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A sEMG-based Muscle-Compensation-Error Elimination Module for The Home-based Bilateral Rehabilitation system

IEEE Robotics and Automation Letters 2025年第7期10卷 6696-6703页

作者： Wang, Hanze Guo, Shuxiang Li, He Ding, Mingchao Southern University of Science and Technology Department of Electronic and Electrical Engineering Guangdong Shenzhen 518055 China Beijing Institute of Technology Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing 100081 China Beijing Institute of Technology Department of Peripheral Vascular Intervention Aerospace Center Hospital School of Life Science Beijing 100081 China

Home-based bilateral training using exoskeletons is considered an effective rehabilitation method to restore the normal motion function of stroke patients' limbs. However, due to the imbalance of limb muscle strength, muscle compensation of the functional upper limb will cause surface electromyography (sEMG) signal fluctuations. The signal fluctuations will lead to prediction errors, thereby affecting the effect of bilateral rehabilitation. To eliminate the prediction error caused by muscle compensation, a novel rehabilitation module for a home-based bilateral rehabilitation robotic system is proposed in this paper. This sEMG-driven rehabilitation module, which incorporates the channel splitting and transferable frequency domain, first identifies the type of muscle compensation mixed in continuous movement and then eliminates the error caused by muscle compensation. Online experiments were conducted to evaluate the system in tracking accuracy and muscle-compensation-error elimination, which showed the proposed rehabilitation system with rehabilitation module achieved fast adaption to the patient's compensatory movement as well as improving the effect of robot-assisted bilateral training. © 2016 IEEE.

关键词： Continuous Motion Estimation Gear-Driven Upper Limb Exoskeleton (GDULE) Home-based Bilateral Rehabilitation Muscle Compensation (MC) Surface Electromyography (sEMG)

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An IB-LBM study of continuous cell sorting in deterministic lateral displacement arrays

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Acta Mechanica Sinica 2016年第6期32卷 1023-1030页

作者： Qiang Wei Yuan-Qing Xu Xiao-Ying Tang Fang-Bao Tian School of Life Science Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology School of Engineering and Information Technology University of New South Wales

The deterministic lateral displacement (DLD) is an important method used to sort particles and cells of different sizes. In this paper, the flexible cell sorting with the DLD method is studied by using a numerical model based on the immersed boundary-lattice Boltzmann method (IB-LBM). In this model, the fluid motion is solved by the LBM, and the cell membrane-fluid interaction is modeled with the LBM. The proposed model is validated by simulating the rigid particle sorted with the DLD method, and the results are found in good agreement with those measured in experiments. We first study the effect of flexibility on a single cell and multiple cells continuously going through a DLD device. It is found that the cell flexibility can significantly affect the cell path, which means the flexibility could have significant effects on the continuous cell sorting by the DLD method. The sorting characteristics of white blood cells and red blood cells are further studied by varying the spatial distribution of cylinder arrays and the initial cell-cell distance. The numerical results indicate that a well concentrated cell sorting can be obtained under a proper arrangement of cylinder arrays and a large enough initial cell-cell distance.

关键词： IB-LBM Cell sorting Deterministic lateral displacement

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Implementation and uniformity calibration of LED array for photodynamic therapy

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Journal of Innovative Optical Health Sciences 2022年第4期15卷 61-69页

作者： Xu Wang Jiyuan Xiong Xiaoming Hu Qin Li Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing 100081 P.R.China

Irradiance uniformity is an important parameter for a Photodynamic Therapy(PDT)*** calibration and verification of a LED array light source based on computer vision technology were implemented and carried ***,the correlation coe±cients between the pulse width modulate value and the irradiance were ***,the correction of the actual light center and divergence angle were solved by image processing to reduce errors from each LED ***,uniformity was optimized according to the irradiance formula of the Lambertian *** lowest coe±cients of variation of irradiance were 4.87%in a 5 cm×12 cm area and 3.55%in a 3 cm×10 cm area within the depth range of 8–12 cm when the expected irradiance was 100 mW/cm^(2).This finding indicated that the light source can achieve a more uniform illumination and provide a better therapeutic effect for the PDT of port-wine stains.

关键词： Photodynamic therapy computer vision light source calibration

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A Fuzzy PID Algorithm for a Novel Miniature Spherical Robots with Three-dimensional Underwater Motion Control

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Journal of Bionic engineering 2020年第5期17卷 959-969页

作者： Liwei Shi Yao Hu Shuxiang Su Shuxiang Guo Huiming Xing Xihuan Hou Yu Liu Zhan Chen Zan Li Debin Xia Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information TechnologySchool of Life ScienceBeijing Institute of TechnologyBeijing 100081China Faculty of Engineering Kagawa University2217-20 HayashichoTakamatsuKagawa 761-0396Japan

We proposed and developed a small bionic amphibious spherical robot system for tasks such as coastal environment monitoring and offshore autonomous search and *** third-generation bionic small amphibious spherical robots have many disadvantages,such as the lack of maneuverability and a small operating *** is difficult to accomplish underwater autonomous motion control with these ***,we proposed a fourth-generation amphibious spherical ***,the amphibious spherical robot developed in this project has a small and compact design,with limited sensors and external sensing *** means that the robot has weak external information collection *** need to make the real time operation of the robot's underwater motion control system more *** this paper,we mainly used a fuzzy Proportional-Integral-Derivative(PID)control algorithm to design an underwater motion control system for a novel ***,we compared PID with fuzzy PID control methods by carrying out experiments on heading and turning bow motions to verify that the fuzzy PID is more robust and exhibits good dynamic *** also carried out experiments on the three-dimensional(3D)motion control to validate the design of the underwater motion control system.

关键词： bionic amphibious spherical robot fuzzy PID control underwater motion control system underwater three-dimensional motion water-jet thruster

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Design, Implementation and Control of an Amphibious Spherical Robot

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Journal of Bionic engineering 2022年第6期19卷 1736-1757页

作者： Liwei Shi Zhongyin Zhang Zhengyu Li Shuxiang Guo Shaowu Pan Pengxiao Bao Lijie Duan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information TechnologySchool of Life ScienceBeijing Institute of TechnologyBeijing100081China Faculty of Engineering Kagawa University2217-20 HayashichoTakamatsuKagawa761-0396Japan

We proposed and implemented a leg-vector water-jet actuated spherical robot and an underwater adaptive motion control system so that the proposed robot could perform exploration tasks in complex *** aim was to improve the kinematic performance of spherical *** developed mechanical and dynamic models so that we could analyze the motions of the robot on land and in *** robot was equipped with an Inertial Measurement Unit(IMU)that provided inclination and motion *** designed three types of walking gait for the robot,with different stabilities and ***,we proposed an online adjustment mechanism to adjust the gaits so that the robot could climb up slopes in a stable *** the system function changed continuously as the robot moved underwater,we implemented an online motion recognition system with a forgetting factor least squares *** proposed a generalized prediction control algorithm to achieve robust underwater motion *** ensure real-time performance and reduce power consumption,the robot motion control system was implemented on a Zynq-7000 system-on-Chip(SoC).Our experimental results show that the robot’s motion remains stable at different speeds in a variety of amphibious environments,which meets the requirements for applications in a range of terrains.

关键词： Bionic amphibious spherical robot Inertial measurement unit Quadruped gaits Forgetting factor least squares algorithm Generalized prediction control

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Robust RGB-D Camera and IMU Fusion-based Cooperative and Relative Close-range Localization for Multiple Turtle-inspired Amphibious Spherical Robots

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Journal of Bionic engineering 2019年第3期16卷 442-454页

作者： Huiming Xing Liwei Shi Kun Tang Shuxiang Guo Xihuan Hou Yu Liu Huikang Liu Yao Hu Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Beijing 100081 China Faculty of Engineering Kagawa University 2217-20 Hayashicho Takamatsu Kagawa 761-0396 Japan

In the narrow, submarine, unstructured environment, the present localization approaches, such as GPS measurement, dead?rcckoning, acoustic positioning, artificial landmarks-based method, are hard to be used for multiple small-scale underwater robots. Therefore, this paper proposes a novel RGB-D camera and Inertial Measurement Unit (IMU) fusion-based cooperative and relative close-range localization approach for special environments, such as underwater caves. Owing to the rotation movement with zero-radius, the cooperative localization of Multiple Turtle-inspired Amphibious Spherical Robot (MTASRs) is realized. Firstly, we present an efficient Histogram of Oriented Gradient (HOG) and Color Names (CNs) fusion feature extracted from color images ofTASRs. Then, by training Support Vector Machine (SVM) classifier with this fusion feature, an automatic recognition method of TASRs is developed. Secondly, RGB-D camerabased measurement model is obtained by the depth map In order to realize the cooperative and relative close-range localization of MTASRs, the MTASRs model is established with RGB-D camera and IMU. Finally, the depth measurement in water is corrected and the efficiency of RGB-D camera for underwater application is validated. Then experiments of our proposed localization method with three robots were conducted and the results verified the feasibility of the proposed method for MTASRs.

关键词： vision localization bio-inspired robots RGB-D camera histogram of oriented gradient and color names fusion feature Co operative and Relative Localization (CRL)

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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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Tracking Control in Presence of Obstacles and Uncertainties for Bioinspired Spherical Underwater Robots

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Journal of Bionic engineering 2023年第1期20卷 323-337页

作者： Chunying Li Shuxiang Guo Jian Guo 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 Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of TechnologyBinshui Xidao Extension 391Tianjin300384China

During marine missions,AUVs are susceptible to external disturbances,such as obstacles,ocean currents,etc.,which can easily cause mission failure or *** this paper,considering the strong nonlinearities,external disturbances and obstacles,the kinematic and dynamic model of bioinspired Spherical Underwater Robot(SUR)was ***,the waypoints-based trajectory tracking with obstacles and uncertainties was proposed for SUR to guarantee its safety and ***,the Lyapunov theory was adopted to verify the stability and the Slide Mode Control(SMC)method is used to verify the robustness of the control *** addition,a series of simulations were conducted to evaluate the effectiveness of proposed control *** tests,including path-following,static and moving obstacle avoidance were performed which verified the feasibility,robustness and effectiveness of the designed control ***,a series of experiments in real environment were performed to verify the performance of the control *** simulation and experimental results of the study supplied clues to the improvement of the path following capability and multi-obstacle avoidance of AUVs.

关键词： Path following Obstacle avoidance Bioinspired.Spherical underwater robot(SUR) Lyapunov theory

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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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Effective irradiance calculation on irregular surface for photodynamic therapy treatment device

Effective irradiance calculation on irregular surface for ph...

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2019 International Conference on Optical Instruments and technology: Optical systems and Modern Optoelectronic Instruments

作者： Li, Dan Zhang, Jixia Hu, Xiaoming Li, Qin 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)9781510636460

Port wine stains is a congenital vascular malformation disease, which occurs mostly on the face and neck. Photodynamic therapy is an effective treatment for port wine stains, which utilizes photodynamic reaction between light, photosensitizer and oxygen in the tissue to produce phototoxic substance singlet oxygen to destroy the lesion. However, the irradiance dose is simply described by the irradiance on a specific plane instead of the irradiance on the lesion with curve shape. The clinician has little knowledge about the effective irradiance value on the lesion, which limits the understanding between the effect and the dosage. To get the effective irradiance on the lesion, a two-steps algorithm is proposed in this paper. Firstly, the point cloud data of lesion are constructed, and the normal vector of each point of the point cloud is calculated based on the least square method. Secondly, according to the first and second laws of irradiance, the effective irradiance on the lesion can be obtained when the parameters of the light source are available. Several typical port wine stains lesions are used to verify the difference between the irradiance on the plane and the lesion. The algorithm can not only help the clinician to make the preoperative planning of photodynamic therapy, but also provide a method for the study on the relationship between the effective irradiance dose on the lesions and the treatment effect of photodynamic therapy for port wine stains. © 2020 SPIE.

关键词： Photodynamic therapy

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