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作者： Tao, Zheng Marco, Ceccarelli Hui, Li Yang, Mo Key Laboratory of Biomimetic Robots and Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China Lab Robot Mechatronics University of Rome Tor Vergata Rome Italy

In this paper a prototype of BIT (Beijing Institute of technology) astronaut robot with three leg-arm limbs is presented with performance characteristics from a demo test. An experimental demo for basic operation modes is presented simulating the BIT astronaut robot moving outside an orbital station with a lab testbed set up for experimental activity of robot characterization. Results of the demo tests are used to characterize the feasibility of the robot design and its operation also with experiences at ground gravity. © 2020, Springer Nature Switzerland AG.

关键词： robots

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Trajectory Tracking Control Based on RBF Neural Network of The Lower Limb Rehabilitation robot

Trajectory Tracking Control Based on RBF Neural Network of T...

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IEEE International Conference on Mechatronics and Automation

作者： Jia Shi Linsen Xu Gaoxin Cheng Jiajun Xu Shouqi Chen Xingcan Liang University of Science and Technology of China No. 96 Jinzhai Road Hefei City Anhui Province China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science CAS Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

The lower limb rehabilitation robot has been widely applied to the recovery of the patient's limb. For patients without autonomous movement ability, the robot will drive their limbs the planned trajectory to carry out rehabilitation training, and the accuracy of the trajectory tracking effect should be guaranteed. PID control is a conventional method for trajectory tracking. Due to the dynamic model uncertainties and lack of good adjustment ability of PID control method, this paper proposes a control method combining neural network and PID. In this study, Magnetorheological (MR) damper and motor are combined to provide actuation for the robot. The control is simulated in Simulink. By comparing the trajectory tracking errors under PID control and RBF-PID control, it is verified that the RBF-PID control has better anti-interference performance. In the process of rehabilitation robot work, the flexibility of movement and the real-time and stability of track tracking are improved.

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System Design and Experimental Analysis of an All-environment Mobile robot

System Design and Experimental Analysis of an All-environmen...

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作者： Guo, Ziyi Zhu, Yiduo Wang, Meiling Li, Tao Zhao, Hanbin Xu, Linsen Ceccarelli, Marco University of Science and Technology of China Hefei230022 China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei230031 China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei230031 China LARM2: Laboratory of Robot Mechatronics Dept of Industrial Engineering University of Rome Tor Vergata Via del Politecnico 1 Roma00133 Italy

Due to complexity of the structure, uncertainty of the dynamic model and poor adaptability of the environment of the traditional mobile robot, this paper proposes an all-environment mobile robot based on coaxial eight-rotor which can adapt to the three environments of water, land and air. This paper first describes the mechanical structure and hardware design of AEM (All-environment Mobile) robot, and then aerodynamics model and hydrodynamic model of the robot are formulated by Newton Euler equations. In the end, the physical prototype is assembled, and experiments are conducted to verify that the AEM robot could achieve the expected three motion modes. © 2019, Springer Nature Switzerland AG.

关键词： Mobile robots

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Game Scene Construction for Lower Limb Rehabilitation robot Based on Virtual Reality

Game Scene Construction for Lower Limb Rehabilitation Robot ...

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International Conference on Electromechanical Control technology and Transportation (ICECTT)

作者： Yongfei Feng Di Jin Qianjun Shao Jianye Niu Luige Vladareanu Hongbo Wang Faculty of Mechanical Engineering & Mechanics Ningbo University Ningbo China Hebei Key Laboratory of Robot Sensing and Human-Robot Interaction Hebei University of Technology Tianjin China Robotics and Mechatronic Department Institute of Solid Mechanics of the Romanian Academy Bucharest Romania Parallel Robot and Mechatronic System Laboratory of Hebei Province and Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

ISBN: (数字)9781728199283

ISBN: (纸本)9781728199290

At present, the number of patients with lower extremity dysfunction is increasing year by year. However, traditional rehabilitation training cannot meet the needs of patients for rehabilitation training. Rehabilitation robot is a good solution to train patients instead of the rehabilitation physician. Based on clinical practice experience, a lower limb rehabilitation training system based on virtual reality (VR) is designed, which combined the VR technology and rehabilitation evaluation program to improve the rehabilitation efficiency of patients. According to the functional requirements of the lower limb rehabilitation robot (LLR-RO), the construction of rehabilitation robot control system and sensor system is completed. Based on the Unity3D development environment, a VR scenes of space shooting is planned and created for rehabilitation training VR technology which enables patients to complete the training process while maintaining a pleasant mood. Through the software and hardware debugging, the feasibility, data transmission capability of VR-based remote rehabilitation training system and the synchronization performance of VR scenes and rehabilitation robots are verified. In the future, more virtual reality scenes will be studied to adapt to patients of different genders and ages.

关键词： Games Training Rehabilitation robotics Space vehicles Legged locomotion Aircraft Aerospace electronics

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Design and study ofa biomimetic wall-climbing robot with spine wheels and a vacuum suction cup

Design and study ofa biomimetic wall-climbing robot with spi...

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Liu, Jinfii Xu, Linsen Chen, Shouqi Xu, Hong Cheng, Gaoxin Liu, Lei Xu, Jiajun Hefei Institutes of Physical Science CAS University of Science and Technology of China No.96 Jinzhai Road Hefei230026 China Hefei Institutes of Physical Science CAS Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province No.801 Changwu Road Changzhou213164 China University of Science and Technology of China No.96 Jinzhai ad Hefei230026 China

ISBN: (纸本)9781728137261

Wall-climbing robots can be widely applied in search and rescue, nuclear power plant maintenance, pressure pipeline inspection and so on, as a kind of special robots in extreme environment. However, the traditional single motion mode can not ensure the stable adhesion of the robot on complex wall surfaces. Inspired by the structure characteristics of flies and clingfish, a biomimetic flexible spine wheel and an eddy suction cup mechanism are proposed. Then, based on the law of mechanism configuration synthesis, a novel wall-climbing locomotion mechanism is developed by equipping these above biomimetic mechanisms. With the elastic mechanics theory of finite element, the original stiffness matrix of a single spine wheel at different stiffness is deduced. Based on the transformation mechanism of rotation matrix and the original stiffness matrix of the spine wheel, an innovative contact model is set up to analyze the forces acting on a single spine wheel. Beyond that, mechanical analysis model between suction force and load is also presented, and the simulation results show that the mechanical model is effective and reasonable in the selection of vacuum component. Finally, we fabricated the wall-climbing robot adopting the technology of 3D printing and precision machining to verify its climbing performance. Meanwhile, experiment results present the robot could climb stably on the 0-360° wall surfaces. © 2018 IEEE.

关键词： Wheels

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Back Cover: PD-L1 Aptamer-Functionalized Metal–Organic Framework Nanoparticles for Robust Photo-Immunotherapy against Cancer with Enhanced Safety (Angew. Chem. Int. Ed. 5/2023)

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Angewandte Chemie International Edition 2023年第5期62卷

作者： Dr. Jingfang Zhang Dr. Wenzhe Li Dr. Yafei Qi Dr. Guorong Wang Prof. Lele Li Prof. Zhengyu Jin Prof. Jie Tian Prof. Yang Du Beijing Key Laboratory for Bioengineering and Sensing Technology School of Chemistry and Biological Engineering University of Science and Technology Beijing Beijing 100083 China CAS Key Laboratory for Biomedical Effects of Nanomaterials and Nanosafety and CAS Center for Excellence in Nanoscience National Center for Nanoscience and Technology Beijing 100190 China State Key Laboratory of Natural and Biomimetic Drugs School of Pharmaceutical Sciences Peking University Beijing 100191 China CAS Key Laboratory of Molecular Imaging Beijing Key Laboratory of Molecular Imaging the State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department of Radiology Peking Union Medical College Hospital Peking Union Medical College and Chinese Academy of Medical Sciences Beijing 100730 China Beijing Advanced Innovation Center for Big Data-Based Precision Medicine School of Medicine Beihang University Beijing 100191 China

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Rücktitelbild: PD-L1 Aptamer-Functionalized Metal–Organic Framework Nanoparticles for Robust Photo-Immunotherapy against Cancer with Enhanced Safety (Angew. Chem. 5/2023)

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Angewandte Chemie 2023年第5期135卷

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A bio-inspired wall-climbing robot with claw wheels and adhesive tracks

A bio-inspired wall-climbing robot with claw wheels and adhe...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Liu, Jinfu Xu, Linsen Xu, Jiajun Wu, Xuan Wang, Meiling Lu, Linlin Hefei Institutes of Physical Science Chinese Academy of Sciences Institute of Advanced Manufacturing Technology Hefei China University of Science and Technology of China Hefei China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781538680698

The paper presents a bio-inspired wall-climbing robot capable of locomotion on a great variety of surfaces at speeds up to 10cm/s using claws or tracks. Inspired by the mechanism and movement characteristics of the feet on flies, a novel and innovative structure is designed and implemented. Furthermore, three mechanical models, which are statics and dynamics on rough wall surfaces as well as adhesion on smooth surface, are proposed to analyze the force or torque acting on the robot. Finally, experiments on foam, brick and glass surfaces are carried out, and the results indicate that the robot with claw wheels and adhesive tracks is able to climb steadily on various complex walls. © 2018 IEEE.

关键词： Adhesives

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Design and study of a biomimetic wall-climbing robot with spine wheels and a vacuum suction cup

Design and study of a biomimetic wall-climbing robot with sp...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Jinfu Liu Linsen Xu Shouqi Chen Hong Xu Gaoxin Cheng Lei Liu Jiajun Xu Hefei Institutes of Physical Science CAS and University of Science and Technology of China Hefei China Hefei Institutes of Physical Science CAS and the Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Changzhou Anhui Province China University of Science and Technology of China Hefei China

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

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Analytic modeling of spoke torque sensor based on deformation compatibility

Analytic modeling of spoke torque sensor based on deformatio...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Sun, Yu-Xiang Xu, Yu-Yun Cao, Hui-Bin Shuang, Feng Gao, Li-Fu Ge, Yun-Jian Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui Province230031 China Department of Automation University of Science and Technology of China Hefei230026 China

ISBN: (纸本)9781538680698

Accurate description of the relationship between sensor loading deformation and elastomeric structure is very important to improving design efficiency. In this paper, we focus on the spoke torque sensor, according to the deformation characteristics of the sensor under loading, and analyzes the relationship among stress, strain and disturbance of the torque sensor in combination with the deformation compatibility conditions, and establishes the analytical model of the torsion stiffness of the sensor. Finally, by comparing the finite element simulation results, it is verified that by considering the deformation coordination conditions, the precision of the analytical modeling of the torque sensor can be improved. © 2018 IEEE.

关键词： Analytical models

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