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检索条件"机构=State Key Laboratory of Robotics and Systems"

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Lower limb motion pattern recognition based on IWOA-SVM 3

Lower limb motion pattern recognition based on IWOA-SVM

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3rd International Conference on Computer Science and Communication Technology, ICCSCT 2022

作者： Li, Xiaoqi Yang, Yunlong Chen, Haidie Yao, Yufeng State Key Laboratory of Robotics and Systems Harbin Institute of Technology Heilongjiang Harbin China

ISBN: (纸本)9781510661240

This paper presents a lower limb motion pattern recognition algorithm based on SVM model optimized by improved whale algorithm (IWOA-SVM). The purpose is to overcome the problems of low accuracy and low reaction speed of existing lower limb rehabilitation pattern recognition algorithms, nonlinear adjustment factor is combined with WOA to enhance the search ability and search speed of the algorithm. The collected surface EMG signals are used as the input of the motion pattern recognition system, and the motion pattern recognition is realized by combining the IWOA-SVM model. Simulation experiments on six test functions are carried out and compared with WOA. The results indicated that the search convergence speed and optimization accuracy of IWOA are improved. Experiments on the collected signal data suggested that the recognition accuracy is 94.12%, compared with WOA-SVM algorithm, PSO-SVM and GA-SVM. The results indicated that the recognition accuracy of this algorithm is improved by 4.02%, 8.82% and 6.64% respectively. © 2022 SPIE.

关键词： Pattern recognition

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Design and kinematics of cable-driven soft module coupled with spring

Design and kinematics of cable-driven soft module coupled wi...

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Yan, Jihong Shi, Peipei Xu, Zhidong Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150001 China

ISBN: (纸本)9781728163215

Soft robot has become a hot point because it has excellent adaptability and safety with environment However, poor motion accuracy and low stiffness have limit its applications. This paper proposes a cable-driven soft module coupled with spring. It has compact structure, large range of motion, standard plug-and-connect connector, and can be easily assembled into a soft manipulator or a gripper. The kinematics of the module and modular manipulator are established based on the piece-wise constant curvature (PCC) method. The nonlinear friction of cables and the gravity of the modules have been analyzed to obtain an accurate model. Experiments on modules and manipulators with different sizes and stiffness have demonstrated its accuracy. The modules can reach a maximum bending angle of 180°, and the error is within 2.5°. The manipulators can reach a total bending angle more than 270°, and the error does not exceed 5°. Finally a gripper equipped with three modules is developed. It can grasp objects with different shapes, fragility and weights range from 1g to 0.43kg. It also demonstrates the good flexibility and load capacity of the module. © 2019 IEEE.

关键词： Manipulators

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Magnetic-Field-Assisted LCD Stereolithography for Centipede-Inspired Magnetic Soft Robot

Magnetic-Field-Assisted LCD Stereolithography for Centipede-...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Wang, Jinrong Li, Ruixuan Xu, Yaoyuan Li, Shishi Meng, Xianghe Xie, Hui State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9781665481090

This paper presents a novel magnetic-field-assisted LCD stereolithography technique for fabricating centipede-inspired magnetic soft robots. Unlike previous DLP-based methods, our approach leverages Liquid Crystal Display (LCD) technology, offering a simpler optical path, comparable resolution, and cost-effectiveness. The method integrates LCD photo-polymerization with a permanent magnet orienting system possessing 5-DOF in motion, enabling precise control over the direction of magnetization patterns during manufacturing. We demonstrate the technique by designing and fabricating a biomimetic centipede robot with programmable deformation capabilities. Finite element analysis was used to simulate the robot's deformation behavior, which was subsequently validated through experimental locomotion tests. The fabricated robot exhibited complex deformation and efficient locomotion in response to external magnetic fields. This approach advances the creation of intricate magnetic arrangements for planar soft robots, potentially expanding their application in fields such as biomedicine and microfluidics. The proposed method provides a new pathway for manufacturing biologically inspired magnetic soft robots with complex programmable behaviors. © 2024 IEEE.

关键词： Liquid crystal displays

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Usage of Colloidal AFM Probe for Research in Effects of Water Layer Evaporation on Interfacial Adhesion between Cellulose Surfaces 12

Usage of Colloidal AFM Probe for Research in Effects of Wate...

引用

12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Geng, Junyuan Zhang, Hao Meng, Xianghe Gao, Haibo Rong, Weibin Xie, Hui Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150080 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Effects of the water layer evaporation on the interfacial adhesion between cellulose surfaces are researched via the atomic force microscopy (AFM) method in this article. A cellulose colloidal probe (CCP) is prepared through a dual-probe micromanipulation system, which is used to detect this time-varying adhesive interaction. The AFM system configuration, detailed fabrication of the CCP, principle of the adhesion measurement, and relevant calibration tasks are reported before the characterization. Several groups of adhesion mapping experiments have been executed at different divided periods after the water film forming on the sample surface of the cellulose membrane. The obtained results show that the interfacial adhesion has a significant downward trend when the water layer passing over time. In addition, the correlation of the surface topography and adhesion is displayed. The industrial applications of cellulose are inseparable from the participation of water solvent, meanwhile appropriate process adjustments according to the bonding strength between the cellulose surfaces during pulping and drying is necessary. This research can provide support in above occasions, which has its unique significance on the improving of processing technology. © 2022 IEEE.

关键词： Cellulose

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A single driven bionic water strider sliding robot mimicking the spatial elliptical trajectory

A single driven bionic water strider sliding robot mimicking...

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Yan, Jihong Zhang, Xin Yang, Kai Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150001 China

ISBN: (纸本)9781728163215

When a water strider sliding on the water, the spatial elliptical trajectory of the driving leg plays a critical role in ensuring efficient sliding movement and stability. At present, the bionic water strider robot prototype generally adopts the dual motor drive mode to realize this complex spatial trajectory, increasing the weight of the robot and go against the maximization of the performance. Moreover, the research on bionic water strider robots mainly focuses on the tiny scales, the load capacity is weak, and difficult to achieve practical application. In response to these problems, this paper proposes a new driving principle, the driving leg realizes the spatial elliptical trajectory by the elliptical slot cam and the two rotating mechanisms driven by a single motor. Based on this, a small water surface sliding robot based on buoyancy support is designed. In order to verify the motion performance of the robot, the dynamic model was established. Then, ADAMS and MATLAB co-simulation method was adopted to analyze the sliding movement of the robot Finally, the forward and turning motion experiments of the robot prototype with different stroke speeds were conducted. The total weight of the robot is 137g, with an additional load capacity of 130g, the maximum straight stroke speed of the robot is 24.3cm/s, and the maximum turning speed is 35°/s. © 2019 IEEE.

关键词： Trajectories

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Design and Implementation of a Control System for Wrist Offset Wheel Hub Polishing Robot 12

Design and Implementation of a Control System for Wrist Offs...

引用

12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Zhu, Kui Zhao, Lijun Liu, Zhiheng Xia, Yi Harbin Institute of Technology Department of State Key Laboratory of Robotics and Systems Harbin China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

The application of the offset wrist robot meets the needs of wheel hub grinding and polishing, and there is no open motion control system for this solution. This paper proposes a cooperative design method of the software and hardware control system oriented to the grinding and polishing robot with offset wrist, which realizes the hardware bus integration, software modularization and standardized synchronous design, and effectively improves the stability and usability of the control system. Its electronic control system, motion control software system and human-computer interaction system are designed, and the problem of software and hardware co-design of offset grinding and polishing robot is solved. This paper realizes the connection of the non-real-time module of the upper machine through the ADS communication method, and designs the human-computer interaction software interface. At the same time, a grinding and polishing process software package is added to the upper machine to manage the hub and grinding and polishing process, and realize tasks such as motion simulation and trajectory planning, which improves the versatility and can also meet the special requirements for grinding and polishing. Based on the EtherCAT bus technology, this paper realizes the communication between the upper machine and the lower machine, and embeds real-time control modules such as kinematics calculation and joint interpolation calculation in the Beckhoff controller to achieve high speed and real-time control. Finally, the rationality and stability of the control system are verified through an example program. The grinding and polishing path of the wheel hub surface is created through the offline system, and the wheel hub grinding and polishing processing is realized through simulation and experiment, which verifies the software-hardware collaborative design and real-time grinding and polishing performance. © 2022 IEEE.

关键词： Grinding (machining)

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Assembly Trajectory Planning of Space Telescope Sub-mirror Module Based on Time Optimal Control

Assembly Trajectory Planning of Space Telescope Sub-mirror M...

引用

2018 International Conference on Advanced Electronic Materials, Computers and Materials Engineering, AEMCME 2018

作者： Ziran, Hao Zainan, Jiang Chongyang, Li Fan, Yang State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China

The space telescope stands for the highest level of a nation's aerospace industry, with its manufacturing and launch remaining a worldwide conundrum. The concept of modularized space telescope is proposed herein, the main structure of the sub-mirror module is designed briefly and the assembly scheme of the main telescope is also provided. Besides, the kinematic equation and working conditions of the space robotic arm used for assembly are given, with the cubic B-spline curves formulating the joint space trajectory. Then, with minimizing the moving time as the objective of optimization, displacement, speed and acceleration as the constraint conditions, a mathematical model for time-optimal trajectory planning is established and the genetic algorithm is used to work out solutions. The emulation result shows that the joint space trajectory of the robotic arm obtained on the premise that all the restraint conditions are met can minimize the robotic arm's moving time. © Published under licence by IOP Publishing Ltd.

关键词： Aerospace industry

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Extrinsic Parameter Calibration and Dynamic Objects Coping Strategy for Multi-camera SLAM 3

Extrinsic Parameter Calibration and Dynamic Objects Coping S...

引用

3rd International Conference on Computer Science and Management Technology, ICCSMT 2022

作者： Dong, Yunlong Guo, Wei Zha, Fusheng Wang, Pengfei Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150080 China

ISBN: (纸本)9798350320404

Perceiving the surrounding environment timely and accurately is very essential to improve the safety of mobile robots. To obtain rich information and increase the visual field of mobile robots, the development of multi-camera simultaneous localization and mapping (SLAM) system has become a hot research field. In the current research, multi-camera extrinsic parameter calibration and multi-camera dynamic SLAM are still challenging. Therefore, this paper proposes a dynamic environment-oriented multi-camera SLAM system. This system not only presents an accurate multi-camera extrinsic parameter calibration method but also can achieve accurate localization in the environment with dynamic objects. The effectiveness of the algorithm is verified through comprehensive experiments. © 2022 IEEE.

关键词： Mobile robots

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IMU-based joint angle measurement for robot joint angle analysis 3

IMU-based joint angle measurement for robot joint angle anal...

引用

3rd International Conference on Computer Science and Communication Technology, ICCSCT 2022

作者： Chen, Haidie Li, Xiaoqi State Key Laboratory of Robotics and Systems Harbin Institute of Technology Heilongjiang Harbin China

ISBN: (纸本)9781510661240

Aiming at solving the problem of joint angle measurement during the movement of small robots or robotic arms that cannot be equipped with angle encoders, this paper provides a small, lightweight and detachable measurement system. Compared with traditional magnetic and optical joint angle sensors, the principle of this method has the advantages of flexible installation and non-invasive measurement. By simply binding two inertial measurement units (IMUs) on both sides of the robot joint in any pose, real-time and high-precision robot joint angle measurement can be achieved through wireless transmission. At the same time, the relationship between the IMU and the joint pose changes dynamically with the robot, which can avoid measurement errors due to loose binding or robot vibration. In this paper, experiments were carried out on a knee joint rehabilitation training robot which can realize two rehabilitation actions, and the precise and stable joint angle curve of the robot is obtained. © 2022 SPIE.

关键词： Robots

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Deep Learning-Enhanced Super-Resolution Ultrasound for Efficient Brain Vascular Mapping

Deep Learning-Enhanced Super-Resolution Ultrasound for Effic...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Sun, Andi Shen, Xingjian Meng, Xianghe Xie, Hui Harbin Institute of Technology State key Laboratory of Robotics and Systems Harbin150080 China

ISBN: (纸本)9781665481090

Robotic implantation of neural electrodes for in-vasive brain-computer interface(BCI) requires precise vascular mapping to avoid major blood vessels. While super-resolution ultrasound imaging offers superior resolution compared to traditional methods, it typically requires probes with numer-ous elements, demanding substantial hardware resources. This paper presents a novel approach combining deep learning with reduced-element probes for high-resolution vascular imaging. The proposed method employs a transformer-based neural network to accurately localize high-density microbubbles while reducing the required number of probe elements. Simulations reveal that a 32-element linear probe with deep learning outper-forms a 64-element probe using 2D normalized cross-correlation for microbubble concentrations below 1.95 microbubbles/mm2. The overall localization precision and Jaccard index demon-strate superior performance of the deep learning approach, particularly at lower microbubble densities. In vivo experiments on a mouse brain model using a 64-element probe (15 MHz) and deep learning achieved vascular network reconstruction with 21 um resolution, distinguishing vessels 26 um apart. This technique significantly lowers the hardware requirements for constructing high-resolution vascular networks, thereby providing detailed cerebrovascular distribution maps. These maps have the potential to enable more precise planning and safer execution of neural electrode implantation for BCI research, while reducing overall system complexity. © 2024 IEEE.

关键词： Brain mapping

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