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Mechanical design,modeling,and identification for a novel antagonistic variable stiffness dexterous finger

Frontiers of Mechanical Engineering 2022年第3期17卷 59-74页

作者： Handong HU Yiwei LIU Zongwu XIE Jianfeng YAO Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous finger mechanism to improve the safety of dexterous hand in unpredictable environments,such as unstructured or man-made operational errors through comprehensive consideration of cost,accuracy,manufacturing,and *** on the concept of mechanical passive compliance,which is widely implemented in robots for interactions,a finger is dedicated to improving mechanical *** finger mechanism not only achieves passive compliance against physical impacts,but also implements the variable stiffness actuator principle in a compact finger without adding supererogatory *** achieves finger stiffness adjustability according to the biologically inspired stiffness variation principle of discarding some mobilities to adjust *** mechanical design of the finger and its stiffness adjusting methods are *** stiffness characteristics of the finger joint and the actuation unit are *** results of the finger joint stiffness identification and finger impact tests under different finger stiffness presets are provided to verify the validity of the *** have been experimentally proven to be robust against physical ***,the experimental part verifies that fingers have good power,grasping,and manipulation performance.

关键词： multifingered hand mechanism design robot safety variable stiffness actuator

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state estimation for delayed switched positive systems: delayed radius approach

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Science China(Information Sciences) 2024年第8期67卷 190-205页

作者： Weizhong CHEN Zhongyang FEI Xudong ZHAO Zheng-Guang WU School of Electronics and Information Xi'an Polytechnic University Research Institute of Intelligent Control and Systems Harbin Institute of Technology Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology School of Control Science and Engineering Dalian University of Technology State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University

In this paper, an interval estimation scheme is developed for delayed switched positive systems（DSPS） with mode-dependent average dwell time switching. A lossless zonotopic estimation approach is proposed for the delayed intersection zonotope with the positive generator matrix. First, considering the existence of asynchronism between the system mode and the correction matrix mode, the mismatched intersection zonotope is constructed for DSPS to verify the consistency between the system model and ***, by utilizing the introduced radius definitions, the ?∞performance is addressed to optimize the size of delayed intersection zonotopes. Subsequently, we present a joint-design approach of switching signals and the mode-dependent correction matrix by constructing positive generator matrix-based delayed radius functions. Furthermore, guaranteed nonnegative state bounds are derived for the considered DSPS based on the proposed lossless zonotopic estimation criteria. Finally, detailed simulations are conducted to validate the feasibility and superiority of the developed methods.

关键词： delayed switched positive systems interval estimation asynchronous correction matrix zonotopes mode-dependent average dwell time

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A Comprehensive Derivation of Quintic Spline Interpolation and Its Applications to 3-D Collision-Free Trajectory Generation

A Comprehensive Derivation of Quintic Spline Interpolation a...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Ma, Boyu Zhou, Chunyu Liu, Yang Niu, Baoshan Wen, Feiyang Liu, Sijiang Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150080 China Tianjin University Key Laboratory of Modern Mechanisms and Equipment Design The State Ministry of Education Tianjin300354 China

ISBN: (纸本)9798350372601

For trajectory generation, quintic spline interpolation can ensure the zero velocities and accelerations of both the starting and ending points, presenting advantages not achievable by cubic spline interpolation. Due to the scarcity of quintic spline interpolation in existing research and applications, and considering its relatively intricate implementation process, this article presents a comprehensive derivation for its solution. Moreover, a three-dimensional (3-D) collision-free smooth trajectory scheme using quintic spline interpolation is proposed to generate collision-free and sufficiently smooth trajectories. Finally, two case studies are conducted to validate the effectiveness of quintic spline interpolation and the trajectory generation scheme in planning motion trajectories for robotic agents in a 3-D map with several obstacles. © 2024 IEEE.

关键词： Trajectories

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Rigid-Flexible Coupling Dynamics Analysis of Multi-output Transient Deployment Mechanism Based on ANCF

Rigid-Flexible Coupling Dynamics Analysis of Multi-output Tr...

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International Conference on Mechanical Design, ICMD 2023

作者： Zhai, Guangqing Xiao, Hong Yang, Guang Guo, Hongwei Tao, Jianguo Liu, Rongqiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819709212

Firstly, based on Absolute Nodal Coordinate Formulation (ANCF), the generalized coordinates, generalized stiffness, and generalized mass matrices of the rigid and flexible components in the multi-output deployment mechanism are established. Considering the inconsistency in the dimensions of the system’s generalized coordinate matrix and the generalized coordinate matrix of each single-output deployment mechanism, a coordinate coordination matrix is introduced. Composing the rigid-flexible coupling dynamics model of the multi-output transient deployment mechanism in the global coordinate system using each single-output deployment mechanism. The dynamic model is solved using the Newmark and BFD quasi-Newton methods, incorporating the system constraint equation matrix based on the Lagrange multiplier method. The calculated results are compared with the ABAQUS-ADAMS unified simulation. The two dynamic response change trends are basically consistent, with slight differences in oscillation amplitude, but similar overall, which verifies the accuracy of the constructed dynamic model. Compared to the rotational speed and acceleration of various outputs of the ideal rigid body simulation, the rigid-flexible coupling mechanism produces continuous oscillations above and below the output curve of the ideal rigid body. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Dynamic models

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High-precision magnetic field measurement system based on a coherent population trapping magnetometer onboard the SATech-01 satellite

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Science China(Technological Sciences) 2025年第2期68卷 227-242页

作者： Hongbo XUE Wei SONG Haoran ZHAO Yiteng ZHANG Shanzhi YE Jindong WANG Ran TAO Peng SANG Keli CHEN Xingzi BI Bingjun CHENG Bin ZHOU Yongliang XUE Yingying TANG Liu LIU Jinsong LI Xiaocheng ZHU Baoquan LI Jinguo LIU Wen CHEN Xiaofeng ZHANG Yonghe ZHANG Lei LI State Key Laboratory of Space Weather National Space Science CenterChinese Academy of SciencesBeijing 100190China Key Laboratory of Solar Activity and Space Weather National Space Science CenterChinese Academy of SciencesBeijing 100190China Key Laboratory of Electronics and Information Technology for Space Systems National Space Science CenterChinese Academy of SciencesBeijing 100190China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Innovation Academy for Microsatellites Chinese Academy of SciencesShanghai 201304China

On July 27,2022,a high-precision system for measuring the magnetic field based on a coherent population trapping magnetometer(referred to as the CPT system)was launched onboard the Space Advanced technology demonstration satellite(SATech-01)by a ZK-1A *** payload comprises a scalar coherent population trapping magnetometer(CPTM),triaxial anisotropic magnetoresistance magnetometer(AMRM),and nano star tracker mounted on a non-magnetic telescopic tubular *** configuration enables synchronized measurement of scalar and vector geomagnetic fields,as well as the attitude,making the payload with its compact sensors suitable for applications on miniature satellite *** November 7,2022,the novel telescopic tubular mast was deployed in orbit,extending to a length of 5.28 *** CPTM,an absolute scalar magnetometer with an omnidirectional sensor,is the first China-developed quantum/atomic magnetometer successfully operating in *** orbit,the CPTM has sensitivity of~10 pT/Hz^(1/2) and can automatically operate under complex magnetic field *** difference between the scalar fields obtained using the CPTM and CHAOS model has a mean deviation of -3.73 nT and a standard deviation of 26.11 nT(1σ),without on-orbit calibration or *** miniaturized AMRM has a sensitivity of~0.3 nT/Hz^(1/2) and maintains stable and reliable operation in *** low-power and miniaturized nano star tracker has a measurement uncertainty of 14.23″(1σ)in *** mission has realized the on-orbit technical verification of the integrated and synchronized detection of the vector magnetic field and attitude and fully validated the system’s performance,automation level,and reliability.

关键词： magnetic field measurement system coherent population trapping magnetometer anisotropic magnetoresistance magnetometer nano star tracker non-magnetic telescopic tubular mast satellite

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Dual Transducers Co-Focusing Method for Ultrasound Stimulation in Calf Peripheral Nervous System: A Feasibility Study

Dual Transducers Co-Focusing Method for Ultrasound Stimulati...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Zheng, Haoran Wang, Xiaoxin Zhang, Hongwei Liu, Honghai Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and System Shenzhen China

ISBN: (纸本)9781665410205

As a neuromodulation technology, ultrasound stimulation exhibits great potential due to its non-invasive and targeted nature. Low-Intensity Focused Ultrasound (LIFU) allows for precise targeting of the peripheral nervous system, enabling the elicitation of diverse sensations in the human body, including tactile, cold, heat, and pain. Current research efforts predominantly focus on ultrasound stimulation of the upper limbs, specifically the fingers. However, there is a paucity of investigation pertaining to the stimulation of the peripheral nervous system in the lower limb of the human body. Furthermore, the utilization of a singularly focused transducer for stimulation introduces anisotropy, thereby rendering it challenging to enhance the axial resolution. This study aims to explore an innovative approach using dual transducers that synergistically focus ultrasound to achieve highly precise stimulation and reduce the disparity between axial and lateral resolution. The primary objective is to investigate the feasibility of utilizing this approach for deep muscle stimulation in the human calf muscles, thus delving into the realm of lower limb neuromodulation. © 2024 IEEE.

关键词： Ultrasonics

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JHT-EXO: A Soft Ankle Exosuit for Assisting Walking in Patients with Post-Stroke Foot Inversion

JHT-EXO: A Soft Ankle Exosuit for Assisting Walking in Patie...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Ju, Haotian Guan, Zihang Guo, Songhao Liu, Zedong Zhang, Qinghua Zheng, Tianjiao Zhao, Jie Zhu, Yanhe Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781665481090

Stroke often leads to foot inversion, seriously affecting the patients' walking ability. In this paper, a lightweight, soft exosuit, JHT-EXO, is proposed for correcting foot inversion to help patients' gait rehabilitation. JHT-EXO mainly consists of two cable driving modules, two foot feedback modules, and a control module, with a total weight of no more than 2.5 kg. The cable driving module can pre-tighten the cable with a designed constant torque spring to prevent the cable from falling off. When the motor is not energized, it can still assist the person in stabilizing the walking gait and reducing power consumption. Customized foot pressure sensors recognize human gait, and IMUs on the feet measure the ankle angle used by the controller to change the output force of the exosuit. The constant torque spring was calibrated and tested, and the experimental results showed that the average output force of the constant torque spring was 20.0 N, with a maximum error of 5.6% compared to the theoretically calculated results. The ground walking test of the exosuit was performed by three subjects in three conditions: wearing the exosuit powered up, wearing the exosuit unpowered, and not wearing the exosuit. The test results showed that JHT-EXO could effectively reduce the ankle inversion angle by 22.11° compared to not wearing the exosuit. JHT-EXO is feasible in preventing foot drop and stabilizing flip, and its high mobility and portability show potential for gait rehabilitation of foot inversion patients. © 2024 IEEE.

关键词： Patient rehabilitation

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Channel Attention Network for Feature Fusion of Ultrasonic and IMU Signals in Cross-Subject Gait Recognition

Channel Attention Network for Feature Fusion of Ultrasonic a...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Huang, Xujia Zhou, Zixiang Xu, Xinglong Wang, Zhiyong Harbin Institute of Technology State Key Laboratory of Robotics and System Shenzhen Shenzhen China

ISBN: (纸本)9781665410205

In traditional human-machine interface research, a single sensing mode is often adopted, focusing on individual human motion classification experiments. However, the performance often declines when applied across individuals. Ultrasonic and inertial sensing, as mainstream technologies in human-machine interfaces, can respectively detect the muscle states and limb information of the human body, offering potential complementary benefits. The fusion of ultrasonic(US) and Inertial Measurement Unit(IMU) is expected to significantly enhance the generalization ability of physiological signals in motion intention recognition. This paper presents a method that employs fusion of ultrasound and IMU signals, and designs a Convolutional Neural Network with Channel Attention Module (IU-CAM-CNN) for gait classification experiments. The experimental results demonstrate that by introducing channel attention modules, the model's ability to extract features from fused signals can be effectively enhanced, resulting in a classification accuracy of 90% for cross-individual movements. In contrast, traditional LDA and CNN networks achieve only 22% and 47% classification accuracy, respectively. This method provides an effective solution for cross-individual movement intention recognition. © 2024 IEEE.

关键词： Convolutional neural networks

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Working condition recognition of sucker rod pumping system based on 4-segment time-frequency signature matrix and deep learning

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Petroleum Science 2024年第1期21卷 641-653页

作者： Yun-Peng He Hai-Bo Cheng Peng Zeng Chuan-Zhi Zang Qing-Wei Dong Guang-Xi Wan Xiao-Ting Dong State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016LiaoningChina Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016LiaoningChina Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169LiaoningChina University of Chinese Academy of Sciences Beijing100049China School of Artifcial Intelligence Shenyang University of TechnologyShenyang 110870LiaoningChina

High-precision and real-time diagnosis of sucker rod pumping system(SRPS)is important for quickly mastering oil well *** learning-based method for classifying the dynamometer card(DC)of oil wells is an efficient diagnosis ***,the input of the DC as a two-dimensional image into the deep learning framework suffers from low feature utilization and high computational ***,different SRPSs in an oil field have various system parameters,and the same SRPS generates different DCs at different ***,there is heterogeneity in field data,which can dramatically impair the diagnostic *** solve the above problems,a working condition recognition method based on 4-segment time-frequency signature matrix(4S-TFSM)and deep learning is presented in this ***,the 4-segment time-frequency signature(4S-TFS)method that can reduce the computing power requirements is proposed for feature extraction of DC ***,the 4S-TFSM is constructed by relative normalization and matrix calculation to synthesize the features of multiple data and solve the problem of data ***,a convolutional neural network(CNN),one of the deep learning frameworks,is used to determine the functioning conditions based on the *** on field data verify that the proposed diagnostic method based on 4S-TFSM and CNN(4S-TFSM-CNN)can significantly improve the accuracy of working condition recognition with lower computational *** the best of our knowledge,this is the first work to discuss the effect of data heterogeneity on the working condition recognition performance of SRPS.

关键词： Sucker-rod pumping system Dynamometer card Working condition recognition Deep learning Time-frequency signature Time-frequency signature matrix

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FDCPNet:feature discrimination and context propagation network for 3D shape representation

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虚拟现实与智能硬件(中英文) 2025年第1期7卷 83-94页

作者： Weimin SHI Yuan XIONG Qianwen WANG Han JIANG Zhong ZHOU State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and EngineeringBeihang UniversityBeijing 100191China

Background Three-dimensional(3D)shape representation using mesh data is essential in various applications,such as virtual reality and simulation *** methods for extracting features from mesh edges or faces struggle with complex 3D models because edge-based approaches miss global contexts and face-based methods overlook variations in adjacent areas,which affects the overall *** address these issues,we propose the Feature Discrimination and Context Propagation Network(FDCPNet),which is a novel approach that synergistically integrates local and global features in mesh *** FDCPNet is composed of two modules:(1)the Feature Discrimination Module,which employs an attention mechanism to enhance the identification of key local features,and(2)the Context Propagation Module,which enriches key local features by integrating global contextual information,thereby facilitating a more detailed and comprehensive representation of crucial areas within the mesh *** Experiments on popular datasets validated the effectiveness of FDCPNet,showing an improvement in the classification accuracy over the baseline ***,even with reduced mesh face numbers and limited training data,FDCPNet achieved promising results,demonstrating its robustness in scenarios of variable complexity.

关键词： 3D shape representation Mesh model MeshNet Feature discrimination Context propagation

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