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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Yao Huang Haotian Ju Songhao Guo Tianjiao Zheng Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509293

ISBN: (纸本)9798331509309

For knee rehabilitation patients, it is difficult to maintain balance while walking, and completing a normal gait cycle is challenging. Therefore, we propose a lower limb exosuit tailored for the knee rehabilitation patients to assist in normal walking, and experimentally evaluated the assistance effect of the lower limb exosuit. We mimic the mechanism of the skeletal muscles near the knee joint, by contracting and relaxing the length of the flexible Bowden cable between the thigh and calf, generating assistive torque on the knee joint periodically. We use Inertial Measurement Unit (IMU) to measure lower limb motion parameters, identify gait cycle states, and calculate corresponding plantar pressure and knee joint torque for each phase. We compared surface electromyography (sEMG) signals of three muscle groups (biceps femoris (BF), quadriceps femoris (QF), and gastrocnemius (G)) under conditions of wearing and not wearing the exosuit. The experimental results show that compared to not wearing the exosuit, the mean normalized sEMG signals of the three muscle groups decreased by 4.61 %, 2.41 %, and 3.97% respectively while wearing it, the peak values decreased by 11.60%, 25.69%, and 14.99% respectively, with the quadriceps femoris receiving the highest degree of assistance.

关键词： Knee Legged locomotion Limbs Torque Measurement units Thigh Muscles Pressure measurement Torque measurement Robots

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Numerical simulation of the vacuum casting process of solid propellants 3

Numerical simulation of the vacuum casting process of solid ...

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2024 3rd International Conference on Acoustics, Fluid Mechanics and Engineering, AFME 2024

作者： Gao, Zhe Wei, Ming Li, Wensen Chen, Cunzhuang Li, Changle Zhao, Jie State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150000 China Hubei Institute of Aerospace Chemical Technology Xiangyang441003 China

Solid propellant is one of the main components of rocket engines, and the casting of low-viscosity propellant slurry usually uses a vacuum casting process. During the vacuum casting process, the rheological properties of solid propellant slurry are complex, and the theoretical analytical method cannot intuitively and accurately analyze its flow characteristics. Therefore, this paper numerically simulates the casting process through simulation software, uses the Herschel-Bulkley model to characterize the changes in the flow characteristics of solid propellant slurry during the vacuum casting process, and studies the effects of different hopper angles and anti-break vacuum plug shapes on the slurry's rheological properties. By analyzing parameters such as slurry mass flow rate, velocity, residual amount in the hopper, and surface pressure of the plug, the appropriate hopper angle and the bottom edge angle of the anti-break vacuum plug are selected. Finally, the slurry leveling characteristics under suitable hopper and plug conditions are analyzed. The results indicate that a hopper angle of 140° and an anti-break vacuum plug bottom angle of 120° are optimal. The entire vacuum casting process takes approximately 42 seconds, and the overall slurry leveling is good. As the casting progresses, the slurry gradually compacts and levels out, and the bubbles at the bottom of both sides of the combustion chamber gradually disappear. © Published under licence by IOP Publishing Ltd.

关键词： Hoppers

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Towards semi-supervised myoelectric finger motion recognition based on spatial motor units activation

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Science China(Technological Sciences) 2022年第6期65卷 1232-1242页

作者： GUO WeiChao WANG Mian SHENG XinJun ZHU XiangYang State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China

It is vital to recognize the intention of finger motions for human-machine interaction(HMI).The latest research focuses on fine myoelectric control through the decoding of neural motor unit action potential trains(MUAPt) from high-density surface electromyographic(sEMG) ***,the existing EMG decoding algorithms rarely obtain the spatial matching relationship between decoded motion units(MU) and designated muscles,and the control interface can only recognize the trained hand *** this study,a semi-supervised HMI based on MU-muscle matching(MMM) is proposed to recognize individual finger motions and even the untrained combined multi-finger *** automatic channel selection from high-density s EMG signals,the optimal spatial positions to monitor the MU activation of finger muscles are *** tapping experiment is carried out on ten subjects,and the experimental results show that the proposed s EMG decomposition algorithm based on MMM can accurately identify single finger motions with an accuracy of 93.1%±1.4%,which is comparable to that of state-of-the-art pattern recognition ***,the MMM allows unsupervised recognizing the untrained combined multi-finger motions with an accuracy of 73%±3.8%.The outcomes of this study benefit the practical applications of HMI,such as controlling prosthetic hand and virtual keyboard.

关键词： myoelectric control semi-supervised motor units activation channel selection template matching

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

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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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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Toward Cable-Driven Continuum Robots: Micro-Motion Augmentation Using Eccentrically Arranged Fibres with Eccentric Lumens

Toward Cable-Driven Continuum Robots: Micro-Motion Augmentat...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Lin, Zecai Zhou, Cheng Zou, Yun Gao, Anzhu Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Micro-motion augmentation of macro-motion continuum robot can largely enhance its micro-operation capability during surgery. However, most existing micro-motion continuum robots have non-compact mechanical structure or non-smooth micro tip motion, which leads to complicated control in micro lumens. This paper proposes a micro-motion augmentation method by rotating eccentrically arranged fibres with eccentric lumens for cable-driven continuum robots. Two thermal drawn polymer fibres with an eccentric lumen on each are inserted into its eccentric lumens of the continuum robot. The micro-motion mechanism relies on small changes in the neutral axis of the continuum robot due to the rotation of the eccentrically arranged fibres. A kinematic model considering variable neural axis is built to describe the micro motion, and a simulation is conducted to investigate the deformation characteristics. The resolution and micro motion with respect to different structural parameters are also analysed. Detailed experiments are performed to validate the effectiveness of the proposed method, and results indicate that the repeatability of micro-motion is 10.1 μm (4.0 %). © 2024 IEEE.

关键词： Robotic surgery

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FT-TF: A 4D Long-Term Flight Trajectory Prediction Method Based on Transformer 42

FT-TF: A 4D Long-Term Flight Trajectory Prediction Method Ba...

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42nd Chinese Control Conference, CCC 2023

作者： Luo, Shijin Zhao, Minghui Zhao, Zhenjie Li, Lun Zhang, Shiyong Zhang, Xuebo Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300350 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300350 China

ISBN: (纸本)9789887581543

The accurate prediction of target aircraft trajectory in the process of air combat can significantly improve the ability of aircraft to gain air superiority. Most of the trajectory prediction methods currently applied in air combat are based on traditional time-series prediction algorithms such as LSTM with short prediction steps, which can not realize the demand for long-term prediction in air combat. To address the issue, a novel prediction method FT-TF is proposed in this paper. FT-TF is a multi-step 4D flight trajectory prediction method based on Transformer applied to further improve the accuracy and practicality of trajectory prediction problems. FT-TF uses the first 30 steps of aircraft historical trajectory data as input and the last 30 steps as output. Flight trajectory data sets of aircraft in air combat are used in the experiment to make the trained model closer to the real air combat scene. The experimental results show that the proposed FT-TF can achieve higher prediction accuracy than LSTM and BP neural network. Related Transformer variants of the algorithm are also added to the experiment for comparison, the results demonstrate that the proposed method achieves the smallest prediction error. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Aircraft

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Semantic Map Construction Method Based on Brain-Inspired SLAM 14

Semantic Map Construction Method Based on Brain-Inspired SLA...

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14th IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems, CYBER 2024

作者： Zhao, Hangpiao Tang, Fengzhen Shenyang Institute of Automation The State Key Laboratory of Robotics Shenyang China The University of Chinese Academy of Sciences Shenyang Institute of Automation Beijing China

ISBN: (纸本)9798331506056

Simultaneous localization and mapping (SLAM) is one of the core techniques for robots to move autonomously in unknown environments. Rat-SLAM, inspired by the navigation mechanism of the animal brain, provided nice performance in many environments. However, the experience map constructed by RatSLAM excluded semantic information, which is considered to play an important role in human environmental cognition and spatial navigation. In this paper, we propose a method to construct semantic experience map, combining the state-of-the-art deep neural network and RatSLAM. In our method, YOLOv5 is utilized to extract semantic information from the environmental images. The information of static objects, such as road signs, is selected to be incorporated into the experience map, being more closely to the brain navigation. To avoid the same object being repeatedly marked, we propose a semantic dynamic island mechanism, which only marks the center of the island in the experience map. The proposed method is verified on KITTI datasets, showing that it can successfully realize the construction of semantic experience map. The semantic experience maps are more intuitive and understandable by human, facilitating human-robot interaction, i. e. helping robots to fulfil more complex tasks for human. © 2024 IEEE.

关键词： Rats

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RTHG: Towards Real- Time Head Detection and Gaze Estimation

RTHG: Towards Real- Time Head Detection and Gaze Estimation

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Zhao, Kunxu Hu, Zhengxi Zhang, Qianyi Liu, Jingtai Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300350 China

ISBN: (纸本)9781665481090

As an important way of understanding human in-tentions, gaze estimation has always been a research hotspot in the field of human-robot interaction. Most studies now estimate gaze direction by analyzing head features and head detection is required before gaze estimation. For these two sequential tasks, the current research usually adopts two different networks, which increases the memory occupation of the graphics card and is not easy to deploy on the edge device. In this paper, we propose a unified network for simultaneous head detection and gaze estimation, unifying these two tasks into a multi-task learning model. In this network framework, head detection and gaze estimation share the same set of features, which enables them to promote each other to improve detection accuracy. We evaluated our model on gaze360 dataset and the gaze error dropped to 19.62 degrees while running at 23 fps. © 2022 IEEE.

关键词： Human robot interaction

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Development and deep-sea exploration of the Haidou-1

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Frontiers of Engineering Management 2023年第3期10卷 546-549页

作者： Yuangui TANG Shuo LI State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institute for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China Key Laboratory of Marine Robotics Liaoning ProvinceShenyang 110169China

1 Introduction The Haidou-1 Autonomous and Remotely-operated Vehicle(hereinafter referred to as Haidou-1)(Fig.1)has been developed to address the significant demands for core key technologies and equipment in China’s deep and distant *** vehicle is capable of covering all global ocean depths up to a maximum of 11000 ***-ocean-depth underwater vehicles represent one of the highest technological and capability benchmarks in current international marine science research.

关键词： hadal zone autonomous and remotely-operated vehicle integrated exploration operation deep dive exceeding 10000 meters

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