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检索条件"机构=The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin"

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Fast Pose Estimation Method for Stacked Bolts 5

Fast Pose Estimation Method for Stacked Bolts

引用

5th International Conference on Computer Vision, Image and Deep Learning, CVIDL 2024

作者： Yuan, Bo Yin, Dong Li, Yuling Hou, Xudong Zhang, Mingfei Yu, Lezheng Zhao, Lijun State Grid Shandong Electric Power Company Liaocheng Power Supply Company Liaocheng China State Grid Shandong Electric Power Company Jinan China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China

ISBN: (纸本)9798350373820

This paper introduces a two-stage method for the pose estimation of bolts in complex stacked scenarios. The proposed approach is based on the open-source FPCC network and employs a custom dataset of stacked bolts, designed following the IPA stacked dataset generation methodology. To highlight the distinct features of bolts, we have adjusted the local coordinate system from the geometric center to the head of the hexagonal sections. During the instance generation phase of the fast clustering algorithm, we utilize DBSCAN and Mean-Shift techniques to refine the results of instance segmentation. Subsequently, SAC-IA and ICP are integrated for pose estimation, facilitating the alignment of the point cloud around the hexagonal bolt head. Our method enhances the speed of pose estimation while maintaining precision in stacked bolt scenarios. © 2024 IEEE.

关键词： Bolts

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An Efficient Three-Node Beam Element for Large Deformation Analysis Using Absolute Nodal Coordinate Formulation 2nd

An Efficient Three-Node Beam Element for Large Deformation A...

引用

2nd International Conference of Mechanical system Dynamics, ICMSD 2023

作者： Zhou, Huaqing He, Bin Ren, Hui Cui, Jiang Hao, Feiyu Feng, Yu Rui, Xiaoting Institute of Launch Dynamics Nanjing University of Science and Technology Nanjing China National Key Laboratory of Complex Multibody System Dynamics Nanjing China School of Astronautics Harbin Institute of Technology Harbin China

ISBN: (纸本)9789819980475

An efficient formulation for dynamics of beams with large deformation and large rotation is presented. A large deformation three-node beam element is established, in which the position coordinate is selected as the generalized coordinates in middle node, and the position coordinate and lateral slope vectors are selected as the generalized coordinates in both end nodes. The inertia force and the constant mass matrix of beam element are obtained. Based on the principles of continuum mechanics, the elastic forces and the stiffness matrix are deduced, which are highly non-linear polynomials of the generalized coordinates. The generalize external forces is obtained by virtual work. The stretch, shear, bending, and torsion deformation of slender beams are considered. The Possion’s locking and shear locking do not exist in this formulation. Hilber-Hughes-Taylor (HHT) integration method involved the Jacobian matrix and right-hand side is used to obtain the dynamics results. Numerical example validates the presented approach. The proposed formulation provides an effective tool for dynamics analysis of flexible slender beams, which can be accurately applied to solve the dynamics problem of multibody system with large deformations. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Jacobian matrices

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Human-Exoskeleton Locomotion Interaction Experience Transfer: Speeding up and Improving the Performance of Preference-based Optimizations of Exoskeleton Assistance During Walking

Human-Exoskeleton Locomotion Interaction Experience Transfer...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Hongwu Li Junchen Liu Ziqi Wang Haotian Ju Tianjiao Zheng Yongsheng Gao Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Preference-based optimizing methods have shown their advantages and potential in exploring individual, comfortable, and effective control strategies and assistance parameters of exoskeletons during locomotion. Research indicates that compared with naive wearers, knowledgeable wearers with abundant exoskeleton assistance experience have obvious advantages in speeding up the parameters exploration process and improving the assistant performance. However, there is no existing method that could utilize the human-exoskeleton locomotion interaction experience (HELIE) to assist naive wearers during the exploration process. In this work, we propose a novel preference-based human-exoskeleton locomotion interaction experience transfer (LIET) framework, which could speed up the exploration of human-preferred parameters and acquire more satisfying results for naive wearers via the HELIE acquired from knowledgeable wearers. In addition, based on the proposed LIET framework, we establish the mathematical expression of the HELIE transfer during exoskeleton assistance. This will promote the research that concerns utilizing HELIE for exoskeleton control parameters optimizations in the future. Finally, experiments demonstrate the proposed LIET framework could speed up the exploration process and acquire more satisfying optimized results for naive wearers.

关键词： Legged locomotion Exoskeletons Process control Optimization methods robotics and automation

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Using Hip Assisted Running Exoskeleton with Impact Isolation Mechanism to Improve Energy Efficiency

Using Hip Assisted Running Exoskeleton with Impact Isolation...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Ziqi Wang Junchen Liu Hongwu Li Qinghua Zhang Xianglong Li Yi Huang Haotian Ju Tianjiao Zheng Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Research has indicated that exoskeletons can assist human movement, but due to the influence of additional weight and challenges in control strategy design, only a few exoskeletons effectively reduce the wearers’ metabolic costs during running. This paper proposes an innovative and efficient hip-assisted running exoskeleton (HARE) designed to facilitate the flexion and extension movements of the joint along the sagittal plane. In the field of structural engineering, we propose implementing an active-passive combination constant force suspension system, hereinafter referred to as CFS, to effectively mitigate the impact of inertial forces during running. The decoupled transmission mechanism allows the CFS and assist mechanisms to operate independently, ensuring the tension of the cables. The flexible structural design can reduce the locomotion limitation on human bodies and reduce the additional energy burden on the body. In control strategy designing, the joint torque-generating strategy provides personalized assistance strategies for wearers to actively optimize the control parameters. Meanwhile, the safety control strategy based on abnormal gait recognition can ensure human safety. Experiments have shown that compared to not wearing exoskeletons, this device can reduce the energy consumption of the human body by 5.33 % at a speed of 9 km/h. This demonstrates its potential in human motion assistance processes.

关键词： Energy consumption Costs Exoskeletons Force Energy efficiency Safety Structural engineering Intelligent robots Hip Gait recognition

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Magnetic-Field-Assisted LCD Stereolithography for Centipede-Inspired Magnetic Soft Robot

Magnetic-Field-Assisted LCD Stereolithography for Centipede-...

引用

IEEE International Conference on robotics and Biomimetics

作者： Jinrong Wang Ruixuan Li Yaoyuan Xu Shishi Li Xianghe Meng Hui Xie State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

This paper presents a novel magnetic-field-assisted LCD stereolithography technique for fabricating centipede-inspired magnetic soft robots. Unlike previous DLP-based methods, our approach leverages Liquid Crystal Display (LCD) technology, offering a simpler optical path, comparable resolution, and cost-effectiveness. The method integrates LCD photo-polymerization with a permanent magnet orienting system possessing 5-DOF in motion, enabling precise control over the direction of magnetization patterns during manufacturing. We demonstrate the technique by designing and fabricating a biomimetic centipede robot with programmable deformation capabilities. Finite element analysis was used to simulate the robot's deformation behavior, which was subsequently validated through experimental locomotion tests. The fabricated robot exhibited complex deformation and efficient locomotion in response to external magnetic fields. This approach advances the creation of intricate magnetic arrangements for planar soft robots, potentially expanding their application in fields such as biomedicine and microfluidics. The proposed method provides a new pathway for manufacturing biologically inspired magnetic soft robots with complex programmable behaviors.

关键词： Temperature sensors Deformation Magnetization Soft robotics Liquid crystal displays Permanent magnets Stereolithography Finite element analysis Magnetic fields Soft magnetic materials

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Inchworm-Like Soft Robot with Anisotropic Magnetization for Untethered Crawling and Manipulating

Inchworm-Like Soft Robot with Anisotropic Magnetization for ...

引用

IEEE International Conference on robotics and Biomimetics

作者： Shishi Li Ruixuan Li Jinrong Wang Xianghe Meng Hui Xie State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Inchworm-like robots have shown promise in achieving multimodal movements, yet the integration of un-tethered locomotion and manipulation capabilities remains a persistent challenge in soft robotics. This paper presents a novel soft robot that addresses this challenge through an anisotropic magnetization distribution, achieved via 3D printing, enabling precise control over its three-dimensional structure and magnetic properties. This unique design allows for magnetic field-controlled locomotion with asymmetric time-varying postures, achieving a maximum stride length of 9.2 mm under an 80 mT field. The robot employs active friction manipulation between its feet, enabling an inchworm-like gait with alternating forefoot and rearfoot fixation. Additionally, the specific magnetization design permits independent control of grippers under the same magnetic field, facilitating complex manipulation tasks. The robot's potential in biomedical applications is demonstrated through a multi-region targeted drug delivery experiment. This integrated locomotion and manipulation platform shows promise for applications in confined spaces and represents a step forward in expanding the capabilities of soft robots for potential medical and industrial tasks.

关键词： Targeted drug delivery Service robots Magnetization Magnetic confinement Friction Soft robotics Three-dimensional printing Magnetic fields Grippers Perpendicular magnetic anisotropy

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A Modular Robotic system for Tibial Fracture Reduction and Rehabilitation with Vibrational Stimuli Generation

A Modular Robotic System for Tibial Fracture Reduction and R...

引用

IEEE International Conference on Mechatronics and Automation

作者： Zhenyi Wang Hongjian Yu Zijia Guo Xiangyu Shen Zhijiang Du State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

This paper introduces a modular robotic system aimed at tibial fracture reduction and rehabilitation with vibrational stimuli generation. With the development of the economy and the diversification of entertainment, the incidence of traumatic orthopedics is increasing, especially tibial shaft fractures rank first among lower limb fracture types. Compared to traditional manual techniques by physicians, robot-assisted reduction surgery offers higher precision and reduces the risk of physician exposure to X-ray radiation. Studies have shown that mechanical stimuli help promote trabecular bone growth, resulting in stronger postoperative calluses. However, vibration has not yet been applied to fracture rehabilitation in reduction medical devices. Therefore, this article innovatively designs a modular robotic system capable of both reduction operations and vibrational stimulation, aiming to achieve the integration of reduction and rehabilitation of tibial fractures.

关键词： Vibrations Analytical models Dynamics Surgery Medical services Kinematics Motors

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An Iterative Variable Step Error Compensation Approach for Enhancing Robot Trajectory Accuracy 3

An Iterative Variable Step Error Compensation Approach for E...

引用

3rd International Conference on Automation, robotics and Computer Engineering, ICARCE 2024

作者： Wang, Chengzhi Zhao, Sikai Zheng, Tianjiao Cai, Hegao Zhao, Jie Zhu, Yanhe Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China

ISBN: (纸本)9798331529505

In this paper, an iterative error compensation approach is analyzed and designed to improve trajectory accuracy of industrial robots. Advanced offline programming and robotic machining tasks require high trajectory accuracy of industrial robots, which is significantly affected by parameter inaccuracy, stiffness deformation, backlash, and so on. Such complicated coupling makes it impossible to model each factor separately, thus data-driven direct error compensation is the major solution to improve trajectory accuracy. Previous methods utilize external measurement equipment to obtain tracking error and rely on the error consistency assumption to compensate for the error by modifying the trajectory commands directly. However, such consistency assumption does not hold. Even a minor incremental modification of the initial commands can lead to unexpected influence on the robot's tracking performance, owning to unaccounted factors such as the robot's dynamic stiffness and natural frequency. This paper decomposes trajectory tracking errors based on servo encoder feedback and external laser tracker, and proposes a variable step error compensation scheme to improve tracking performance. Physical experiments are conducted on a standard 6 degree-of-freedom industrial robot to validate the effectiveness of the proposed method. The results of various error compensation approaches are analyzed to draw a possible error correlation model, in order to account for the error inconsistency in the compensation process. © 2024 IEEE.

关键词： Industrial robots

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Deep Learning-Enhanced Super-Resolution Ultrasound for Efficient Brain Vascular Mapping

Deep Learning-Enhanced Super-Resolution Ultrasound for Effic...

引用

IEEE International Conference on robotics and Biomimetics

作者： Andi Sun Xingjian Shen Xianghe Meng Hui Xie State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Robotic implantation of neural electrodes for in-vasive brain-computer interface(BCI) requires precise vascular mapping to avoid major blood vessels. While super-resolution ultrasound imaging offers superior resolution compared to traditional methods, it typically requires probes with numer-ous elements, demanding substantial hardware resources. This paper presents a novel approach combining deep learning with reduced-element probes for high-resolution vascular imaging. The proposed method employs a transformer-based neural network to accurately localize high-density microbubbles while reducing the required number of probe elements. Simulations reveal that a 32-element linear probe with deep learning outper-forms a 64-element probe using 2D normalized cross-correlation for microbubble concentrations below 1.95 microbubbles/mm2. The overall localization precision and Jaccard index demon-strate superior performance of the deep learning approach, particularly at lower microbubble densities. In vivo experiments on a mouse brain model using a 64-element probe (15 MHz) and deep learning achieved vascular network reconstruction with 21 um resolution, distinguishing vessels 26 um apart. This technique significantly lowers the hardware requirements for constructing high-resolution vascular networks, thereby providing detailed cerebrovascular distribution maps. These maps have the potential to enable more precise planning and safer execution of neural electrode implantation for BCI research, while reducing overall system complexity.

关键词： Deep learning Electrodes Location awareness In vivo Ultrasonic imaging Superresolution Hardware Probes Image reconstruction Robots

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Direct Electrical Heating and Multi-Cycle Stretching Method for Micro Wire Straightening

Direct Electrical Heating and Multi-Cycle Stretching Method ...

引用

IEEE International Conference on Nano/Micro Engineered and Molecular systems (NEMS)

作者： Yan Xu Xianghe Meng Xingjian Shen Xiaomo Wu Hui Xie The State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350359831

ISBN: (纸本)9798350359848

Wire straightening is essential to produce straight wires from a coil for micro-needle-assisted implantation of flexible neural electrodes in brain-computer interfaces. This article introduces a novel direct electrical heating and multi-cycle stretching (DEHMS) method, offering advancements over the current state of the art. For the first time, it has been possible to straighten tungsten wires with diameters smaller than 40 μm effectively, significantly minimizing deflection through multi-cycle stretching and direct current heating. The straightening device was housed in an inert gas chamber to prevent surface oxidation. A force sensor monitored the tension in real-time during the process, providing feedback to the motion module to accurately adjust the wire's stretching and releasing. Our investigation into tension variation, stretch-release cycles, and applied voltage showed that achieving optimal straightness (≈1 μm/1000 μm) minimizes positioning errors caused by the non-straightness of tungsten wires for cortical electrode implantation to below a neuronal cell's length. Optimal conditions were found to be 1.6 N tension, 8 V, and 14 stretch-release cycles in an argon atmosphere.

关键词： Electrodes Tungsten Voltage Brain-computer interfaces Real-time systems Wire Argon

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