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A Review:From Aquatic Lives Locomotion to Bio-inspired Robot Mechanical Designations

Journal of Bionic engineering 2023年第6期20卷 2487-2511页

作者： Pengxiao Bao Liwei Shi Lijie Duan Shuxiang Guo Zhengyu Li School of Medical Technology Beijing Institute of TechnologyBeijing100081China School of Life Science Beijing Institute of TechnologyBeijing100081China The Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information TechnologyBeijing Institute of TechnologyNo.5ZhongguancunSouth StreetBeijing100081China The Department of Electronic and Electrical Engineering Southern University of Science and TechnologyShenzhen518055GuangdongChina

With the development of camera technology,high-speed cameras have greatly contributed to capturing the movement and posture of animals,which has dramatically promoted experimental biology *** the same time,with the concept of bionics gradually gaining popularity among researchers,the design of robots is absorbing more and more biological features,where the interest in the bio-inspired robot is hewed *** with the traditional robot,the bio-inspired robot imitates the motion pattern to achieve similar propulsion features,which may be more effective and *** this paper,the motion patterns of aquatic animals are divided into four categories according to their propulsion mechanisms:drag-based,lift-based,jet-based,and *** bio-inspired robots imitating aquatic prototypes are introduced and ***,the prospect of aquatic bio-inspired robots is discussed.

关键词： Bionic Bio-inspired robot Aquatic animal Propelling mechanism Structure design

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An EMG-Based Biomimetic Variable Stiffness Modulation Strategy for Bilateral Motor Skills Relearning of Upper Limb Elbow Joint Rehabilitation

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Journal of Bionic engineering 2023年第4期20卷 1597-1612页

作者： Ziyi Yang Shuxiang Guo Keisuke Suzuki Yi Liu Masahiko Kawanishi Graduate School of Engineering Kagawa UniversityTakamatsuKagawa761-0396Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology School of Life Science and TechnologyBeijing Institute of TechnologyBeijing100081China National Rehabilitation Center for Persons with Disabilities Tokorozawa359-8555Japan Faculty of Medicine Kagawa UniversityTakamatsuKagawa761-0793Japan

Bilateral rehabilitation systems with bilateral or unilateral assistive robots have been developed for hemiplegia patients to recover their one-side ***,the compliant robotic assistance to promote bilateral inter-limb coordination remains a challenge that should be *** this paper,a biomimetic variable stiffness modulation strategy for the Variable Stiffness Actuator(VSA)integrated robotic is proposed to improve bilateral limb coordination and promote bilateral motor skills *** Electromyography(EMG)-driven synergy reference stiffness estimation model of the upper limb elbow joint is developed to reproduce the muscle synergy effect on the affected side limb by independent real-time stiffness ***,the bilateral impedance control is incorporated for realizing compliant patient-robot *** experiments were carried out to evaluate the tracking performance and investigate the multiple task intensities’influence on bilateral motor skills *** results evidence the proposed method could enable bilateral motor task skills relearning with wide-range task intensities and further promote bilateral inter-limb coordination.

关键词： Biomimetic stiffness modulation Compliant physical human-robot interaction(pHRI) Electromyography(EMG) Variable stiffness actuator(VSA) Rehabilitation robotics Synergy-based control Skill relearning

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A Phase-Dependent and EMG-Driven Variable Stiffness Control Strategy for Upper Limb Rehabilitation Robot

A Phase-Dependent and EMG-Driven Variable Stiffness Control ...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Li, Pengcheng Guo, Shuxiang Li, Chunying Southern University of Technology and Science Department of Electronic and Electrical Engineering Shenzhen China Aerospace Center Hospital School of Life Science Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665481090

Bilateral training is a widely adopted approach in upper limb rehabilitation due to its effectiveness and ease of implementation. Variable stiffness actuators enhance this approach by facilitating compliant human-machine interaction, ensuring both comfort and safety. However, optimizing stiffness levels for individual subjects to maximize training effectiveness remains a significant challenge. The difficulty of different task phases varies across subjects, necessitating customized robotic assistance. This paper proposes an adaptive stiffness modulation strategy that leverages the cyclic nature of rehabilitation tasks. An adaptive frequency oscillator is employed for real-time phase detection, while a tuning rule, based on motion tracking error and muscular activation, dynamically adjusts stiffness levels. Experimental validation with two participants demonstrated that the proposed strategy effectively promotes affected arm motion and tailors assistance to the user's specific needs. © 2024 IEEE.

关键词： Human robot interaction

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Task Planning and Collaboration of Jellyfish-inspired Multiple Spherical Underwater Robots

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Journal of Bionic engineering 2022年第3期19卷 643-656页

作者： Ruochen An Shuxiang Guo Yuanhua Yu Chunying Li Tendeng Awa Graduate School of Engineering Kagawa UniversityTakamatsuKagawa761-0396Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information TechnologySchool of Life Science and TechnologyBeijing Institute of TechnologyBeijing100081China School of Life Science and Technology Changchun University of Science and TechnologyChangchun130022China

Task planning and collaboration of multiple robots have broad application prospects and value in the field of *** improve the performance and working efficiency of our Spherical Underwater Robot(SUR),we propose a multi-robot control strategy that can realize the task planning and collaboration of multiple *** complete real-time information sharing of multiple robots,we first build an acoustic communication system with excellent communication performance under low noise ratio ***,the task planning and collaboration control strategy adjust the SURs so that they maintain their positions in the desired formation when the formation *** SURs can move along desired trajectories in the expected *** control strategy of each SUR uses only its information and limited information of its neighboring ***,based on theoretical analysis and experiments,we evaluate the validity and reliability of the proposed *** comparison to the traditional leader–follower method,it is not necessary to designate a leader and its followers explicitly in our system;thus,important advantages,such as fault tolerance,are achieved.

关键词： Task planning Collaboration control Multiple spherical underwater robots(SUR) Shape keeping

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A decoupling three-dimensional motion control algorithm for spherical underwater robot

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Biomimetic Intelligence & Robotics 2022年第3期2卷 50-58页

作者： Pengxiao Bao Yao Hu Liwei Shi Shuxiang Guo Zhengyu Li Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information TechnologySchool of Life ScienceBeijing Institute of TechnologyBeijing 100081China Faculty of Engineering Kagawa UniversityHayashi-choTakamatsu 2217-20Japan

Underwater spherical robots are good assistants for ocean exploration,where motion control algorithms play a vital *** motion control algorithms cannot eliminate the coupling relationship between various motion directions,which will cause the motion control of various directions to interfere with one other and significantly affect the control *** study proposes a new decoupling motion control algorithm based on the robot attitude calculation for an underwater spherical robot designed for offshore,shallow water,and narrow *** proposed method uses four fuzzy proportional-integral-derivative(PID)controllers to independently control the robot’s movement in all *** show that the motion control algorithm proposed in this study can significantly improve the flexibility and accuracy of the movement of underwater spherical robots.

关键词： Motion control algorithm Decoupling control Spherical underwater robots Fuzzy PID

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Evaluation of Detection system for Bioinspired Spherical Underwater Robots Based on the Pressure Sensor Array 20

Evaluation of Detection System for Bioinspired Spherical Und...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Li, Chunying Guo, Shuxiang Kagawa University Graduate School of Engineering Hayashi-cho Takamatsu761-0396 Japan The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

Due to the particularity and complexity of the underwater environment, the perception ability of Autonomous Underwater Vehicles (AUVs) has become a hot issue in recent years. In this paper, the detection system was developed for bioinspired Spherical Underwater Robots (SURs) based on the pressure sensor array. Firstly, the sensor array based on the SUR model was proposed using pressure sensors, adding new dimension to near-flow detection and perception method. Then, the detection system was constructed and the hydrodynamic pressure variables are analyzed. Next, the data acquisition of the pressure sensor array was described. Furthermore, the SUR prototype was assembled carrying the pressure sensor array. Finally, a series of locomotion experiments were performed to verify its performance. The experimental results validated the effectiveness of the proposed detection system, which had a certain reference value for AUV underwater detection and state estimation. © 2023 IEEE.

关键词： Data acquisition

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A Novel Wearable Master Manipulator for the Remote Vascular Interventional Surgery 20

A Novel Wearable Master Manipulator for the Remote Vascular ...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Lin, Zhijun Guo, Shuxiang Yan, Yonggan Li, Chenzhihang Zhao, Duohao Lyu, Chuqiao Beijing Institute of Technology Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

Vascular interventional surgery (VIS) mainly relies on the surgeon's clinical experience and the image assistance of digital subtraction angiography (DSA). However, DSA will damage the surgeon's health. A master-slave vascular interventional surgical robotic system averts the threat of the X-ray, whereas most master manipulators of the system still have some problems, such as the different operating modes compared to the convention and the large inertia of the device itself. Therefore, a wearable device with precise measurement function, SurGlove, is developed in this study. The surgeon can wear SurGolve as the common medical glove and handle the catheter and guidewire directly. The film pressure sensor on the glove can judge the grasping signal and enable the optical tracking system to measure the markers on the device. The spatial rotation angle and displacement distance of the SurGolve are calculated in real-time. By wearing SurGlove, the surgeon can manipulate the guidewire and the catheter cooperatively. Furthermore, the evaluation experiments showed that the proposed device had a mean absolute error of 1.88° and a maximum error of less than 3° in rotation angle measurement. The maximum displacement error was less than 5 mm and the mean absolute error was 1.53 mm. This study preliminarily verified the feasibility of the proposed wearable SurGlove for the VIS robotic system. © 2023 IEEE.

关键词： Errors

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Design of Clutch Units of the Propulsion system for the Three-Dimension Triphibian Robot 20

Design of Clutch Units of the Propulsion System for the Thre...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Chen, Yingduo Guo, Shuxiang Yin, He Li, Ao Liu, Meng Beijing Institute of Technology The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

Robots capable of traversing various environments have stringent design requirements for their drive structures. To add flight capabilities to the existing amphibious spherical quadruped robot, enhance its mobility space, and optimize its propulsion strategies, this paper designs a clutch units for the propulsion system of the three-dimension triphibian robot (3DTR). The article first introduces the concept of the 3DTR and its significant importance, and explains the critical role of the clutch units for the propulsion system of the 3DTR. Then, according to the design requirements for functionality upgrade, the types of clutches and motors are selected, and the mechanical model of the clutch units is designed. Subsequently, performance tests and function verification of the clutch units were conducted, demonstrating the effectiveness of the clutch units design, laying the foundation for the subsequent overall design and experiment of the 3DTR propulsion system. © 2023 IEEE.

关键词： Clutches

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Collaborative Searching Strategy for Multi-Amphibious Spherical Robots in 3D underwater environments 20

Collaborative Searching Strategy for Multi-Amphibious Spheri...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Feng, Shilong Guo, Shuxiang Yang, Dan Li, Ao Yin, He Liu, Meng The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

An improved multi-robot cooperative strategy based on the improved artificial bee colony algorithm is proposed for the task of underwater multi-robot cooperative area target search. The strategy consists of three stages: cruising stage, building capture alliance stage, and cooperative search stage. In the cruising stage, robot adopts the improved random walk algorithm for aimless cruising. In the building capture alliance stage, robot uses an auction algorithm for the assignment of search tasks. In the cooperative search stage, robot adopts the improved artificial bee colony algorithm for cooperative search of targets. Furthermore, simulations are conducted, and the results demonstrate that the proposed strategy can effectively guide multiple robots to perform area target search in unknown 3D underwater environments. © 2023 IEEE.

关键词： Multipurpose robots

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Elastic Collision Based-Interactive Path Planning system for Vascular Intervention Robots

Elastic Collision Based-Interactive Path Planning System for...

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International Conference on Biomimetic Intelligence and Robotics & Medical Robotics Forum, ICBIR+MRF 2024

作者： Cao, Sheng Guo, Shuxiang Guo, Jian Wang, Jian Wang, Bin Ding, Mingchao Aerospace Center Hospital The Key Laboratory of Convergence Medical Engineering System and Healthcare Technology School of Life Science Ministry of Industry and Information Technology Beijing Institute of Technology Beijing100081 China Shenzhen Institute of Advanced Biomedical Robot Company Limited Guangdong Province Shenzhen518000 China Department of Electronic and Electrical Engineering Southern University of Science and Technology Guangdong Shenzhen518055 China

As population aging intensifies, the incidence of cardiovascular and cerebrovascular diseases has continued to rise. Vascular interventional surgery, known for its minimal trauma, rapid recovery, and clear effectiveness, requires doctors to perform procedures in radiation environments while wearing lead aprons. The advent of vascular intervention robots has provided a system-level solution to protect doctors from radiation and enhance outcomes. Currently, preoperative path planning for these robots predominantly relies on automatically generated paths, calculated by setting constraints and minimizing costs. However, this method lacks incorporation of physicians' expertise and consideration of elastic collision. Therefore, this study has designed an interactive path planning system for vascular intervention robot based on elastic collision. By establishing a simulation environment, doctors can use a manipulator to control virtual catheters and guidewires. While considering deformations, they maneuver the guidewire to the target position and record the current motion trajectory to guide the procedure in actual surgeries. Experimental tests have been conducted, confirming the system's effectiveness and feasibility. © 2024 The Authors.

关键词： Robot programming

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