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A Pilot Study on Fabric-based Pneumatic Soft Gloves for Assisting Patients with Severe Brachial Plexus Injury

IEEE Transactions on Biomedical Engineering 2025年 PP卷 PP页

作者： Feng, Miao Yang, Dezhi Sun, Jianing Lao, Jie Rui, Jing Gu, Guoying Shanghai Jiao Tong University Robotics Institute State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Key Laboratory of Intelligent Robotics Meta Robotics Institute Shanghai200240 China Southwest Technology and Engineering Research Institute Chongqing400039 China Fudan University Department of Hand Surgery Huashan Hospital China NHC Key Laboratory of Limbs Reconstruction Shanghai Key Laboratory of Peripheral Nerve and Microsurgery Shanghai200040 China

Objective: Robotic gloves show promise in hand assistance due to their wearability and home-based potential, yet empirical research remains limited. This pilot study presents a fabric-based pneumatic soft glove, aiming to identify its potential and challenges in clinical practice by evaluating its effectiveness in assisting patients with severe brachial plexus injury (BPI). Methods: The glove integrates a thumb abduction actuator and four bidirectional fabric-based pneumatic actuators (FPAs) with asymmetric chambers for high output force. Sixteen healthy volunteers and five individuals with BPI, all of whom lacked active hand and wrist movements, were recruited. Participants performed object grasping across 25 cm. The healthy group performed seven tasks using objects weighing up to 2 kg, with muscle activities recorded for analysis. The BPI group further performed tasks with eight objects from the action research arm test (ARAT) and twelve objects for activities of daily living (ADLs), encompassing various sizes, weights, and geometries. Results: In the healthy group, sEMG showed a decrease in 89.3% of trials, with 56.0% of these decreases being significant (p © 1964-2012 IEEE.

关键词： Pneumatic actuators

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Synthesis of Decoherence-Free Modes in Linear Quantum Passive systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

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

作者： Miao, Zibo Pan, Yu Gao, Qing School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Guangdong Key Laboratory of Intelligent Morphing Mechanisms Shenzhen518055 China The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China

ISBN: (纸本)9781665410205

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique. © 2024 IEEE.

关键词： Poles

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Design of Gravity Compensation Scheme for Passive Lifting Method of Multi-degree Freedom Robotic Arm

Design of Gravity Compensation Scheme for Passive Lifting Me...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Jing Sun Chaoran Wei Haotai Chen Bin Wang Xingguang Li Qiang Zhang Space Drive and Manipulation Mechanism Laboratory Beijing Institute of Control Engineering Beijing China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China

Before launching a spacecraft, it is necessary to undergo micro low gravity simulations on the ground to test its reliability. The lifting method is not limited by movement time and space, and can simulate long-term low gravity environments. However, the degree of freedom of spatial mechanisms is gradually increasing, and the motion is becoming increasingly complex, making traditional lifting methods unable to meet the needs. In response to the above issues, a lifting gravity simulation scheme for a multi degree of freedom robotic arm that can achieve complex motion is proposed. The design adopts a single sling combined with a hanger to avoid interference during the motion process. Finally, simulation and experiments have proven the feasibility of the scheme - it can achieve efficient unloading without affecting the normal movement of the equipment.

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Parameterization, sensitivity, and uncertainty of 1-D thermodynamic thin-ice thickness retrieval

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Acta Oceanologica Sinica 2024年第7期43卷 93-111页

作者： Tianyu Zhang Mohammed Shokr Zhida Zhang Fengming Hui Xiao Cheng Zhilun Zhang Jiechen Zhao Chunlei Mi School of Geospatial Engineering and Science Sun Yat-Sen University/Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai)Zhuhai 519082China Key Laboratory of Comprehensive Observation of Polar Environment(Sun Yat-Sen University) Ministry of EducationZhuhai 519082China State Key Laboratory of Remote Sensing Science College of Global Change and Earth System ScienceBeijing Normal UniversityBeijing 100875China Science and Technology Branch Environment and Climate Change CanadaToronto M3H5T4Canada Qingdao Innovation and Development Base(Centre) Harbin Engineering UniversityQingdao 266500China State Key Laboratory of Resources and Environmental Information System Institute of Geographic Sciences and Natural Resources ResearchChinese Academy of SciencesBeijing 100101China University of Chinese Academy of Sciences Beijing 100049China

Retrieval of Thin-Ice Thickness(TIT)using thermodynamic modeling is sensitive to the parameterization of the independent variables(coded in the model)and the uncertainty of the measured input *** article examines the deviation of the classical model’s TIT output when using different parameterization schemes and the sensitivity of the output to the ice ***,it estimates the uncertainty of the output in response to the uncertainties of the input *** parameterized independent variables include atmospheric longwave emissivity,air density,specific heat of air,latent heat of ice,conductivity of ice,snow depth,and snow *** input parameters include air temperature,ice surface temperature,and wind *** the independent variables,the results show that the highest deviation is caused by adjusting the parameterization of snow conductivity and depth,followed ice *** sensitivity of the output TIT to ice thickness is highest when using parameterization of ice conductivity,atmospheric emissivity,and snow conductivity and *** retrieved TIT obtained using each parameterization scheme is validated using in situ measurements and satellite-retrieved *** in situ measurements,the uncertainties of the measured air temperature and surface temperature are found to be *** resulting uncertainties of TIT are evaluated using perturbations of the input data selected based on the probability distribution of the measurement *** results show that the overall uncertainty of TIT to air temperature,surface temperature,and wind speed uncertainty is around 0.09 m,0.049 m,and−0.005 m,respectively.

关键词： Arctic sea ice 1-D thermodynamic ice model thin-ice thickness sea ice parameterization

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Iterative learning control of trajectory tracking of robot manipulator based the SoC platform integrated motor drive and motion control 10

Iterative learning control of trajectory tracking of robot m...

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10th International Conference on Power Electronics, Machines and Drives, PEMD 2020

作者： Sun, Yongping Yang, Ming Chen, Yangyang Ni, Qinan Xu, Dianguo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781839535635

With the development of SoC technology, the integration of FPGA+ARM has become the development direction of SoC. For the characteristics of integrated multi-axis motion control and motor drive, this paper selects Xilinx ZYNQ-7020 system-on-chip (SOC) with integrated dual-core ARM CPU and FPGA as the hardware platform control chip, an arm core motor drive algorithm. Another ARM core completes the interactive function and motion control, and the FPGA to complete the multi-axis hardware current loop and improve the system bandwidth. The iterative learning control (ILC) technology is widely used in robots to reduce the trajectory error of robots performing repetitive tasks. Using P-type iterative learning ILC combined with feedback control, which can compensate for nonrepeating disturbance. Finally, analysis of experimental results shows that iterative learning control combined with feedback control can significantly improve tracking accuracy. © PEMD *** right reserved.

关键词： Two term control systems

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Material Removal Mechanism and Microstructure Fabrication in Micro-Milling of Glow Discharge Polymer (GDP)

SSRN

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SSRN 2022年

作者： Wang, Guangzhou Yu, Tianyu Zhou, Xingying Guo, Ruiyang Chen, Mingjun Sun, Yazhou School of Mechatronics Engineering Harbin Institute of Technology Heilongjiang Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China

Glow discharge polymer (GDP) is an essential material for target ball applied in inertial confinement fusion (ICF). The processing quality of GDP material directly affects its high energy performance. Machinability and material removal mechanism are critical to attain a high processing quality during micro cutting. In this work, a comprehensive study of the machinability and removal mechanism of GDP material is conducted. Mechanical properties of GDP, such as elastic modulus, hardness and elastic recovery rate, were investigated first using nanoindentation experiments. Micro milling experiments were performed using micro ball end milling. Chip modes, machined surface morphology and their formation mechanism are emphatically analyzed. An geometric model for calculating undeformed chip area removed by ball end mill was proposed for analyzing the specific cutting force. Additionally, the effects of minimum uncut chip thickness (MUCT) threshold and size effect on the machining quality of GDP material were also studied. By comprehensively analyzing chip morphology, cutting force, specific cutting force as well as surface integrity, the cutting mechanism of GDP material can be roughly divided into the ploughing dominated, the ploughing-shearing coexist and the shearing dominated Below normalized MUCT threshold of 0.339, the size effect is obvious. When the ratio of feed per tooth to cutting edge radius is up to 0.714, the size effect has little influence on the machining of GDP material. At the end, micro dimples were fabricated on the GDP surface by ball end milling. The surface quality of machined micro dimples indicates that the ploughing effect and size effect have significant impact on machining micro-dimpled structures in ploughing dominated mode. The parameters (e.g. step or pitch distance) of specific machining ways (e.g. layer milling or spiral milling) are the main factors affecting machining micro dimples in shearing dominated mode. © 2022, The Authors. All rig

关键词： Surface morphology

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Analysis and compensation of kinematic errors in a five-axis machine tool based on an internal data-driven method 10

Analysis and compensation of kinematic errors in a five-axis...

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2024 10th International Conference on Applied Materials and Manufacturing technology, ICAMMT 2024

作者： Wu, Junjie Ji, Yulei Zhong, Lei Wang, Yuhan State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China Shanghai TOP Numerical Control Technology Co. Ltd Shanghai201100 China

The increasing demand for highly efficient and precise machining in the aerospace industry is leading to increasingly stringent requirements for machine tool accuracy measurement and compensation technologies. However, existing methods can only measure the accuracy of machine tools after they have been shut down, using instruments that do not measure the kinematic errors during the machining process. To address this issue, a method for real-time prediction of kinematic errors in a five-axis machine tool has been proposed to enhance machining accuracy and efficiency. The method employs a neural network-based predictive model, which has been trained and validated through experimental testing and data collection using internal sensors of the machine tool. The study reveals that this predictive model can effectively forecast the kinematic errors, through real-time compensation, and can reduce errors by 60-86%, significantly enhancing machine performance. © Published under licence by IOP Publishing Ltd.

关键词： Aerospace industry

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A Framework of LSTM Neural Network Model in Multi-Time Scale Real-Time Prediction of Ship Motions in Head Waves

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船舶力学 2024年第12期28卷 1803-1819页

作者： CHEN Zhan-yang ZHAN Zheng-yong CHANG Shao-ping XU Shao-feng LIU Xing-yun Department of Ocean Engineering Harbin Institute of Technology at WeihaiWeihai 264209China State Key Laboratory of Structural Analysis Optimization and CAE Software for Industrial EquipmentDalian University of TechnologyDalian 116024China Flight Control System Department AVIC Xi'an Flight Automatic Control Research InstituteXi'an 710065China

Ship motions induced by waves have a significant impact on the efficiency and safety of offshore ***-time prediction of ship motions in the next few seconds plays a crucial role in performing sensitive ***,the obvious memory effect of ship motion time series brings certain difficulty to rapid and accurate ***,a real-time framework based on the Long-Short Term Memory(LSTM)neural network model is proposed to predict ship motions in regular and irregular head waves.A 15000 TEU container ship model is employed to illustrate the proposed *** numerical implementation and the real-time ship motion prediction in irregular head waves corresponding to the different time scales are carried out based on the container ship *** related experimental data were employed to verify the numerical simulation *** results show that the proposed method is more robust than the classical extreme short-term prediction method based on potential flow theory in the prediction of nonlinear ship motions.

关键词： deep learning LSTM ship motion real-time prediction irregular waves

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Comparative study of voltage source inverter nonlinearity compensation using different signal information for table look up in PMSM drives 10

Comparative study of voltage source inverter nonlinearity co...

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10th International Conference on Power Electronics, Machines and Drives, PEMD 2020

作者： Long, Jiang Yang, Ming Chen, Yangyang Ni, Qinan Xu, Dianguo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781839535635

The inverter nonlinearity compensation has been studied by the researchers widely, however, due to the poor polarity detection ability of the discrete control system and unavoidable noises from current feedback, unideal compensation happens when the motor speed is low and the load is small. In order to tackle with this problem. This paper presents an inverter nonlinearity compensation method in permanent magnet synchronous motor (PMSM) drives. The overall process is achieved by voltage signal injection, the only requirements are stator resistance and the maximum current of a given motor. The corresponding voltage errors are saved in look up table (LUT) and being used together with field-oriented control (FOC). In addition, a comparative study when using phase current feedback, phase current reference and phase voltage reference for compensation voltages look-up in the already established LUT is conducted. A 750-W voltage-source inverter PMSM drive controlled by the FOC algorithm is used for experiment verification, the results show that the phase current reference is the most proper signal for compensation voltages look-up, especially around the current zero-crossing condition. The comparative study in this paper can be easily applied in the real industrial application with no hardware introduction and very little algorithm change. © PEMD *** right reserved.

关键词： Table lookup

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Dynamic Visual SLAM Based on Semantic Information and Multi-View Geometry 5

Dynamic Visual SLAM Based on Semantic Information and Multi-...

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5th International Conference on Automation, Control and robotics Engineering, CACRE 2020

作者： Shi, Junyi Zha, Fusheng Guo, Wei Wang, Pengfei Li, Mantian Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781728198880

Visual Simultaneous Localization and Mapping (Visual SLAM) is considered to be one of the important foundations for mobile robots to move toward intelligence, which gives robots the ability to autonomously locate and construct maps in an unknown environment. In the past decades, great progress has been made in the field of visual SLAM, relatively mature algorithm system and program architecture are gradually developed. However, the current researches on visual SLAM mostly assume that the surrounding environment is static, which greatly limits the application of SLAM systems in real world. Aiming at the urgent need of mobile robots for precise localization and map construction in dynamic environment, methods are proposed in this paper. Image semantic segmentation based on deep learning and multi-view geometry methods are combined to recognize and segment moving objects. Only background features are used for camera tracking to avoid the impact of moving objects. Furthermore, an experimental platform is built using RGB-D camera and motion capture device, the effectiveness of the algorithm is verified by public datasets and real scene data. © 2020 IEEE.

关键词： Semantics

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