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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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Mixing Dynamics and Synthesis Performance of Staggered Herringbone Micromixer for Limit Size Lipid Nanoparticles

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Journal of Beijing Institute of technology 2022年第3期31卷 293-301页

作者： Shuai Zhang Yunlong Fan Chenmu Xue Yuanzhan Yang Xiaoqiong Li Xiaodong Chen Yulin Deng School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Institute of Engineering Medicine Beijing Institute of TechnologyBeijing 100081China School of Life Science Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information TechnologyBeijing 100081China

Staggered herringbone micromixer has shown good efficiency of mixing and performance of synthesizing *** bring a detailed understanding of the mixing dynamics and syn-thesis performance of this kind of micromixer,this paper carries out a high-fidelity numerical simu-lation and a parametrial experimental study on a well-established design.A passive tracer is induced in the numerical simulation to analyze mixing dynamics induced by the staggered herring-bone *** effects are identified to reveal the underlying mechanisms,including folding,stretching,and *** the authors’knowledge,the splitting effect is identified for the first time by the isosurface of the passive tracer,to show the high efficiency of the staggered herring-bone *** micromixer is then used to synthesize lipid nanoparticles by mixing a mixture of lipid and poly(lactic-co-glycolic acid)(PLGA)solutions with deionized *** a wide mass ratio of lipid and PLGA solutions,nanoparticles with good monodispersity are synthesized to reflect the good compatibility of the micromixer and the *** addition,an optimized mass ratio is identified from the parametrical experiment.

关键词： mixing dynamics staggered herringbone micromixer folding stretching splitting

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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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Feasibility Study on Cloud Communication Operation for an Interventional Surgery Robot 17

Feasibility Study on Cloud Communication Operation for an In...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Guo, Yangming Guo, Shuxiang Yang, Cheng Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

The use of robotic technology in the process of vascular interventional surgery has become a common method of treating cardiovascular diseases. A major advantage of the vascular interventional surgery robot is that it can isolate the doctor from the operating room and greatly reduce the radiation damage to the doctor's body. A remote vascular intervention robot system based on cloud communication was developed for medical applications. In the remote operation of interventional therapy, the doctor operate the master controller, then master controller sends control information to the cloud server, which in turn sends control information to the slave operator and controls it to perform the operation. Experimental results show that the cloud communication system can meet the feasibility requirements of remote vascular interventional surgery. © 2020 IEEE.

关键词： Controllers

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A Novel Misoperation Preventing Device for the Interventional Surgical Robot 17

A Novel Misoperation Preventing Device for the Interventiona...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Yang, Cheng Guo, Shuxiang Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Automation No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

As a solution for remote interventional surgery, interventional surgery robots can not only protect surgeons from radiation, but also make surgical control more precise. Based on previous research in our laboratory, this paper proposes a novel misoperation preventing device for the robot operation safety during interventional surgery and evaluates its gripping performance through experiments. Compared with our previous research, the novel misoperation preventing device is less affected by voltage and can be operated more accurately. Experiments show that the novel misoperation gripping device can complete the clamping of guidewire by applying a pressure of more than 17.5N. © 2020 IEEE.

关键词： Robotic surgery

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Recognition and Filtering of Tremor Signals for Vascular Interventional Surgical Robot 17

Recognition and Filtering of Tremor Signals for Vascular Int...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Guo, Shuxiang Zhang, Liuqing Yang, Cheng Shen, Rui Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Automation No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

During the operation of vascular intervention surgery, the surgeon may cause an involuntary tremor of hand due to a long time operation. However, during the actual surgical operation, when the surgeon performs complicated operations on same vascular area (such as selecting a blood vessel and pushing the catheter/guide wire into the thrombus), he needs to actively perform tremor to achieve the catheter/guidewire tremor in order to pass the catheter/guidewire. It is difficult to push or select the part of the blood vessel. This article is to eliminate the tremor of the operator's hand, and accurately identify the tremor signal in the signal through a support vector machine (SVM). The signal is filtered after identification, so that the signal received by the manipulator arm during the operation of the guide wire of the surgical robot does not contain the tremor signal This paper verifies the performance of tremor suppression algorithm design experiments and evaluates the algorithm as a whole. The results show that the algorithm has good tremor recognition and suppression effect. © 2020 IEEE.

关键词： Support vector machines

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Formating Reshape Control Strategy for Multiple Amphibious Spherical Robots 17

Formating Reshape Control Strategy for Multiple Amphibious S...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Li, Zan Guo, Shuxiang Shi, Liwei Xing, Huiming Hou, Xihuan Liu, Yu Xia, Debin Zhou, Mugen School of Automation Beijing Institute of Technology No.5 Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

It is difficult for a rigid formation composed of multiple robots to pass through a narrow waterway, which needs to be realized by formation reshape. The virtual linkage structure is used to solve the problem that the conventional virtual structure is not easy to deform. In order to ensure the robustness of formation control, a discrete information consistency algorithm is added to provide the desire trajectory, then controller will be used to track it. At the same time, due to the difficulty of hydrodynamic modeling and the large overshoot of PID (proportional integral differential) controller, the double loop controller based on ADRC (Auto Disturbance Rejection Controller) include position loop and speed loop is used to adjust the position, and the single loop controller is used to adjust the heading angle and depth. The results of simulation show that the three combined methods of 3D virtual linkage structure, discrete consensus and ADRC realize the formation reshape. © 2020 IEEE.

关键词： Controllers

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Underwater Obstacle Avoiding Trajectory Tracking Approach for Amphibious Spherical Robots 17

Underwater Obstacle Avoiding Trajectory Tracking Approach fo...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Hou, Xihuan Guo, Shuxiang Shi, Liwei Xing, Huiming Li, Zan Xia, Debin Zhou, Mugen Liu, Yu Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Automation No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

As real environment is complex and unstable, obstacles need to be considered when a robot tracks a trajectory. In view of this, the problem of tracking a path with obstacle avoiding is addressed. A two-layer control system is designed, which contains a re-planning controller and a trajectory tracking controller. In the re-plannng controller, nonlinear Model Predictive Control (NMPC) and avoiding obstacle function are combined to realize trajectory re-planning and obstacle reliable avoidance. In addition, a reference point of re-planning path next to the final point on a global reference path is chosen, which prevents the robot from going back to realize obstacle avoidance. 5 times multiform fitting is adopted for transferring the local trajectory information to the trajectory tracking controller. In the trajectory tracking controller, Model Predictive Control (MPC) based on kinematics and dynamics of the amphibious spherical robot (ASR) is designed. Simulation results illustrate that the designed two-layer control system is able to track a desired trajectory and avoid obstacles reliably at the same time. © 2020 IEEE.

关键词： Model predictive control

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An Optical Tracking system with Defaced Marker Detection 4

An Optical Tracking System with Defaced Marker Detection

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4th International Conference on Sensors, Signal and Image Processing, SSIP 2021

作者： Qiu, Yu Zheng, Zhao Ou, Ruidi Hu, Xiaoming Fan, Jingfan Yang, Jian Beijing Engineering Research Center Of Mixed Reality And Advanced Display School Of Optics And Photonics Beijing Institute of Technology China Key Laboratory Of Convergence Medical Engineering System And Healthcare Technology School Of Life Science Beijing Institute of Technology China

ISBN: (纸本)9781450385725

Optical tracking systems (OTSs) have been widely used in clinical practice to fulfill the high precision needs of contemporary surgery. The markers that are defaced in the production or surgery reduce the accuracy and tracking range of OTS. This effect was not considered in current products from either industry or academia. In this paper, we propose an OTS which can detect the defaced markers automatically. A stereo camera module is set to track surgical instruments by locating the markers affixed to them. An adaptive threshold approach is suggested to locate the markers. The typical fiducial localization error of our OTS reaches 0.28 mm, which is totally comparable to commercial devices. A defaced marker detection method based on the luminous energy model of OTS is proposed and can be used to recognize the defaced markers regardless of their relative positions to the OTS. © 2021 ACM.

关键词： Stereo image processing

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Design and evaluation of an artificial lateral line for an amphibious spherical robots 17

Design and evaluation of an artificial lateral line for an a...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Hu, Yao Xing, Huiming Shi, Liwei Guo, Shuxiang Hou, Xihuan Yin, He Liu, Yu Xia, Debin Li, Zan Zhou, Mugen Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

The underwater environment is complex and diverse, and it is difficult to explore the ocean, especially in the deep sea area. The lack of light, high pressure, and lack of oxygen make it difficult for humans to work in such extreme environments. Therefore, people are beginning to hand over the burden of exploring the ocean to underwater robots. The underwater robot's perception of the underwater environment is very important for controlling the motion of the underwater robot. However, in the environment where the light is lacking at night and in the deep sea, and in the narrow space, the robot vision consisting of infrared and camera is traditionally used. The system is difficult to function, so a new sensing system is needed to assist the underwater robot in recognizing the surrounding environment. In nature, real fish use their lateral line system to sense the surrounding environment. Based on the principle of bionics, we have developed an artificial lateral line system on a bionic spherical robot. The basic principle of this artificial lateral line system is to use the pressure sensor to sense the water flow pressure around the robot when the robot swims under water, thus establishing a relationship model between the robot swimming speed and the water flow pressure to realize the relative speed of identifying the underwater robot and the water flow. © 2020 IEEE.

关键词： Robots

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