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检索条件"机构=State Key Laboratory of Virtual Reality Technology and Systems Robotics Institute"

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Estimation of Plantar Force in Different Motions for the Design of Wearable System of Monitoring Daily Life Activities

Estimation of Plantar Force in Different Motions for the Des...

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2011 2nd Asia-Pacific Conference on Wearable Computing systems

作者： Qian Yajun Li Deyu Ren Lvping Yang Yang Pu Fang Fan Yubo Hu Huimin Yang Fan School of Biological Science and Medical Engineering Beihang University State Key Laboratory of Virtual Reality Technology and Systems Beihang University Ergonomics Laboratory China National Institute of Standardization

The purpose of this study was to present a method to estimate the plantar force in different motions for the design of wearable system of monitoring daily life activities. Pedar-X pressure insole was used for providing pressure data for estimation. 10 healthy young adults performed 7 typical motions: standing, level walking, level running, rising from and sitting on a chair, vertical jump-landing, stair descending and stair ascending. The estimating equations were established by stepwise linear regressions. Five other subjects performed the same motions for validation. Results showed that the plantar force calculated by the estimating equations of both level walking and relevant motion were accurate, except standing. In addition, the two kinds of estimated values were not significantly different. It can be concluded that the plantar force during daily life motions except standing could be estimated through the regression equation of level walking and the pressure data from 5 pressure sensors at T1, M2, M3, HL and HM regions.

关键词： daily life activities different motions kinetics biomechanics plantar pressure

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Optimization of Sensor Layout for the Wearable System of Monitoring Foot Loads in Daily Life Activities

Optimization of Sensor Layout for the Wearable System of Mon...

引用

2011 2nd Asia-Pacific Conference on Wearable Computing systems

作者： Yang Yang Pu Fang Ren Lvping Qian Yajun Li Deyu Fan Yubo Hu Huimin Yang Fan State Key Laboratory of Virtual Reality Technology and Systems Beihang University School of Biological Science and Medical Engineering Beihang University Ergonomics Laboratory China National Institute of Standardization

This study investigated the optimization of sensor layout during the design of insole plantar pressure measuring system, which would be used for monitoring the foot loads in continuous daily life activities. The plantar pressure data of ten subjects during level walking were collected by the Pedar-X pressure insoles. Then the number and the location of sensor,and the equation of estimating the foot force were induced by the stepwise linear regressions of these pressure data. It shows that foot loads could be estimated with good and reasonable accuracy through the pressure data from 5 pressure sensors under T1, M2, M3, HL and HM regions. In order to verify the validity of this sensor layout and the estimated equation, five other subjects were asked to complete the task composed of 7typical daily life activities: standing, rising from and sitting in a chair, vertical jump-landing, level walking, level running,stair descending and stair ascending in turn. And the foot force estimated from the regression model was compared with that measured by Pedar-X pressure insoles. It can be concluded that the foot loads in daily life activities can be monitored effectively by our model.

关键词： daily life activities biomechanics kinetics foot plantar pressure sensor layout model

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Design optimization of parallel manipulators with required pose resolution

Design optimization of parallel manipulators with required p...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Hao Li Yuru Zhang Jian S. Dai State Key Laboratory of Virtual Reality Technology and System Beihang University Beijing 100191 C Robotics Research Center Department of Mechanical Engineering Kings College London University of

Performance of a parallel manipulator heavily relies on its position/orientation resolution. Without a good resolution the manipulator is difficult to achieve a high stiffness. Therefore how to obtain the required resolution is a basic issue to design a parallel manipulator. This paper presents a method to solve the problem. Firstly, the mathematical definition of the position/orientation resolution is given. Then we discuss how to calculate them using Rayleigh quotient. And the design optimization problem is formulated. Fundamental concepts of the method are illustrated through a 3-RRR planar parallel manipulator. The design process to achieve an optimized task space of the required pose resolution is also demonstrated in the example.

关键词： Manipulators Haptic interfaces Joints Optimization Kinematics Jacobian matrices Conferences

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iHandRehab: An interactive hand exoskeleton for active and passive rehabilitation

iHandRehab: An interactive hand exoskeleton for active and p...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Jiting Li Ruoyin Zheng Yuru Zhang Jianchu Yao State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing China Department of Engineering College of Technology and Computer Science East Carolina University Greenville NC USA

This paper presents an interactive exoskeleton device for hand rehabilitation, iHandRehab, which aims to satisfy the essential requirements for both active and passive rehabilitation motions. iHandRehab is comprised of exoskeletons for the thumb and index finger. These exoskeletons are driven by distant actuation modules through a cable/sheath transmission mechanism. The exoskeleton for each finger has 4 degrees of freedom (DOF), providing independent control for all finger joints. The joint motion is accomplished by a parallelogram mechanism so that the joints of the device and their corresponding finger joints have the same angular displacement when they rotate. Thanks to this design, the joint angles can be measured by sensors real time and high level motion control is therefore made very simple without the need of complicated kinematics. The paper also discusses important issues when the device is used by different patients, including its adjustable joint range of motion (ROM) and adjustable range of phalanx length (ROPL). Experimentally collected data show that the achieved ROM is close to that of a healthy hand and the ROPL covers the size of a typical hand, satisfying the size need of regular hand rehabilitation. In order to evaluate the performance when it works as a haptic device in active mode, the equivalent moment of inertia (MOI) of the device is calculated. The results prove that the device has low inertia which is critical in order to obtain good backdrivability. Experimental analysis shows that the influence of friction accounts for a large portion of the driving torque and warrants future investigation.

关键词： Joints Fingers Exoskeletons Indexes Friction Thumb Electronics packaging

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Kinematics and workspace analysis of an exoskeleton for thumb and index finger rehabilitation

Kinematics and workspace analysis of an exoskeleton for thum...

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Zheng, Ruoyin Li, Jiting State Key Laboratory of Virtual Reality Technology and Systems Robotics Institute Beihang University Beijing China

ISBN: (纸本)9781424493173

For the human hand rehabilitation, the palmar opposition is an important function to evaluate the recovery of hand motor capabilities. This paper proposes an exoskeleton-type hand rehabilitation assistive device which is able to be applied to index finger as well as thumb. The kinematics and workspace of index fingertip and thumb-tip are analyzed. The 'opposition space' is defined as the intersection of the workspace of thumb-tip and the index fingertip. A metric, what we call 'opposition degree', which is defined as the ratio of volume of opposition space to that of the index fingertip workspace, is proposed to present the available degree of opposition. As an example, the opposition degree of a human hand model is determined. This metric can also used to rate the ergonomic performance of the hand rehabilitation assistive device. This method can be applied to other fingers as well. The opposition simulation experiment is conducted to verify the kinematics of the proposed exoskeleton. © 2010 IEEE.

关键词： Kinematics

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Graphic and haptic rendering of a 4-DOF virtual finger interacted with the virtual object at multiple contact points

Graphic and haptic rendering of a 4-DOF virtual finger inter...

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IEEE International Conference on robotics and Biomimetics

作者： Feng, Miao Li, Jiting State Key Laboratory of Virtual Reality Technology and Systems Robotics Institute Beihang University Beijing China

ISBN: (纸本)9781424493173

This paper investigates the simulation of a virtual index finger interacted with an object for a virtual rehabilitation system of human hand. Corresponding to the anatomy of human hand, the virtual finger is modeled as three phalanges which are connected by three joints, which is essentially a 4-Degree-of-Freedom (DOF) open chain mechanism. The special characteristic of the virtual finger poses the special issues on graphic rendering, collision detection, and haptic rendering, which is investigated in this paper. Since the interaction only occurs on the surfaces of the fingers and objects in the rehabilitation application, triangle mesh representation is used to build the geometry model of the virtual hand and the object which are both simplified as rigid bodies for the preliminary research. A graphic rendering method based on the sequence of priority of collision detection is proposed to deal with the various contact situations at which the finger contacts the object with different phalanges. The non-penetration graphic rendering is realized by displaying the virtual finger at the position which is closest to the contact point. This position is searched out from the recorded motion trajectory of the finger. The virtual contact forces are modeled upon the spring-mass model and the joint torques are calculated according to the equilibrium equation of moment. The system experiment result demonstrates that the proposed method can provide the satisfactory graphic and haptic display for various contact situations. © 2010 IEEE.

关键词： Mechanisms

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Active and passive control algorithm for an exoskeleton with bowden cable transmission for hand rehabilitation

Active and passive control algorithm for an exoskeleton with...

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Wang, Shuang Li, Jiting Zheng, Ruoyin State Key Laboratory of Virtual Reality Technology and Systems Robotics Institute Beihang University Beijing China

ISBN: (纸本)9781424493173

This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which accomplishes both active and passive rehabilitation training. In the passive mode control the PID control algorithm is executed in the velocity mode of the driver. In the active mode control, control architecture is proposed to deal with in both free space and constraint space. A resistance compensation control method is proposed to reduce the resistance in free space which is caused by the friction of the Bowden cable as well as the moment of inertial. To realize the compensation, force sensors are used to measure the force exerted by the human fingertip. A commercial driver, which could switch between the two control modes by a programmable digital switch rather than changing the physical connection manually, guarantees the realization of the required functions. The experiments are conducted to verify the proposed method, and the results show that in the active control mode, the maximum finger-exerted force with compensation is about two fifths of the force without compensation which means the resistance is greatly reduced. And in the passive mode, the maximum joint position error is about 1.2 degree, which satisfies the requirement in hand rehabilitation application. The experimental results demonstrate the validity of the proposed method. © 2010 IEEE.

关键词： Cables

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Weighted motion vectors of double candidate blocks based temporal error concealment method for video transmission over wireless network

Weighted motion vectors of double candidate blocks based tem...

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2010 International Conference on Educational and Network technology, ICENT 2010

作者： Ai, Mingjing Jiang, Qixing State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing China

ISBN: (纸本)9781424476619

The error concealment(EC) method for video transmission over wireless network recommended by H.264 cannot reconstruct the corrupted image effectively, which was caused partly by the inaccurate predicted motion vector(MV).Thus a temporal error concealment(TEC) method based on weighted motion vectors of double candidate blocks in the previous frame is proposed in this paper. The proposed method conceals a corrupted block by the MV given by weighting motion vectors of double candidate blocks according to their different accuracy. Moreover, to improve the accuracy of a candidate block and it's MV when searching a matched block in the reference frame, the reliability of the neighboring blocks of the current corrupted block was assigned by different reliability coefficients in terms of their different contribution to recover the corrupted block. The performances, on several standard video sequences, of the proposed TEC method have been compared with those obtained by the EC method in H.264. Experimental results show that the proposed method outperforms the method in H.264 both on PSNR and visual quality obviously. © 2010 IEEE.

关键词： Wireless networks

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2D-RAID-based array self-adaptation strategy

2D-RAID-based array self-adaptation strategy

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2010 IEEE International Conference on Information Theory and Information Security, ICITIS 2010

作者： Zhang, Ji He, Bing State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing China

ISBN: (纸本)9781424469406

This paper proposes a strategy which is able to improve the reliability of 2D-RAID array by reorganizing the effective disks left when some disks in the array fail, so as to reduce the potential impact from extra disk failures and effectually increase the reliability class of effective disks left in the array. In addition, this paper also shows how to use the strategy in 3×3 2D-RAID array and the transformation of 2D array to 1D array. The analysis on reliability shows that such strategy is able to increase the MTTDL(Mean time to data loss) of the array by 2 to 3 order of magnitudes. © 2010 IEEE.

关键词： Reliability analysis

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The analysis of resolution for cable-driven haptic device

The analysis of resolution for cable-driven haptic device

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Hu, Hao Zhang, Yuru Dai, Xiaowei Zhang, Yaojun State Key Laboratory of Virtual Reality Technology and Systems Robotic Institute BeiHang University Beijing 100191 China

ISBN: (纸本)9781424493173

Resolution is a key index in evaluating a haptic device. High resolution provides good performance for haptic device. In this paper, the resolution of iFeel6, a 6 degree of freedom (DOF) cable-driven haptic device, is analyzed. For the presented haptic device, the resolution is divided into translational resolution and rotational resolution. Each of them is defined in this paper. Then a method of calculating the resolution is proposed. Using the method, the resolution of iFeel6 is calculated and the result is presented. © 2010 IEEE.

关键词： Degrees of freedom (mechanics)

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