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11th International Conference on Mechatronics and Robotics Engineering, ICMRE 2025

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

ISBN: (纸本)9798331509293

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. © 2025 IEEE.

关键词： Neuromuscular rehabilitation

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Accurate manipulation of anthropomorphic robotic arm based on 3D human eye gazing with posture error compensation

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Science China(Technological Sciences) 2025年第2期68卷 178-198页

作者： Quanlin LI Xianzong WANG Jiaji MA Qianjun HUANG Qizhi JIANG Wenbin CHEN Caihua XIONG State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China Institute of Medical Equipment Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China

As humans and robots work closer together than ever,anthropomorphic robotic arms with intuitive human-robot interaction interfaces have drawn massive attention to improving the quality of robot-assisted *** pursuit of this,we designed a dedicated 7-degrees-of-freedom(DoF)anthropomorphic robotic arm having three compact differential joints and a head-mounted gaze tracker enabling head-pose-tracked 3D gaze ***,two key challenges were addressed to achieve accurate robot-assisted manipulation of the object indicated by the direction of human ***,a novel predictive pupil feature was proposed for 3D gaze *** from most existing features subjected to the common paraxial approximation assumption,the proposed novel predictive pupil feature considered the light refraction at two corneal surfaces with a more realistic eye model,significantly improving the 3D gaze estimation accuracy when the eyeball rotates at large ***,a novel optimization-based approach was developed to efficiently compensate for the posture errors of the designed 7-DoF anthropomorphic robotic arm for accurate *** with the existing Jacobian-based or optimization-based approaches with nominal joint values as iteration initial,the proposed approach computed the optimal iteration initial and realized faster convergence for real-time posture error *** the posture error compensation in real time and 3D gaze estimated accurately,the human can command accurate robot-assisted manipulation using his eyes *** proposed system was successfully tested on five healthy subjects.

关键词： anthropomorphic robotic arm differential joint posture error compensation 3D gaze estimation corneal refraction head-mounted gaze tracker

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Bandwidth enhancement and the flattening of a chaotic laser with a microring resonator

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Optics Express 2025年第9期33卷 19535-19545页

作者： Guo, Zhi-Yong Li, Jian-Cheng Qiao, Li-Jun Wei, Xiao-Jing Zhang, Ming-Jiang College of Physics and Optoelectronic Engineering Taiyuan University of Technology Taiyuan030024 China Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan030024 China Shanxi Key Laboratory of Precision Measurement Physics Taiyuan University of Technology Taiyuan030024 China

We propose and experimentally demonstrate what we believe to be a novel scheme for bandwidth enhancement and flattening of a chaotic laser with a microring resonator. By leveraging the multi-beam interference effect within the MRR, the multiple chaotic laser exhibited improved bandwidth and power spectrum flatness. With a feedback strength of 6 and a laser bias current of 11.8 mA, the chaotic laser with a power spectrum that extends to 22.65 GHz within -3 dB is experimentally achieved. Additionally, we investigated the impact of the different feedback strengths and bias currents on the bandwidth and flatness of the chaotic laser. Finally, we investigated the correlation between the two channels, which can produce single-channel chaotic lasers with correlations below 0.25 over a wide range. This method offers promising chaotic light sources for applications in chaotic distributed fiber optic sensing, secure communication, and chaotic LIDARs. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Bandwidth

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Leader-follower:Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

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Science China(Technological Sciences) 2025年第1期68卷 321-334页

作者： Qinghua ZHANG Xianglong LI Hongwei JING Kerui SUN Yuancheng LI Sikai ZHAO Lele LI Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie ZHAO Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China The Learning Algorithms and Systems Laboratory School of EngineeringÉcole Polytechnique Fédérale de LausanneLausanne CH 101510587Switzerland

Supernumerary robotic arms(SuperLimb)are a new type of wearable robot that works closely with humans as a third hand to augment human operation *** conveyance of wearers'intentions,allocation of roles,and humancentered interaction considerations are the key points in the process of human-SuperLimb *** paper proposes a human-centered intention-guided leader-follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying *** proposed leader-follower controller takes the human as the leader and the SuperLimb as the follower,achieving effective information communication,autonomous coordination,and good force compliance between SuperLimb,humans,and the environment under human safety ***,the human-SuperLimb dynamic system is modeled to achieve force interaction with the environment and ***,to achieve the precise intention extraction of humans,pose data from five visual odometry sensors are fused to capture the human state,the generalized position,the velocity of hands,and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer ***,based on the real-time distance detection between human and mechanical limbs,the security assurance and force-compliant interaction of the human-SuperLimb system are ***,the human hand muscle intention recognition,human-robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories,and SuperLimb could well understand the wearer's intentions to switch different SuperLimb *** proposed sensor-based human-robot communication framework motivates future studies of other collaboration scenes fo

关键词： SuperLimb leader-follower human intention estimation human-robot safety human-robot communication

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Partial Task Offloading for AAV-Assisted Mobile Edge Computing With Energy Harvesting

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IEEE Internet of Things Journal 2025年第9期12卷 12777-12791页

作者： Niu, Zhaocheng Liu, Hui Du, Junzhao Ge, Yiming Xidian University School of Computer Science and Technology Shaanxi Xi’an710071 China State Key Laboratory of Satellite Navigation System and Equipment Technology Shijiazhuang050081 China

Due to the adaptable deployment and extensive coverage, autonomous aerial vehicles (AAVs) have gained considerable attention in the field of mobile edge computing (MEC). Nevertheless, meeting the requirements of task offloading in AAV-assisted MEC remains challenging due to limitations in computing power and battery life. To address this challenge, we investigate the problem of distributed joint task partial offloading and energy harvesting (EH) in AAV-assisted MEC to minimize both task execution latency and energy cost of the AAV system. We formulate this problem as a mixed-integer nonlinear programming problem and decompose this problem into two subproblems: 1) task offloading strategy problem and 2) task offloading ratio and EH problem. We propose a distributed algorithm to determine task offloading strategies of AAVs iteratively. Given the task offloading strategies of AAVs, the subproblem of task offloading ratio and EH duration is solved by the sine cosine algorithm. Experimental results demonstrate that our proposed algorithm can effectively reduce the task execution latency and energy cost of the AAV-assisted MEC system, and outperforms other baselines significantly. © 2014 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Attribute-Based Access Control Encryption

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IEEE Transactions on Dependable and Secure Computing 2025年第3期22卷 2227-2242页

作者： Wang, Xiuhua Yu, Mengyang Wang, Yaohui Pi, Yinjia Xu, Peng Wang, Shuai Jin, Hai Han, Min Huazhong University of Science and Technology Hubei Key Laboratory of Distributed System Security School of Cyber Science and Engineering Wuhan430074 China State Key Laboratory of Cryptology Beijing100878 China Huazhong University of Science and Technology National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Hubei Key Laboratory of Distributed System Security Hubei Engineering Research Center on Big Data Security School of Cyber Science and Engineering Wuhan430074 China University of Electronic Science and Technology of China National Key Laboratory of Wireless Communications Chengdu611731 China Huazhong University of Science and Technology National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Cluster and Grid Computing Lab School of Computer Science and Technology Wuhan430074 China

The burgeoning complexity of communication necessitates a high demand for security. Access control encryption is a promising primitive to meet the security demand but the bulk of its constructions rely on formulating the access control policy with identities. Attribute-based access control policy in attribute-based encryption (ABE) is known to be more expressive without relying on enumerating identities. We propose a generic framework to build attribute-based access control encryption from ciphertext-policy ABE. Our instantiations prioritize different emphases on expressiveness and efficiency. The first instantiation supports multi-valued AND-gate access control structures, while the second supports the linear-secret-sharing access structure. Both are prototyped with efficiency validated empirically. © 2024 IEEE.

关键词： Ciphertext

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FWAF-VID: A Flapping-Wing Aggressive Flight Benchmark Dataset for Visual-Inertial Localization

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IEEE Robotics and Automation Letters 2025年第6期10卷 6328-6335页

作者： Jiang, Jizhou Pan, Erzhen Xu, Wenfu Sun, Wei Ye, Jingyang Harbin Institute of Technology School of Robotics and Advanced Manufacture Shenzhen518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China Guangdong Biomimetic Intelligent Unmanned System Engineering Technology Research Center Shenzhen518052 China

Accurate state estimation of micro aerial vehicles (MAVs) in high-speed and dynamic environments poses a significant challenge for visual-inertial odometry (VIO) algorithms. Flapping-wing aerial vehicles (FWAVs), as an emerging flight platform, have attracted significant attention for stealth capabilities and efficient flight characteristics. Despite the availability of numerous MAV visual-inertial datasets for six-degree-of-freedom (6-DoF) state estimation, these datasets are not applicable for FWAVs with pronounced vibrations and agile maneuverability. To address this gap, we propose a large-scale flapping-wing aggressive flight visual-inertial dataset FWAF-VID. It contains diverse integrations of synchronized onboard cameras and IMU sensors. A total of 28 sequences include static flapping, calibration, and real-world flights collected in outdoor and indoor environments. The 17 flight sequences feature variations in illuminations, speeds, trajectories, camera perspectives, and flight modalities. We provide precisely aligned ground truth RTK and UWB measurements for algorithm evaluation. Furthermore, a comprehensive benchmark comparison is conducted, qualitatively and quantitatively evaluating the positioning accuracy of state-of-the-art VIO algorithms. The experimental results indicate that despite the degradation in localization accuracy in high-dynamic environments, FWAF-VID can effectively support the further development of VIO algorithms for FWAVs. To the best of our knowledge, this is the first onboard benchmark dataset tailored for aggressive flight in flapping-wing airborne platforms. © 2025 IEEE.

关键词： Micro air vehicle (MAV)

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High-Order Fully Actuated system Approach-Based Attitude Stabilization for Underactuated Rigid and Flexible Spacecraft

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 15094-15105页

作者： Jia, Shixiang Qiu, Jianbin Wang, Tong Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150001 China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150080 China

This paper addresses the challenge of attitude stabilization for a class of underactuated rigid and flexible spacecrafts by utilizing only two control inputs. The attitude stabilization problem of underactuated spacecraft poses substantial challenges to the High-Order Fully Actuated (HOFA) system approach, due to the fact that it heavily depends on the full actuation characteristics of the system. To circumvent the aforementioned limitation, we first derive a HOFA system for underactuated rigid spacecraft using homogeneity theory and averaged system approach. Subsequently, we design a controller based on the HOFA system approach, which yields a linear closed-loop system. This methodology is then extended to address the simplified attitude stabilization problem of underactuated flexible spacecraft. By utilizing the HOFA system approach in tandem with an observer for estimating modal variables, we propose a control strategy that not only stabilizes the attitude but also actively suppresses elastic vibration. The performance of the proposed control schemes are demonstrated through simulation studies. © 2004-2012 IEEE.

关键词： Satellites

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A Seamless Pedestrian Localization system Based on GNSS/IμUWB/MAP Integration

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IEEE Internet of Things Journal 2025年第11期12卷 16653-16667页

作者： Zhang, Shuning Tang, Hongjing Chen, Liangming Gao, Yufeng Southern University of Science and Technology School of Automation and Intelligent Manufacturing Shenzhen518055 China Southern University of Science and Technology Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China Beijing Institute of Spacecraft System Engineering Beijing100094 China

Pedestrian localization has broad applications. However, achieving seamless positioning in complex environments remains a significant challenge due to factors like environmental occlusion and indoor-outdoor transitions. This paper proposes a combined localization framework using Global Navigation Satellite system (GNSS), Inertial Measurement Unit (IMU), Ultra-Wideband (UWB), and MAP data to address this issue. In the framework, a three-step GNSS localization method is proposed to enhance accuracy and stability by eliminating Non-Line-of-Sight (NLOS) effects and filtering anomalies. Inertial Navigation system (INS) and Pedestrian Dead Reckoning (PDR) models are integrated to improve local precision and stability. UWB, known for its superior localization capabilities, has been integrated into some smartphones and is promising for large-scale indoor applications. The paper presents a gradient descent-based optimal anchor deployment algorithm and localization methods for varying anchor quantities. Additionally, a non-stationary Markov model fuses map data for trajectory prediction and correction. Finally, anomaly detection filtering and low-pass filtering are applied to the corrected trajectories, yielding high accuracy and stability. Experiments on the Honor V20 and iQOO U3 smartphones showed significant improvements compared to the baseline algorithm. Outdoor Root Mean Square Error (RMSE) was reduced by 44.4% (10.83m) for the Honor V20 and 40.0% (10.77m) for the iQOO U3. Additionally, outdoor Standard Deviation (STD) improved by 43.9% (4.80m) and 43.5% (5.50m), respectively. In transitional areas, RMSE improved by 4.61% (10.77m) and 19.6% (4.76m), respectively. Indoor RMSE also showed improvements, with the Honor V20 reducing it by 8.00% (3.79m) and the iQOO U3 by 5.78% (3.91m). © 2025 IEEE.

关键词： Location awareness Global navigation satellite system Accuracy Pedestrians Filtering Sensors Prediction algorithms Predictive models Smart phones Kalman filters

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A Simple Control Scheme with Model Predictive Control-Based Footstep Planner and Virtual Model Control for Planar Biped Robot 16th

A Simple Control Scheme with Model Predictive Control-Based ...

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16th International Conference on Modelling, Identification and Control, ICMIC 2024

作者： Heng, Shuai Song, Chao Chen, Boyang Zhang, Yue Zang, Xizhe Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9789819617760

In this paper, our objective is to achieve stable walking for biped robots using a simple yet powerful control scheme. This control scheme consists of a planning and control framework. For the motion planner, we utilize the Linear Inverted Pendulum Model as the equations of motion for the biped. Model Predictive Control is applied to plan the Zero Moment Point (ZMP) for future steps. Trajectories for the swing foot and base are generated based on the planned ZMP. Subsequently, a straightforward and intuitive control method called Virtual Model Control is employed to calculate control torques for tracking the generated trajectories. Finally, simulations conducted on flat-foot bipedal robots in MuJoCo validate the effectiveness of the proposed control scheme in achieving stable walking and attaining the desired locomotion velocity. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Predictive control systems

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