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Modeling and analysis of a variable stiffness actuator for a safe home-based exoskeleton 15

Modeling and analysis of a variable stiffness actuator for a...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Liu, Yi Guo, Shuxiang Zhang, Songyuan Boulardot, Luc School of Engineering Department of Intelligent Mechanical Systems Engineering Kagawa University Hayashi-cho Takamatsu761-0396 Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Haidian District Beijing100081 China

ISBN: (纸本)9781538660720

In this paper, we modelled and analyzed a variable stiffness actuator-based exoskeleton which could provide optimal actuated elbow stiffness for those patients with a specific impairment of upper limbs. In this exoskeleton, a variable stiffness actuator is integrated for adjusting the actuated joint stiffness independently. Stiffness adjustment is realized based on a movable pivot to change the transmission ratio between the elastic elements and the output link. The characteristic of the elastic elements affects the performance of the variable stiffness actuator. Therefore, we established the model of the variable stiffness actuator and simulated its stiffness characteristics with different spring coefficients, preloads and damping respectively. We analyzed how those factors affect the characteristics of the proposed variable stiffness actuator. The performance of the variable stiffness actuator-based exoskeleton could be improved by properly choosing the spring parameters. © 2018 IEEE.

关键词： Elasticity

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Real-Time Collision Avoidance of a Redundant Dual-Arm Robot Based on Distance Function Method

Real-Time Collision Avoidance of a Redundant Dual-Arm Robot ...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Zeng, Yuwen Xiao, Nan Guo, Shuxiang Zhao, Yan Wang, Yuxin Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan

ISBN: (纸本)9781538660720

Nowadays the morbidity and mortality of cardiovascular and cerebrovascular diseases are increasing year by year. Vascular interventional surgery has been considered as the most widely treatment to these diseases and it is developing rapidly for its minimally invasive procedure, safety and short recovery time. However, due to the low signal-to-noise ratio (SNR) and pipe-like structures in the human body, the resolution of fluoroscopic sequences can be too low for surgeons to recognize the catheter in some cases, which impose restrictions on the performance and efficiency of this surgery in clinic. Therefore, enhancing and tracking the catheter in the endovascular interventions have become a crucial part. This paper proposes a morphologic method based on multiscale filter and direction-oriented method, which can enhance and detect the catheter from sequences in real-time. And finally this method takes 0.064s per frame with an accuracy of 89.39%, which can meet the requirements of clinic operations. © 2018 IEEE.

关键词： Morphology

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Study on inhibition of inaccurate operation for remote-controlled vascular interventional robot 15

Study on inhibition of inaccurate operation for remote-contr...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Bao, Xianqiang Guo, Shuxiang Xiao, Nan Guo, Yangming Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

'Remote-controlled vascular interventional surgery robots (RVIR) are being developed to reduce the occupational risk of the intervening physician, such as radiation, chronic neck and back pain, and increase accuracy and stability of surgery operation. However, inaccurate replicated motion on slave side will result in incorrect operation, or even medical accident. To prevent the inaccurate operation, the method that shuts down the power source or switches off the connection between the master controller and the slave manipulator is typically used. These methods will restrict the continuity of operation and the dexterity of a surgeon. In this paper, a novel RVIR integrated with a bimodal gripping mechanism was designed and its performance was evaluated by experiment. The results demonstrated that the incorrect operations can be eliminated without restricting the continuity of operation and the dexterity of a surgeon by using different clamping forces. © 2018 IEEE.

关键词： Remote control

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Study on physiological tremor recognition algorithm in the vascular interventional surgical robot 15

Study on physiological tremor recognition algorithm in the v...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Shuxiang Shen, Rui Xiao, Nan Bao, Xianqiang Yang, Cheng Cui, Jinxin Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life and Science Beijing Institute of Technology No. 5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan

ISBN: (纸本)9781538660720

With the development of surgical robotic technology, more and more requirements on safety property were raised upon the surgical robots. For master-slave control surgical robots, it's physiological hand tremor that influences the accuracy and success rate of the robot-assisted surgery. Focusing on the physiological tremor recognition and cancelling, this paper proposes a moving-window-least-square-support-vector-machine-based recognition algorithm and adaptive filter method to rectify the wrong operations caused by physiological tremor. The performance assessment was shown with the indicator of accuracy, which implies that the MWLSSVMAF reduces accuracy error of the tremor signal. The comparison between recognition results and surface electromyographic signal is conducted for assessing the classification accuracy rate. Also, some experiments on correction effects are carried out. The results indicate that the method proposed by our research possesses better classifying accuracy rate of 83% and that the secure property requests of vascular interventional surgical robot have been improved obviously. © 2018 IEEE.

关键词： Adaptive filters

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Characteristic evaluation of the mobile acoustic communication for spherical underwater robots (SUR III) 15

Characteristic evaluation of the mobile acoustic communicati...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Gu, Shuoxin Guo, Shuxiang Zheng, Liang Graduate School of Engineering Kagawa University Takamatsu Kagawa761-0396 Japan Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan Key Laboratory of Convergence Medical Engineering and System and Healthcare Technology Ministry of Industry Information Technology School of Life Science Beijing Institute of Technology Haidian District Beijing100081 China

ISBN: (纸本)9781538660720

The wireless communication as a key technology for the underwater robot will implement the underwater observing, cooperation or collaboration. This paper focuses on the Underwater Acoustic Communication (UWAC) for the third-generation spherical underwater robot (SUR III) which has the advantages like good flexibility, convenience and wide spread. An UWAC system is established for the SUR III. Considering that UWAC needs to overcome the multi-path effects, time-varying effects, narrow available bandwidth and doppler effects, a Micron data modem is chosen as the communication module. This modem uses the CHIRP signal which can change the frequency with time to achieve the acoustic communication. The hardware of the UWAC system is established by using the eZdsp board. This system as a subsystem serves the overall control of the SUR III. With the relative movement of the underwater robot in actual work in mind, the mobile acoustic communication is proposed. The influence of the Doppler shift and propagation loss underwater for the SUR III are analyzed. The experiments for the mobile modem underwater and multi-path effect are carried out to verify its communication performance. And there is no Bit Error Rate (BER) in a specific range. © 2018 IEEE.

关键词： Underwater acoustic communication

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Characteristic evaluation of the shell outlet mechanism for a magnetic-actuated screw jet microrobot in pipe 15

Characteristic evaluation of the shell outlet mechanism for ...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Wang, Zixu Guo, Shuxiang Wei, Wei Graduate School of Engineering Kagawa University Takamatsu Kagawa761-0396 Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science and Technology Beijing Institute of Technology Haidian District Beijing100081 China Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan

ISBN: (纸本)9781538660720

This paper carried out series of simulations and experiments for the characteristic evaluation of a Magnetic Actuated Screw Jet Microrobot (SJM), we can get the conclusion and contribution of the best characteristic of shell outlet by this paper, and make a great progress of microrobot design by analyzing the results. The first part in this paper is some information about background and related research of the capsule microrobots, there are some problems or disadvantages of proposed microrobots also the design concept of our research will be put forward, as for the second section, it is introducing the structure design of SJM, we will show the details and give the research purpose of this paper. Then we will introduce the 3-axis Helmholtz coils, it is the power module in this research, the driving principle and propulsive force theory are also been shown in this section. Finally, the last part is about simulation setup and experiment of outlet size, combining the simulation results and experimental results, we will discuss the optimal choice of the design by the simulation in an ideal environment and the comparison of experimental results. © 2018 IEEE.

关键词： Screws

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Rotary encoder-based position transmission and feedback of a novel robotic catheter system for endovascular catheterization

Rotary encoder-based position transmission and feedback of a...

引用

2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Zhang, Linshuai Guo, Shuxiang Yu, Huadong Song, Yu Song, Dapeng Faculty of Engineering Kagawa University Takamatsu Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing100081 China Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan School of Mechatronical Engineering Changchun University of Science and Technology Changchun Jilin China

ISBN: (纸本)9781538680698

Robotic catheter systems can obviously reduce the radiation exposure to the surgeon and lessen the fatigue caused by standing for a long time in protective clothing. However, few designs have taken the ergonomic design and convenience of operation into consideration. This paper presents a robotic catheter system based on the pinion and rack mechanism with two rotary encoders. The two rotary encoders are used to transmit and feedback the motion information in the axial and radial directions, respectively. A valuable contribution is that surgeons can operate the master manipulator like operating a catheter in traditional surgery. This can make the operator have a telepresence, thus reducing the physical stress during catheter intervention. Performance evaluation of quantifying accuracy was assessed by bilateral control experiments in axial and radial motion. The results show the system has the ability to sense motion to within 1 mm and 2° in the axial and radial directions, respectively. Therefore, the presented robotic catheter system provides important insights into the development of safe and high-precision robotic catheter systems incorporating ergonomic and convenience design for endovascular catheterization. © 2018 IEEE.

关键词： Feedback

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Hydrodynamic analysis of a novel thruster for amphibious sphere robots 15

Hydrodynamic analysis of a novel thruster for amphibious sph...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Hou, Xihuan Guo, Shuxiang Shi, Liwei Xing, Huiming Su, Shuxiang Chen, Zhan Liu, Yu Liu, Huikang Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

Four novel thrusters as the actuator of amphibious spherical robots play an important role. The resultant force of four thrusters is the main driving force of the robot. In order to achieve better control of the amphibious spherical robots, it is necessary to analyze the effects on the propelling force of the novel thruster. This paper utilize Computational Fluid Dynamics (CFD) to simulate hydrodynamic behavior of the new thruster and analyze the thrust force with different rotating velocity and inlet velocity. Further, as the inlet velocity is susceptible by the rotating velocity, we defined advanced coefficient with inlet velocity and rotating velocity. We analyze the thrust force and efficiency with different advanced coefficients. The result shows that the thrust force is more sensitive to rotating velocity of blades than the inlet velocity. The curves also show that the efficiency traces a downward parabola with the advanced coefficient. According to the simulation results, I should keep the advanced coefficient at 0.6 as our best as possible to take full use of the energy. Thus, these results provide foundation for the mathematical model building. © 2018 IEEE.

关键词： Computational fluid dynamics

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Binocular camera-based a docking system for an amphibious spherical robot 15

Binocular camera-based a docking system for an amphibious sp...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Shuxiang Liu, Yu Shi, Liwei Guo, Ping Xing, Huiming Hou, Xihuan Chen, Zhan Su, Shuxiang Liu, Huikang Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology No.5Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

In order to fulfill the task about autonomous recovery and charging of robots, a set of robotic docking system based on binocular stereo vision was initially designed and implemented. A binocular camera was used in our docking system. Through the image captured by binocular camera of the surrounding environment, we can obtain the two kinds of image, which include color image and depth image. And in order to get accurate depth information, we conducted a binocular camera calibration experiment. Then according to the depth information, the robot recognize the docking receptacle also as a marker fixed in the pool, then using KCF (Kernelized Correlation Filters) algorithm to track the target and making robot arrive the docking destination accurately. The docking system can be implemented by the process above. During the experiment, we selected the receptacle in the image, the robot recognized target and arrived at the designated location. The experimental results demonstrated the veracity and robustness of the proposed docking system based on binocular stereo vision. © 2018 IEEE.

关键词： Stereo image processing

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Platform design for a natatores-like amphibious robot 15

Platform design for a natatores-like amphibious robot

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Liu, Huikang Shi, Liwei Guo, Shuxiang Xing, Huiming Hou, Xihuan Liu, Yu Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-Cho Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

With the exploration of the ocean, the conventional underwater or the terrestrial robot cannot meet the needs of the work in the littoral amphibious environment. Therefore the study of amphibious robots has great significance. This paper presents a platform design that aims at constructing a natatores-like amphibious robot. Inspired by the movement of natatores, this robot is designed to be suitable for multi-mode locomotion both on land and in water, which even can dive underwater. On the base of investigations about the natatores' swimming stroke and dynamic analysis, a novel robot prototype is constructed adopting the bionic structure and movement mode to generate force to push its body forward. The description of the robot includes mechanical design, system design, as well as ADAMS modeling. Meanwhile, multi-function motion modes will be adopted under dynamically changing environments with the sensor subsystem processing the gathered robotic and environmental information effectively. Preliminary testing partly verifies the feasibility of the amphibious robotic prototype. © 2018 IEEE.

关键词： Robots

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