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第五届国际仿生工程学术大会(ICBE2016)

作者： Qiu Lulu Zhang Chunqiu School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechanical System School of Mechanical EngineeringTianjin University of Technology

With the rapid development of computer technology and electronic equipment, as well as the corresponding improvement of algorithm, digital image correlation technology has attracted the attention of all walks of life. The digital image correlation method possesses a series of advantages like simple optical path, high precision and fast processing speed, which meets the demand of unique biomechanical properties and biological organization environment. This paper analyses the development process through the research of digital image correlation method and summarizes its application in biomechanical *** study also presents the method of digital image using in biomechanics aspects, showing the research progress and development trends about digital image correlation method in biomechanics. Besides this paper suggests some difficult problem existing to be solved and puts forward the corresponding solutions.

关键词： Digital image correlation method biomechanic speckle

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design of the structural optimization for the upper limb rehabilitation robot

Design of the structural optimization for the upper limb reh...

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IEEE International Conference on mechatronics and Automation

作者： Shuxiang Guo Jiange Gao Jian Guo Weijie Zhang Yuye Hu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Japan Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China

ISBN: (纸本)9781509023974

The exoskeleton robotic rehabilitation training system is a branch of the field of robotics, it is the external mechanical system that is consistent with the similar joints of the human body, and attached to the human body. With the development of exoskeleton rehabilitation robotic system, the biomechanics influence of device should be considered in rehabilitation training. This paper proposes a novel upper limb exoskeleton rehabilitation device based on biomechanics, which can be used in rehabilitation of upper limb for hemi paralysis patients. This system aims at helping hemi paralysis patients recover motor function of upper limb; in addition it is suitable for variety of patients. This system is portable and wearable, which consists of exoskeleton device, hepatic device (PHANTOM Premium), motor controllers and work station (computer). This paper proposes a structural optimization scheme in order to solve some problems of bowl's structure of the rehabilitation robot. The Pro/ENGINEER Wildfire (Pro/E) software is applied to get a three-dimensional modelling, kinematics simulation and dynamic analysis of the rehabilitation robot. From the analysis, the robot end motion simulation curves were obtained to verify the optimization structure reasonable and better motion characteristics. In the future, this structure will have a wide application prospect in the rehabilitation therapy field.

关键词： Robots Exoskeletons Wrist Jacobian matrices Gears Optimization Acceleration

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design and kinematic simulation of a novel exoskeleton rehabilitation hand robot

Design and kinematic simulation of a novel exoskeleton rehab...

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IEEE International Conference on mechatronics and Automation

作者： Shuxiang Guo Weijie Zhang Jian Guo Jiange Gao Yuye Hu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Japan Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China

ISBN: (纸本)9781509023974

The rehabilitation exoskeleton robot is more and more used in the assisting stroke patients in implementing rehabilitation training. In this paper, a novel exoskeleton hand robot which was driven by cable has been proposed to aim at helping varieties of paralyses patients recover motor function. This exoskeleton hand rehabilitation robot system mainly consists of exoskeleton hand robot, EEG system, motor controllers unit, some sensors and a workstation. And the hand exoskeleton mechanism was portable, wearable and adjustable for patients doing home rehabilitation training. Based on the parameters from human hand, the kinematic model of hand robot was established to be used in designing and the kinematic simulation experiments about this exoskeleton hand robot were done. Through the simulation software ADAMS (Automatic Dynamic Analysis of Mechanical systems), the parameters of position, angle velocity and angle accelerated velocity (PVA) of proximate inter-phalanger (DIP) distal inter-phalanger joint were simulated. And then, the movement situation of the DIP joint was obtained according to the data from the position encoder. So the velocity curve and accelerated velocity curve were obtained by calculating the actual position function derivation. The simulated results showed that this exoskeleton hand robot has high movement ability to finish the continuous passive motion (CPM). Beside that, a comparison test was done to verify whether there were some motion blocks in wearing exoskeleton robot. Through analyzing the experimental data, the error between the actual position and the simulated position of the PIP joint of the finger was very small which verified the small interference of robot. These experiments demonstrated that the exoskeleton hand robot has high efficiency movement ability for stroke patients who need to do the finger rehabilitation training. In the future, the optimization design of the exoskeleton hand robot will be done in order to improve more mov

关键词： Exoskeletons Thumb Robot sensing systems Joints Training

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Maximizing higher derivatives of unknown maps with stochastic extremum seeking

Maximizing higher derivatives of unknown maps with stochasti...

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American control Conference

作者： Greg Mills Miroslav Krstic Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin China College of Computer National University of Defense Technology Changsha China

ISBN: (纸本)9781467386838

We present a stochastic generalization to the scalar Newton-based extremum seeking algorithm which through measurements of an unknown map, maximizes the map's higher derivatives. The proposed method perturbs the estimate of the optimal parameter with the sinusoid of Brownian motion about the boundary of a circle. Then by properly demodulating the map output of the randomly perturbed estimate, the extremum seeking algorithm maximizes the nth derivative only through measurements of the map. The Newton-based extremum seeking approach removes the dependence of the convergence rate on the unknown Hessian of the higher derivative, an effort to improve performance over standard gradient-based extremum seeking. Our design stems from the existing multivariable Newton-based extremum seeking algorithm where a differential Riccati equation estimates the inverse Hessian of the function to be maximized. Algebraically computing a direct estimate of the inverse Hessian is susceptible to singularity, where-as employing the Riccati filter removes that potential. We prove local stability of the algorithm for general nonlinear static maps via stochastic averaging theory developed for extremum seeking.

关键词： Heuristic algorithms Convergence Stability analysis Optimization Demodulation Markov processes Demodulation Heuristic algorithms extremum seeking algorithm Markov chain extremum values Stability analysis Converge maps Riccati equations Hessian RATE DEPENDENCE optimal parameter

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Wire in the Cable-Driven system of Surgical Robot

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IOP Conference Series: Materials Science and Engineering 2017年第1期224卷

作者： X F Wang N Lv H Z Mu L J Xue Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology School of Mechanical Engineering Tianjin University of Technology School of Mechanical Engineering Zhonghuan Information College Tianjin University of Technology

During the evolution of the surgical robot, cable plays an important role. It translates motion and force precisely from surgeon's hand to the tool's tips. In the paper, the vertical wires, the composition of cable, are mathematically modeled from a geometric point of view. The cable structure and tension are analyzed according to the characteristics of wire screw twist. The structural equations of the wires in different positions are derived for both non-bent cable and bent cable, respectively. The bending moment formula of bent cable is also obtained. This will help researchers find suitable cable and design more matched pulley.

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Analysis of Dynamic Characteristics of Rugged Vessel in the Process of Hepatic Perfusion

Analysis of Dynamic Characteristics of Rugged Vessel in the ...

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IEEE International Conference on mechatronics and Automation

作者： Songli Wang Jun Liu Yihe Liu Weimin Ge Tianjin key laboratory of the Design and Intelligent Control of the Advanced Mechanical System Tianjin University of Technology BinshuiXidao 391 Tianjin China Tianjin key Laboratory of Organ Transplantation Transplant surgery of Tianjin First Central Hospital Fukang Road 24 Tianjin China

ISBN: (纸本)9781509023974

The paper attempts to analyze the dynamic characteristics in the perfusion process of the hepatic vessel. A model of rugged vessel with a foreign matter was established based upon medical imaging data. The fluid flowing in the rugged vessel was simulated using the perfusion method of the symmetric pulsating flow (SPF) and the steady flow under the bidirectional fluid-structure interaction (FSI). The simulation results, on the one hand, demonstrate the feasibility of SPF within the perfusion process of the rugged vessel in liver. On the other hand, the results clearly show the dynamic behaviors which accorded with actual medical results. Comparing the perfusion results of the rugged vessel using SPF with the steady flow, the difference of vascular deformation is not obvious, while the peak of velocity in the rugged vessel used SPF is about 50% higher than that of the steady flow, that reveals SPF is more likely to take away the foreign matter. The study will be helpful to improve the quality of the donor liver and reduce the influence of subjective factors on the quality of cleaning, and it provides theoretical basis for the liver transplantation.

关键词： Hepatic Perfusion Rugged Vessel Symmetric Pulsating Flow Bidirectional Fluid-Structure Interaction Dynamics

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On Simulation for Fuzzy control on Oxygen Concentration of the Mixed Air Supplied by Breathing Adjuster 34

On Simulation for Fuzzy Control on Oxygen Concentration of t...

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第三十四届中国控制会议

作者： SUN Hao WANG Shou-jun SUN Qing-lin Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System The College of Mechanical Engineering Tianjin University of Technology The College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics

ISBN: (纸本)9781467374439

The breathing adjuster is the core component of life support system of an aircraft and it is very important to control the valve to make the breathing adjuster supply the pilot the mixed air with the suitable oxygen concentration. In this paper the mathematical model, which describes the relation between the opening degree of the valve of the breathing adjuster and the flight altitude of the aircraft, is set up through analyzing requirement of aviation physiology and working principles of the breathing adjuster. Then a fuzzy controller is designed to control the opening degree of the valve in order to make the breathing adjuster supply to the pilot the mixed air with suitable oxygen concentration. Finally MATLAB Simulink is employed to verify the feasibility and validity of the fuzzy controlling approach. The results of simulating experiments show that the fuzzy control approach proposed in this paper can make the breathing adjuster supply the mixed air with suitable oxygen concentration to the pilot boarded on an aircraft.

关键词： Breathing adjuster,Oxygen concentration,the opening degree of the valve,Fuzzy control,Simulation

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Modelling and analysis of planar robotic arm dynamics based on an improved transfer matrix method for multi-body systems 14

Modelling and analysis of planar robotic arm dynamics based ...

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14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015

作者： Chen, W. Li, H. Zhang, X.Z. Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China Academy of Military Medical Sciences Tianjin China

ISBN: (纸本)9789860460988

An improved transfer matrix method for multi-rigid-body systems is presented based on the structural characteristics of the manipulator and the relations between motion transfer and force transfer. Thus, a new model applicable to serial robots is obtained by using of discrete time transfer matrix method. Based on the improved method, a unified model for a manipulator with n DOF is derived. This model contains both kinematic and dynamic characteristics of the system. According to the motion transformation relation between the joint space and the operational space of the manipulator, the solution and the procedure are developed for both forward and inverse kinematics of the unified model. The simulation results of a 2DOF planar manipulator show the rightness of the modelling method and exhibit its superiority to other methods.

关键词： Inverse kinematics

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Finite Element Analysis of Absorbable Sheath to Prevent Stress Shielding of Tibial Interlocking Intramedullary Nail

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IOP Conference Series: Materials Science and Engineering 2017年第1期224卷

作者： Yansheng Dong Yongqing Wang Limin Dong Peng Jia Fengcheng Lu Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China Dept of Orthopaedics the Fourth Central Hospital of Tianjin Tianjin 300140 China Tianjin University of Traditional Chinese Medicine Tianjin 300314 China Dept of Orthopaedics Tianjin Medical University Tianjin 300314 China

The nail with absorbable sheath (AS nail) is designed to reduce the stress shielding effect of internal fixation with interlocking intramedullary nail. In order to verify its feasibility, two types of the finite element models of internal fixation of tibia with the AS nail and the common metal nail (CM nail) are established using the Softwares of Mimics, Geomagic, SolidWorks and ANSYS according to the CT scanning data of tibia. The result of the finite element analysis shows that the AS nail has great advantages compared with the CM nail in reducing the stress shielding effect in different periods of fracture healing. The conclusion is that the AS nail can realize the static fixation to the dynamic fixation from the early to the later automatically to shorten the time of fracture healing, which also provides a new technique to the interlocking intramedullary nail.

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Compensation of friction and elastic deformation for ball screw drive system

Compensation of friction and elastic deformation for ball sc...

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IEEE International Conference on mechatronics and Automation

作者： Hongbiao Xiang Shoujun Wang Chunqiu Zhang Xingfei Li Jun Liu Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin CN Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University Tianjin Tianjin CN

Nonlinear friction and elastic deformation seriously affect both static and dynamic performance of mechanical serve system, especially in the high-speed and high-precision systems. This paper focuses on modeling, identification, and compensation of non-linear friction and elastic deformation for ball screw drive system. Firstly, the parameters of the stribeck model are identified by the method of extended kalman filter. And then the parameters of stiffness model of the ball screw are identified by the method of the least square based on force analysis of system. Finally, the feed-forward compensation of friction and elastic deformation is performed. The experimental results show that: after the compensation, the steady state error of low-speed motion decreases from 42μm to ±3μm, and that of high-speed motion decreases from 95μm to ±5μm. Therefore, the method proposed can effectively compensate the disturbance of friction and elastic deformation, and improve the tracking accuracy of the ball screw drive system.

关键词： Friction Fasteners Mathematical model Servomotors Deformable models Tracking Force

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