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Variable Curvature Modeling Method of Soft Continuum Robots with Constraints

Chinese Journal of Mechanical Engineering 2023年第6期36卷 51-61页

作者： Yuwang Liu Wenping Shi Peng Chen Liang Cheng Qing Ding Zhaoyan Deng State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110016China School of Mechanical Engineering Northeastern UniversityShenyang 110016China University of Chinese Academy of Sciences Beijing 100049China School of Automation and Electrical Engineering Shenyang Ligong UniversityShenyang 110016China

The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot *** compliance reduces the risk of damage to the manipulated object and its ***,continuum robots possess theoretically infinite degrees of freedom,and this high flexibility usually leads to complex deformations when subjected to external forces and positional *** these complex deformations is the main challenge in modeling continuum *** this study,we investigated a novel variable curvature modeling method for continuum robots,considering external forces and positional *** robot configuration curve is described using the developed mechanical model,and then the robot is fitted to the curve.A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the *** feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a *** work was able to serve as a new perspective for the design analysis and motion control of continuum robots.

关键词： Continuum robots Variable curvature modeling Boundary conditions Nonlinear mechanics

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Enhancing Ultrasound Scanning Skills in a Leader-Follower Robotic system through Expert Hand Impedance Regulation

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IEEE Journal of Biomedical and Health Informatics 2025年 PP卷 PP页

作者： Niu, Baoshan Yang, Dapeng Zhang, Le Ji, Yiming Jiang, Li Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150080 China

Traditional breast cancer surgeries require collaboration between ultrasound (US) doctors and surgeons, making the procedure complex and treating physicians prone to fatigue. In leader-follower robotic surgery, a surgeon controls an US robotic arm and an instrument robotic arm with their left and right hands, enabling independent surgical performance. However, the lack of US scanning skills among surgeons, as well as the physical separation in leader-follower operations, can negatively impact both the scanning and surgical outcomes. This paper proposes a robot-assisted scheme based on dynamic arm impedance compensation (IC) that references expert arm stiffness to compensate for novice arm stiffness. The impedance compensator adjusts the compensation strategy according to the scanning area and scanning stage. The impedance force generator estimates the scanning direction via Kalman filtering and applies stiffness and damping forces in the vertical direction to suppress tremors and other involuntary movements. The experimental results revealed that during the coarse and fine scanning phases, the probe position variance decreased by 57.9% and 73.6%, the contact force variance decreased by 55.2% and 42.5%, and the US image confidence increased by 22.0% and 23.8%, respectively. Compared with traditional filtering compensation (FC) schemes, this approach reduces the average position variance and contact force variance by 32.0% and 25.3%, respectively, and increases confidence by 7.3%. In a no-compensation test, the IC training group outperformed the FC group. This scheme can assist leader-follower US scanning and rapidly improve surgical skills. © 2013 IEEE.

关键词： Robotic surgery

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Preference detection of the humanoid robot face based on EEG and eye movement

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Neural Computing and Applications 2024年第19期36卷 11603-11621页

作者： Wang, Pengchao Mu, Wei Zhan, Gege Wang, Aiping Song, Zuoting Fang, Tao Zhang, Xueze Wang, Junkongshuai Niu, Lan Bin, Jianxiong Zhang, Lihua Jia, Jie Kang, Xiaoyang Laboratory for Neural Interface and Brain Computer Interface Engineering Research Center of AI and Robotics Ministry of Education Shanghai Engineering Research Center of AI and Robotics MOE Frontiers Center for Brain Science State Key Laboratory of Medical Neurobiology Institute of AI and Robotics Academy for Engineering and Technology Fudan University Shanghai200433 China Ji Hua Laboratory Guangdong Province Foshan528200 China Department of Rehabilitation Medicine Huashan Hospital Fudan University Shanghai200040 China Yiwu Research Institute of Fudan University Zhejiang Yiwu322000 China Research Center for Intelligent Sensing Zhejiang Lab Hangzhou311121 China

The face of a humanoid robot can affect the user experience, and the detection of face preference is particularly important. Preference detection belongs to a branch of emotion recognition that has received much attention from researchers. Most of the previous preference detection studies have been conducted based on a single modality. In this paper, we detect face preferences of humanoid robots based on electroencephalogram (EEG) signals and eye movement signals for single modality, canonical correlation analysis fusion modality, and bimodal deep autoencoder (BDAE) fusion modality, respectively. We validated the theory of frontal asymmetry by analyzing the preference patterns of EEG and found that participants had higher alpha wave energy for preference faces. In addition, hidden preferences extracted by EEG signals were better classified than preferences from participants' subjective feedback, and also, the classification performance of eye movement data was improved. Finally, experimental results showed that BDAE multimodal fusion using frontal alpha and beta power spectral densities and eye movement information as features performed best, with the highest average accuracy of 83.13% for the SVM and 71.09% for the KNN. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Electroencephalography

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Augmented Reality Based Navigation system for Endoscopic Transnasal Optic Canal Decompression

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 34-42页

作者： FU Hang XU Jiangchang LI Yinwei ZHOU Huifang CHEN Xiaojun Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory System and VibrationSchool of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Department of Ophthalmology Shanghai Ninth People's HospitalShanghai Jiao Tong University School of MedicineShanghai 200011China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai 200240China Shanghai Key Laboratory of Orbital Diseases and Ocular Oncology Shanghai 200011China

Endoscopic transnasal optic nerve decompression surgery plays a crucial role in minimal invasive treatment of complex traumatic optic ***,a major challenge faced during the procedure is the inability to visualize the optic nerve *** address this issue,an endoscopic image-based augmented reality surgical navigation system is developed in this *** system aims to virtually fuse the optic nerve onto the endoscopic images,assisting surgeons in determining the optic nerve’s position and reducing surgical ***,a calibration algorithm based on a checkerboard grid of immobile points is proposed,building upon existing calibration ***,to tackle accuracy issues associated with augmented reality technology,an optical navigation and visual fusion compensation algorithm is proposed to improve the intraoperative tracking *** evaluate the system’s performance,model experiments were meticulously designed and *** results confirm the accuracy and stability of the proposed system,with an average tracking error of(0.99±0.46)*** outcome demonstrates the effectiveness of the proposed algorithm in improving the augmented reality surgical navigation system’s ***,the system successfully displays hidden optic nerves and other deep tissues,thus showcasing the promising potential for future applications in orbital and maxillofacial surgery.

关键词： optic nerve decompression endoscopy augmented reality surgical navigation

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Thermally Drawn Monolithic Polymer Continuum Robot with Laser Cutting Profile

Thermally Drawn Monolithic Polymer Continuum Robot with Lase...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Liu, Huanghua Zou, Yun Xu, Zheng Gao, Anzhu Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education Key Laboratory of System Control and Information Processing Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9798350325706

Continuum robots have the great potential in endoluminal diagnosis and intervention toward narrow and confined workspace. However, fabrication of continuum robots still poses a grant challenge in its miniaturization. To solve this, this paper designs a thermally drawn monolithic polymer continuum robot with laser cutting profile. First, the continuum robot is designed with two degrees of freedom (DOF) for shape deflection, and it consists of four optical fibers with the fiber Bragg grating (FBG) sensor on each for tension sensing as driving cables. Second, its main body is a multi-channel polycarbonate (PC) tube produced by thermal drawing process, and a series of rectangular cutouts are made on it via laser cutting process. By combining these two fabrication processes, the developed continuum robot realizes the integration of the multi-channel structure and the notch feature. Third, a control framework of puller-follower controller using the integrated tension sensing is proposed for teleoperation control. Finally, experimental setup is built for the robot validation, and results show that the repeated positioning accuracy of the robot is 1.08 mm. Moreover, a micro endoscope and a needle are added to the end of the continuum robot, and a phantom study of auripuncture and drug delivery is completed to verify the preliminary feasibility. And the proposed fabrication approach enables the miniaturization and complex structure for the cable-driven continuum robots. © 2023 IEEE.

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Extraction algorithm for longitudinal and transverse mechanical information of AFM

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Nanotechnology and Precision Engineering 2022年第2期5卷 27-37页

作者： Chunxue Hao Shoujin Wang Shuai Yuan Boyu Wu Peng Yu Jialin Shi School of Information and Control Engineering Shenyang Jianzhu UniversityShenyang 110168China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of SciencesShenyang 110169China

The atomic force microscope(AFM)can measure nanoscale morphology and mechanical properties and has a wide range of *** traditional method for measuring the mechanical properties of a sample does so for the longitudinal and transverse properties separately,ignoring the coupling between *** this paper,a data processing and multidimensional mechanical information extraction algorithm for the composite mode of peak force tapping and torsional resonance is *** the basis of a tip–sample interaction model for the AFM,longitudinal peak force data are used to decouple amplitude and phase data of transverse torsional resonance,accurately identify the tip–sample longitudinal contact force in each peak force cycle,and synchronously obtain the corresponding characteristic images of the transverse amplitude and *** results show that the measured longitudinal mechanical characteristics are consistent with the transverse amplitude and phase characteristics,which verifies the effectiveness of the ***,a new method is provided for the measurement of multidimensional mechanical characteristics using the AFM.

关键词： Atomic force microscope Peak force tapping Torsional resonance Mechanical characteristic measurement Background subtraction algorithm Coupled mechanical model

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Design,modeling,and control of morphing aircraft:A review

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Chinese Journal of Aeronautics 2022年第5期35卷 220-246页

作者： Lingling CHU Qi LI Feng GU Xintian DU Yuqing HE Yangchen DENG 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 Shenyang Aircraft Design&Research Institute Shenyang 110034China

A morphing aircraft can adapt its configuration to suit different types of tasks,which is also an important requirement of Unmanned Aerial Vehicles(UAV).The successful development of an unmanned morphing aircraft involves three steps that determine its ability and intelligent:configuration design,dynamic modeling and flight *** study conducts a comprehensive survey of morphing ***,the methods to design the configuration of a morphing aircraft are presented and ***,the nonlinear dynamic characteristics and aerodynamic interference caused by a morphing wing are ***,the dynamic modeling and flight control methods for solving the flight control problems are summarized with respect to these ***,the general as well as special challenges ahead of the development of intelligent morphing aircraft are *** findings can provide a theoretical and technical reference for designing future morphing aircraft or morphing-wing UAVs.

关键词： Aircraft design Dynamic modeling Fault tolerance Flight control Intelligent material Morphing aircraft Unmanned Aerial Vehicles(UAV)

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Bio-robotics research for non-invasive myoelectric neural interfaces for upper-limb prosthetic control:a 10-year perspective review

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国家科学评论（英文版） 2023年第5期10卷 32-52页

作者： Ning Jiang Chen Chen Jiayuan He Jianjun Meng Lizhi Pan Shiyong Su Xiangyang Zhu National Clinical Research Center for Geriatrics West China Hospitaland Med-X Center for ManufacturingSichuan UniversityChengdu 610041China State Key Laboratory of Mechanical System and Vibration and Institute of RoboticsShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical EngineeringTianjin UniversityTianjin 300350China Institute of Neuroscience Université Catholique LouvainBrussel B-1348Belgium

A decade ago,a group of researchers from academia and industry identified a dichotomy between the industrial and academic state-of-the-art in upper-limb prosthesis control,a widely used bio-robotics *** proposed that four key technical challenges,if addressed,could bridge this gap and translate academic research into clinically and commercially viable *** challenges are unintuitive control schemes,lack of sensory feedback,poor robustness and single sensor ***,we provide a perspective review on the research effort that occurred in the last decade,aiming at addressing these *** addition,we discuss three research areas essential to the recent development in upper-limb prosthetic control research but were not envisioned in the review 10 years ago:deep learning methods,surface electromyogram decomposition and open-source *** conclude the review,we provide an outlook into the near future of the research and development in upper-limb prosthetic control and beyond.

关键词： electromyography prosthetic control sensory feedback EMG decomposition robustness deep learning

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Dynamical Modeling and Numerical Simulation of Water Discharge Process of Spherical Objects 20

Dynamical Modeling and Numerical Simulation of Water Dischar...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhong, Lin Dong, Jiawei Liu, Jiabin Wang, Wei Wu, Riyue Wang, Shuqi Zhang, Tao Guangdong University of Technology State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangzhou China Guangdong University of Technology School of Electromechanical Engineering Guangzhou China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350320831

The process of an object leaping out of the water is very similar to the jumping process of an aquatic animal during prey or avoid predators. The study of the process of an object leaping out of the water is beneficial to the design of robots jumping out of water. In this work, the free jump of a sphere out of the water is successfully simulated based on the Computational Fluid Dynamics (CFD) software Fluent, with User-Defined Functions to control the motion of the sphere, the volume of Fluid model, dynamic meshing, and Detached Eddy Simulation. The velocity of the sphere at the water-air interface and the height of the sphere leaping out from the water surface obtained from the numerical simulation are compared with experimental results. The maximum error between the experimental and the simulated results is 2.28% in the water-discharge velocity and 2.65% in the leaping height from the water surface. In addition, this paper model the dynamics of the sphere during the water discharge process. The paper also analyses the free deformation of water surface, the water film rupture process on the surface of the sphere, the variation of fluid drag on the sphere, and the variation of the fluid velocity field during the free ascent of the sphere after acquiring an initial velocity of 2.81 m/s. © 2023 IEEE.

关键词： Computer software

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FaRo-PPF: Fast and Robust Point Pair Feature for 6D Pose Estimation in Industrial Stamping 8

FaRo-PPF: Fast and Robust Point Pair Feature for 6D Pose Est...

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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： He, Cheng Zhang, Xuebo Zhao, Zhenjie Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China School of Computer Science Nanjing University of Information Science and Technology Nanjing210044 China

ISBN: (纸本)9798350300178

Estimating 6D poses of targets efficiently is critical for industrial stamping tasks, in which the Point Pair Feature (PPF) method has been widely used. Based on PPF, this paper proposes Fast and Robust PPF, i.e. FaRo-PPF, which improves PPF in the following three key aspects: adaptive down-sampling based on surface features, point pair matching based on voting ball, and normal-based pose verification. The three designs alleviate existing problems of the local matching stage in PPF, and make FaRo-PPF a stronger method of 6D pose estimation in industrial stamping. To demonstrate the effectiveness of FaRo-PPF, we compare it with PPF on five publically available datasets. Experiment results showed that FaRo-PPF is able to significantly improve accuracy by about 15% and reduce the execution time by about 40% across all test data. We further conduct a grasping and assembly experiment on a physical robot arm, and similar improvement can be observed. FaRo-PPF achieves a higher success rate of assembly and reduces the execution time by about 50%. © 2023 IEEE.

关键词： Stamping

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