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 a...
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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.
Establishing the relationship between vibrotactile parameters and perceived intensity(PI)is of great significance in the regulation of desired sensations,which contribute to haptic interfaces in practical *** eccentri...
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Establishing the relationship between vibrotactile parameters and perceived intensity(PI)is of great significance in the regulation of desired sensations,which contribute to haptic interfaces in practical *** eccentric rotating mass(ERM)motors are routinely utilized due to their lightweight design and efficient ability to evoke strong tactile *** adjusting input voltages,ERMs can yield different stimuli,but the effects of their physical properties on PI remain ***,we developed the physical model of the ERM-skin system and optimized the parameters affecting ***,the relationship between stimulus and perception was derived based on Fechner's *** experiments were conducted on fifteen subjects(ten males and five females,aged 24.40±2.87 years)to identify the vibration parameters and corresponding PI to verify the proposed PI *** in this study were attached to phantom skin/forearm with slim adhesive tape to minimize the *** 1 performed vibration calibration with ERM attached to the skin phantom to simulate the actual ***,the relative and absolute PI of subjects on specific stimuli were acquired in Experiments 2 and *** fitting reliability of the proposed PI model was evaluated on fifteen subjects with R^(2) of 0.73±0.07 and root mean squared error(RMSE)of 1.35±***,the proposed PI model established the quantitative relationship between stimulus parameters(vibration parameters and physical parameters)and subjective PI,which provided theoretical support for ERM optimization and vibrotactile modulation.
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 re...
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Autonomous aerial refueling technology is gaining increasing attention to enhance aircraft combat *** research on autonomous refueling focuses mainly on flight control laws,with little attention to the automation of r...
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Autonomous aerial refueling technology is gaining increasing attention to enhance aircraft combat *** research on autonomous refueling focuses mainly on flight control laws,with little attention to the automation of refueling *** leads to high demands on control law performance and navigation accuracy,making it difficult to ensure *** address this,we propose a robotic arm system capable of automatic docking during the flexible aerial refueling *** system uses a conical kinematic space configuration,offering enhanced stability and impact *** frame-type structure achieves a lightweight ***,we establish a single-objective optimization model for the connecting rod dimensions and apply a genetic algorithm(GA)for their *** also propose a trajectory-fitting calibration theory based on the robotic arm's special configuration and complete its movement accuracy calibration using a laser *** calibration method reduces the robotic arm's motion error by 71%,achieving an absolute positioning accuracy better than 3.5 mm,which meets the requirements for autonomous aerial *** summary,this research presents a hybrid robotic arm that meets automatic docking requirements,offering a new approach to autonomous aerial refueling.
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 nerv...
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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 mec...
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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 indi...
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Mechanical cues play an important role in regulating cellular *** are able to sense and respond to the mechanical cues present in the extracellular physical microenvironment via mechan-otransduction[1],which can ultim...
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Mechanical cues play an important role in regulating cellular *** are able to sense and respond to the mechanical cues present in the extracellular physical microenvironment via mechan-otransduction[1],which can ultimately shape the functions and behaviors of the cells themselves as well as their microenviron-ments during numerous developmental,physiological and patho-logical processes[2].The development of human diseases such as cancer is generally accompanied by unique changes in the mechanical properties of cells and their physical microenviron-ments,and discoveries in the field of physical oncology are beginning to be translated into new therapeutic strategies for cancer[3].
Multi-motor configuration of multi-DOF(degree of freedom)optical system is a major source of redundant structure,putting a limitation on the simple and miniaturized ***,a novel two-DOF ultrasonic motor(USM)is proposed...
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Multi-motor configuration of multi-DOF(degree of freedom)optical system is a major source of redundant structure,putting a limitation on the simple and miniaturized ***,a novel two-DOF ultrasonic motor(USM)is proposed to provide a feasible method of application in the lens autofocus of the optical *** proposed USM operates by one longitudinal mode and two orthogonal bending modes,which is inspired by the bionic motion principle of the *** frequency degeneration among the three working modes is per-formed,and the working principle of the USM is verified via the FEM simulation.A prototype of the two-DOF USM is fabricated,and its mechanical output characteristics are *** experimental results indicate that the prototype achieves the maximum rotary and linear speeds of 3319.6 rpm and 57.6 mm/s,***,we demonstrate the result of a simple focusing experiment using the prototype and obtain a series of clear pictures,which verifies the feasibility of application in the optical focusing system.
A long history has passed since electromyography(EMG)signals have been explored in human-centered robots for intuitive ***,it still has a gap between scientific research and real-life *** studies mainly focused on EMG...
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A long history has passed since electromyography(EMG)signals have been explored in human-centered robots for intuitive ***,it still has a gap between scientific research and real-life *** studies mainly focused on EMG decoding algorithms,leaving a dynamic relationship between the human,robot,and uncertain environment in real-life scenarios seldomly *** fill this gap,this paper presents a comprehensive review of EMG-based techniques in human-robot-environment interaction(HREI)*** general processing framework is summarized,and three interaction paradigms,including direct control,sensory feedback,and partial autonomous control,are ***-based intention decoding is treated as a module of the proposed *** key issues involving precision,stability,user attention,compliance,and environmental awareness in this field are *** important directions,including EMG decomposition,robust algorithms,HREI dataset,proprioception feedback,reinforcement learning,and embodied intelligence,are proposed to pave the way for future *** the best of what we know,this is the first time that a review of EMG-based methods in the HREI system is *** provides a novel and broader perspective to improve the practicability of current myoelectric interaction systems,in which factors in human-robot interaction,robot-environment interaction,and state perception by human sensations are considered,which has never been done by previous studies.
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