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Recent advances on human-robot interface of wheelchair-mounted robotic arm

Recent Patents on Mechanical Engineering 2019年第1期12卷 45-54页

作者： Chi, Mingshan Yao, Yufeng Liu, Yaxin Zhong, Ming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Rongcheng Campus Harbin University of Science and Technology Rongcheng264300 China Industrial Research Institute of Robotics and Intelligent Equipment Weihai264209 China

Background: Wheelchair mounted robotic arm is a typical assistive robot, which is widely used to help the elders and the disabled to complete the activities of daily life. But limited by the restrictions of the users’ athletic ability and cognitive ability, how to flexibly manipulate such robot is still a problem in front of them. The human-computer interaction technology is the core technology of the robot. Its performance directly affects the user's acceptability, satisfaction and promotion of intelligent wheelchairs. Objective: The study aims to give a general summary of recent human-robot interface of wheelchair mounted robotic arm and introduce their respective characteristics. Methods: Based on various patents and research developments about the human-robot interface of the assistive robot at home and abroad, this paper puts forward the basic principle of designing the human-robot interaction mode, divides the man-robot interface into two categories based on the perspective of user control robot arm, and describes in detail, the typical human-robot interface and its related characteristics contained in each classification. Results: The development trends of the human-robot interface in future are predicted, so as to provide some research reference for the related scientific researchers. Conclusion: Wheelchair mounted robotic arm has important practical significance. Further improvements are needed in the design of the human-robot interface. It can effectively improve the operation performance of the WMRA, and take full advantage of the user’s existing movement ability to meet the requirement of dominating the control process. Furthermore, these improvements in the human-robot interface will allow more and more users to accept the WMRA, manipulate the WMRA, and enjoy improvements in the quality of their life for these assistive robots. © 2019 Bentham Science Publishers.

关键词： Human robot interaction

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A novel visual odometer assisted pose tracking method for mobile robots

A novel visual odometer assisted pose tracking method for mo...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Yuan, Rupeng Zhang, Fuhai Zhu, Ying Fu, Yili Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781728163215

Pose tracking is very crucial for robot's autonomous navigation. LIDAR based pose tracking algorithms are widely used due to its high cost-effective advantage. However these methods are likely to give back wrong result if the environment is blocked by the obstacles. In this paper, a visual odometer assisted pose tracking method is proposed to increase the robustness of pose tracking. Statistical index is introduced to evaluate the samples' score of LIDAR based pose tracking. If the result is not credible, the result of visual odometer will compensate the error along the maximum error direction. The experiment shows that the proposed method is able to track the robot correctly if the environment is blocked by obstacles. © 2019 IEEE.

关键词： Mobile robots

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Controlled Propulsion of Asymmetric Janus Microdimer Swimmers under Rotating Magnetic Fields

Controlled Propulsion of Asymmetric Janus Microdimer Swimmer...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Shimin Yu Tianlong Li Shaopeng Wu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Harbin Institute of Technology Harbin China

ISBN: (数字)9781728151694

ISBN: (纸本)9781728151700

Untethered micro-/nanorobots at low Reynolds numbers present significant potential in biomedical applications as result of their enhanced power, remote actuation, and versatility. Herein, a highly efficient asymmetric Janus microdimer swimmer propelled by a rotating uniform magnetic field was investigated experimentally. The asymmetric microdimers can achieve speed of 98 μm·s -1 at 20 Hz and 5 mT. Besides, the controllable and flexible motility performance of microdimer motors can be easily obtained by adjusting the magnetic field. Such an asymmetric Janus microdimer swimmer is highly promising in a variety of realistic micro-/nanoscale scenarios.

关键词： Industrial electronics Navigation Conferences Propulsion Nanoscale devices Trajectory Magnetic fields

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A novel grasping control method for dexterous prosthesis based on eye-tracking

A novel grasping control method for dexterous prosthesis bas...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Li, Jie Shi, Chunyuan Yang, Dapeng Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150081 China

ISBN: (纸本)9781728163215

The state-of-art dexterous prosthetic hand with multi-degree-of-freedom urgently requires a control method to match its dexterity. The purpose of this paper is to develop a method on rapid grasp control of prosthetic hand based on eye-tracking and verify its effectiveness by experiments. Firstly, an interactive experiment platform was established. Based on the platform, the operator can select the necessary grasping pattern from a graphic interface through eye movement and trigger the selected pattern by gazing the target for a short time (~300ms). The selected grasp pattern will be fed back to the operator during the hand prosthesis performing reach-and-grasp tasks. Finally, to verify the effectiveness of this method, experiments were conducted by an able-bodied participant wearing the prosthesis to grasp some daily-used objects. Our result shows that, by adopting the eye tracking technology in the human visual channel, the grasp control of the prosthesis can be supervised and regulated in real-time and thus an effective interaction between the dexterous prosthesis and the operator can be achieved. © 2019 IEEE.

关键词： Eye tracking

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A new cable-driven torsion and bending soft actuator inspired by parallel robot

A new cable-driven torsion and bending soft actuator inspire...

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Yan, Jihong Zhang, Ruoyu Zhang, Xinbin Zhao, Jie State key laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781728137261

The cooperation of torsion and bending can improve the flexibility in the motion process especially in complex and narrow space. There is few research about torsion in soft actuators until now, most of them focus on bending and elongation. Moreover, motion form is often single so that it is hard to imply complex tasks. In this paper, inspired by the structure features of parallel robot, we propose a new cable-driven soft actuator whose driven cable is arranged imitating the supporting rod of parallel robot. This actuator can implement clockwise and anti-clockwise torsion and two modes bending motion respectively. The maximum torsion angle can realize 45瀞and the maximum bending angle is 90瀞. First, we introduce the design principle and fabrication process. After that, we utilize conservation of energy method and force decomposition analysis to establish the kinematics of actuator, in addition, based on that, we conduct the parameters optimization. Finally, we design an experiment platform to conduct experiments and make the contrast with theory. This soft actuator can highly improve the flexibility in soft robotics, especially in wrist joint imitation. © 2018 IEEE

关键词： Torsional stress

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Modeling of nonlinear dynamic characteristics and experimental study of piezoelectric energy harvesters with a panel type structure 2

Modeling of nonlinear dynamic characteristics and experiment...

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2nd International Conference on Modeling in Mechanics and Materials

作者： Jia, Jinda Shan, Xiaobiao Liu, Yingxiang Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Panel flutter vibration is a typical aeroelastic phenomenon taking place in flying aircrafts as they move at high speed. The vibration has been a hot academic research aspect. The present paper focuses on converting this aerodynamic mechanical vibration into useful electricity by using piezoelectric patches. A mathematical Euler-Bernoulli distributed model of the piezoelectric energy harvesting system is established to investigate nonlinear dynamical behaviour of a piezoelectric cantilever plate. The dynamical responding ability of energy harvesting is numerically calculated. Influences of the length and the thickness of piezoelectric layer, the external resistance and wind velocity on the output performance are emphatically explored. A series of prototypes of piezoelectric energy harvesters with different physical dimensions were designed and manufactured. Wind tunnel experiments were setup and carried out at different wind velocities. The experimental results show that the harvesting power gets enhanced as increasing the wind velocity. The maximum power could be obtained at condition of a reasonable piezoelectric length and width. Maximum power is 2.0 mW at wind speed of 11.0 m/s. This work provides a strong theoretical and experimental basis for the study of aerodynamic energy harvesting from panel aircrafts. © Published under licence by IOP Publishing Ltd.

关键词： Energy harvesting

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Parameters Analysis of SMA Bimetallic Strip Smart Actuator

Parameters Analysis of SMA Bimetallic Strip Smart Actuator

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作者： Li, Chuanyang Tang, Dewei Guo, Hongwei Yan, Huiyin Ouyang, Weimin Liu, Rongqiang Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

This paper presents a study on the bimetallic strip smart actuator with six parameters. The impacts of these parameters on characteristics of the actuator, namely, driving torque, output displacement, and stiffness are analyzed. Then, the finite element analysis of the smart actuator is conducted and the natural frequency of the actuator is discussed. These analyses are expected to be applied for optimal design of this smart actuator. © 2019, Springer Nature Switzerland AG.

关键词： Actuators

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A differential public PUF design for lightweight authentication 16

A differential public PUF design for lightweight authenticat...

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2021 International Conference on Synthesis, Modeling, Analysis and Simulation Methods and Applications to Circuit Design, SMACD 2021 and 16th Conference on PhD Research in Microelectronics and Electronics, PRIME 2021

作者： Duan, Shengyu Sai, Gaole School of Computer Engineering and Science Shanghai University Shanghai200444 China State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology China

ISBN: (纸本)9783800755899

Physical Unclonable Functions (PUFs) have emerged as a promising primitive to provide a hardware keyless security mechanism for integrated circuit applications. Public PUFs (PPUFs) address the crucial PUF vulnerability of requiring databases to store the secrete reference information. This paper investigates one of the PPUF families, differential PPUF (dPPUF), which exploits complexly interacted logic to create time gap between actual execution and simulation, and to prevent simulation attacks. Conventional dPPUFs have high costs. We observe the repressers have large impact on simulation time, but take a great proportion in current dPPUF structure. We thereby present a represser network with specially designed interconnection and shared logic, to maintain a high circuit complexity and to reduce the area cost. We show the proposed dPPUF has similar resilience over simulation attacks as the conventional design. Area cost can be reduced by up to 44%, and thus the proposed design can be used for lightweight authentication. © VDE VERLAG GMBH.

关键词： Authentication

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An improved dynamic window approach integrated global path planning

An improved dynamic window approach integrated global path p...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhang, Fuhai Li, Ning Xue, Tiegang Zhu, Ying Yuan, Rupeng Fu, Yili Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781728163215

Aiming at the shortcomings of dynamic windowing algorithm (DWA) into local optimal solution. This work studys a modified DWA algorithm integrated global path planning. By introducing the result of global path planning as a reference trajectory, a novel evaluation function is designed which makes the optimal trajectory be guaranteed. In addition, the work also proposes the evaluation sub-function of direction, the evaluation sub-function of smoothing speed and the evaluation sub-function of acceleration, separately, ensures the direction, smoothness and speed of movement. The algorithm is verified in mobile robot, experimental results show that the algorithm optimizes the path of mobile robot, simultaneously, the advantages of the traditional DWA, such as the practicability and continuity of motion are retained. © 2019 IEEE.

关键词： Mobile robots

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Experimental study on underwater fin-shaped piezoelectric energy harvester based on wake galloping 2

Experimental study on underwater fin-shaped piezoelectric en...

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2nd International Conference on Modeling in Mechanics and Materials

作者： Wang, Yicong Shan, Xiaobiao Feng, Ju Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

This paper presents a novel piezoelectric energy harvester based on wake galloping in water. This harvester consists of a bluff cylinder and a fin connected with a macro fiber composite (MFC) piezoelectric plate. The fluid flows through the upstream bluff cylinder and produces alternating shedding vortices behind it. Vortex shedding produces periodic crosswise vortex-induced force to drive the fin and piezoelectric plate vibrating to generate electricity. An experimental platform was established and several prototypes of energy harvesters were fabricated. The experimental results show that, under different flow velocity domains, the harvesting effect of the bluff cylinder with a diameter of 30 mm is the most ideal for the energy harvester with a fin length of 20, 30 and 40 mm. When the fin length is 20 mm, the output voltage changes most smoothly. To obtain stable open circuit output voltage, the spacing distance between the bluff cylinder with a diameter of 25 mm and the fin should be controlled within 3D, while, the spacing distance between the bluff cylinder with a diameter of 30 mm and the fin should be controlled within 2D. When the bluff cylinder with a diameter of 30 mm, a spacing distance of 100 mm, and a flow velocity of 0.427 m/s, the maximum open circuit output voltage of 7.289 V can be obtained. The present work provides an effective experimental foundation for the research of underwater fin-shaped vehicle's dynamic endurance. © Published under licence by IOP Publishing Ltd.

关键词： Flow velocity

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