motion Stability of a Hexapod Robot

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Journal of Bionic Engineering 2024年第5期21卷 2199-2214页

作者： Bo You Shangdong Shi Chen Chen Jiayu Li Nan Li Liang Ding The Key Laboratory of Intelligent Technology for Cutting and Manufacturing Ministry of Education and the Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs *** proposed approach aims to improve the Force Angle Stability Margin(FASM)and adapt the foot trajectory through contact force optimization to achieve safe and stable motion on various *** foot force optimization approach is designed to optimize the FASM,a factor rarely considered in existing contact force optimization *** formulating the problem of enhancing the motion stability of the hexapod robot as a Quadratic Programming(QP)optimization problem,this approach can effectively address this *** of a hexapod robot using a fault-tolerant gait,along with real field experiments,were conducted to validate the effectiveness and feasibility of the contact force optimization *** results demonstrate that this approach can be used to design a motion controller for a hexapod robot with a significantly improved motion *** summary,the proposed contact force optimization method offers a promising solution for enhancing the motion stability of hexapod robots with single leg failures and has the potential to significantly advance the development of fault-tolerant hexapod robots for various applications.

关键词： Hexapod robot Fault-tolerant Stability margin Contact force optimization

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A 3-DOF piezoelectric robot with continuous walking gait aiming at cross-scale smooth motion

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Science China(Technological Sciences) 2023年第1期66卷 233-242页

作者： YU HongPeng LIU YingXiang DENG Jie ZHANG ShiJing CHEN WeiShan State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 15000lChina

Piezoelectric robots play important roles in the field of micromanipulation, but it is difficult for them to generate steady precision motion at any moment. In order to eliminate the changing inertial force and improve the motion smoothness, this work proposes a piezoelectric robot with continuous walking gait inspired by ants. The idea is verified with theoretical models and numerical simulation, and the performances are evaluated with experiments. The robot is proven to have the ability to generate 3-DOF(dgeree of freedom) continuous smooth motions with constant speeds. The maximum and minimum smooth velocities have a difference of six orders of magnitude, realizing cross-scale velocity control. Besides, the motion resolution reaches several nanometers with the unlimited workspace, so the cross-scale displacement control can be also obtained. Furthermore, with great robustness against varying loads, the stable actuation capability of the robot is more than 22 times of the self-weight. To sum up,the proposed robot generates cross-scale smooth motion in both aspects of displacement and velocity, so it has good prospects in the applications requiring steady precision motion. The design philosophy and research methods in this work can be valuable references for further advances of micromanipulation robots.

关键词： piezoelectric robot continuous walking gait cross-scale displacement cross-scale velocity smooth motion constant speed

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A Climbing Robot for Tube-Sheet Inspection Based on Planar Parallel Mechanisms

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IEEE robotics and Automation Letters 2025年第7期10卷 6752-6759页

作者： Zhang, Kuan Fan, Jizhuang Xu, Tian Zhang, Xuehe Lin, Jinghan Yu, Xuan Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

This paper introduces a novel climbing robot for tube-sheet inspection (CRTI) that uses inner wall grippers (IWGs) to grasp tubes, enabling it to hang and crawl beneath the tube-sheet plane. The robot is designed primarily for inspecting steam generators in nuclear power plants. The CRTI based on a planar parallel mechanism is proposed, with its workspace optimized through the solution space method to address the limitations of existing systems in adaptability, load capacity, and efficiency. A modular IWG based on a wedge mechanism is introduced, featuring a load capacity exceeding 100 kg without damaging tubes, with its configuration optimized through a geometric method to enable insertion into smaller apertures. Furthermore, a forward kinematic solution method for parallel robots based on coordinate transformation is proposed, providing a unique analytical solution for the forward kinematics of all parallel configurations of this CRTI. The performance evaluation, which is grounded in singularity analysis and typical experiments, reveals that the proposed CRTI offers high efficiency, substantial load capacity, and exceptional adaptability, indicating its significant potential for future applications. © 2025 IEEE.

关键词： Grippers

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High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in a steam generator

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Frontiers of Mechanical Engineering 2023年第2期18卷 161-175页

作者： Biying XU Xuehe ZHANG Yue OU Kuan ZHANG Zhenming XING Hegao CAI Jie ZHAO Jizhuang FAN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Many heat transfer tubes are distributed on the tube plates of a steam generator that requires periodic inspection by *** inspection robots are usually involved in issues:Robots with manipulators need complicated installation due to their fixed base;tube mobile robots suffer from low running efficiency because of their structural *** there are thousands of tubes to be checked,task planning is essential to guarantee the precise,orderly,and efficient inspection *** in-service robots check the task tubes using row-by-row and column-bycolumn *** leads to unnecessary inspections,resulting in a long shutdown and affecting the regular operation of a nuclear power ***,this paper introduces the structure and control system of a dexterous robot and proposes a task planning *** method proceeds into three steps:task allocation,base position search,and sequence *** allocate the task regions,this method calculates the tool work matrix and proposes a criterion to evaluate a *** then all tasks contained in the sub-region are considered globally to search the base ***,we apply an improved ant colony algorithm for base sequence planning and determine the inspection orders according to the planned *** validated the optimized algorithm by conducting task planning experiments using our robot on a tube *** results show that the proposed method can accomplish full task coverage with few repetitive or redundant inspections and it increases the efficiency by 33.31% compared to the traditional planning algorithms.

关键词： steam generator transfer tubes mobile robot dexterous structure task planning efficient inspection

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Hemispherical resonator with low subsurface damage machined by small ball-end fine diamond grinding wheel:A novel grinding technique

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Chinese Journal of Aeronautics 2024年第5期37卷 570-585页

作者： Biao QIN Henan LIU Jian CHENG Jinchuan TIAN Jiangang SUN Zihan ZHOU Chuanzhen MA Mingjun CHEN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

As for the ultra-precision grinding of the hemispherical fused silica resonator,due to the hard and brittle nature of fused silica,subsurface damage(SSD)is easily generated,which enormously influences the performance of such ***,ultra-precision grinding experiments are carried out to investigate the surface/subsurface quality of the hemispherical resonator machined by the small ball-end fine diamond grinding *** influence of grinding parameters on the surface roughness(SR)and SSD depth of fused silica samples is then *** experimental results indicate that the SR and SSD depth decreased with the increase of grinding speed and the decrease of feed rate and grinding *** addition,based on the material strain rate and the maximum undeformed chip thickness,the effect of grinding parameters on the subsurface damage mechanism of fused silica samples is ***,a multi-step ultra-precision grinding technique of the hemispherical resonator is proposed based on the interaction influence between grinding depth and feed ***,the hemispherical resonator is processed by the proposed grinding technique,and the SR is improved from 454.328 nm to 110.449 nm while the SSD depth is reduced by 94%from 40μm to 2.379μ*** multi-step grinding technique proposed in this paper can guide the fabrication of the hemispherical resonator.

关键词： Fused silica Ultra-precision grinding Hemispherical resonator Subsurface damage Grinding technique

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Bionic Jumping of Humanoid Robot via Online Centroid Trajectory Optimization and High Dynamic Motion Controller

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Journal of Bionic Engineering 2024年第6期21卷 2759-2778页

作者： Xiangji Wang Wei Guo Zhicheng He Rongchao Li Fusheng Zha Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China Faculty of Computing Harbin Institute of Technology(HIT)Harbin150001China

The dynamic motion capability of humanoid robots is a key indicator for evaluating their ***,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adaptability in unstructured ***,achieving high-dynamic jumping control of humanoid robots has become a challenge due to the high degree of freedom and strongly coupled dynamic *** idea for this paper originated from the human response process to jumping commands,aiming to achieve online trajectory optimization and jumping motion control of humanoid ***,we employ nonlinear optimization in combination with the Single Rigid Body Model(SRBM)to generate a robot’s Center of Mass(CoM)trajectory that complies with physical constraints and minimizes the angular momentum of the ***,a Model Predictive Controller(MPC)is designed to track and control the CoM trajectory,obtaining the required contact forces at the robot’s ***,a Whole-Body Controller(WBC)is used to generate full-body joint motion trajectories and driving torques,based on the prioritized sequence of tasks designed for the jumping *** control framework proposed in this paper considers the dynamic characteristics of the robot’s jumping process,with a focus on improving the real-time performance of trajectory optimization and the robustness of *** and experimental results demonstrate that our robot successfully executed high jump motions,long jump motions and continuous jump motions under complex working conditions.

关键词： Humanoid robots Jumping motion control Centroid trajectory optimization Optimization and optimal control

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Understand anisotropy dependence of damage evolution and material removal during nanoscratch of MgF_(2) single crystals

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International Journal of Extreme Manufacturing 2023年第1期5卷 236-252页

作者： Chen Li Yinchuan Piao Feihu Zhang Yong Zhang Yuxiu Hu Yongfei Wang State Key Laboratory of Robotics and System(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China

To understand the anisotropy dependence of the damage evolution and material removal during the machining process of MgF_(2) single crystals,nanoscratch tests of MgF_(2) single crystals with different crystal planes and directions were systematically performed,and surface morphologies of the scratched grooves under different conditions were *** experimental results indicated that anisotropy considerably affected the damage evolution in the machining process of MgF_(2) single crystals.A stress field model induced by the scratch was developed by considering the anisotropy,which indicated that during the loading process,median cracks induced by the tensile stress initiated and propagated at the front of the *** cracks induced by tensile stress initiated and propagated on the subsurface during the unloading *** addition,surface radial cracks induced by the tensile stress were easily generated during the unloading *** stress change led to the deflection of the propagation direction of lateral ***,the lateral cracks propagated to the workpiece surface,resulting in brittle removal in the form of chunk *** plastic deformation parameter indicated that the more the slip systems were activated,the more easily the plastic deformation *** cleavage fracture parameter indicated that the cracks propagated along the activated cleavage planes,and the brittle chunk removal was owing to the subsurface cleavage cracks propagating to the crystal *** the same processing parameters,the scratch of the(001)crystal plane along the[100]crystal-orientation was found to be the most conducive to achieving plastic machining of MgF_(2) single *** theoretical results agreed well with the experimental results,which will not only enhance the understanding of the anisotropy dependence of the damage evolution and removal process during the machining of MgF_(2) crystals,but also provide a theoretical foundation for achiev

关键词： anisotropy dependence damage evolution stress field crack propagation nanoscratch MgF_(2)single crystal

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