The percutaneous coronary interventions (PCI) require complex operating skills of the interventional devices and make the surgeons being exposed to heavy X-ray radiation. Accurate delivery of the interventional device...
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ISBN:
(纸本)9781479969241
The percutaneous coronary interventions (PCI) require complex operating skills of the interventional devices and make the surgeons being exposed to heavy X-ray radiation. Accurate delivery of the interventional devices and avoiding the radiation are especially important for the surgeons. This paper presents a novel dedicated dual-finger robotic hand (DRH) and a console to assist the surgeons to deliver the interventional devices in PCIs. The system is designed in the master-slave way which helps the surgeons to reduce the exposure to radiation. The mechanism of the DRH is bio-inspired and motions are decoupled in kinematics. In PCI procedures, the accuracy of the guidewire delivery and the catheter tip placement have significant effects on the surgical results. The performances of the DRH in delivering the guidewire and the balloon/stent catheter were evaluated by three surgical manipulations. The results show that the DRH has the ability to deliver the guidewire and the balloon/stent catheter precisely.
This paper presents a novel approach on swimming performance improvement for a bio-inspired robotic fish. The main idea of this approach lies in optimizing the oscillator phase differences of a central pattern generat...
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ISBN:
(纸本)9781467396769
This paper presents a novel approach on swimming performance improvement for a bio-inspired robotic fish. The main idea of this approach lies in optimizing the oscillator phase differences of a central pattern generator (CPG) model, which governs the rotation of the joints. Definitely, the swimming performance includes steady forward velocity, head stability, and energy-efficiency. A dynamic model is firstly built to describe the swimming motion of the robotic fish. Taking advantage of the dynamic model, we analyze the influence on the swimming performance exerted by the phase differences. Specifically, two conditions are studied and compared together: consistent and inconsistent phase differences. To the best of our knowledge, this issue has not been addressed in previous literature sufficiently. The optimal swimming performance is searched under both of the conditions. Simulation results reveal that the CPG model with inconsistent phase differences is able to realize better swimming performance, especially for head stability and energy-efficiency.
Jellyfish-inspired jet propulsion and robotic implementation have drawn much attention among the scientific community. In this paper, we report a novel robotic jellyfish synthesizing mechanical structure drive and bar...
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ISBN:
(纸本)9781467396769
Jellyfish-inspired jet propulsion and robotic implementation have drawn much attention among the scientific community. In this paper, we report a novel robotic jellyfish synthesizing mechanical structure drive and barycenter adjustment mechanism. The robotic jellyfish relies on six-bar linkage mechanisms as actuators to realize the contraction-relaxation jet propulsion motion. To imitate the real jellyfish and to reduce drag, the robotic jellyfish is comprised of a streamlined head, a cavity shell, and a latex skin is enwraped around the drive units. To achieve free switch between different motion modes and transform attitude arbitrarily, a barycenter adjustment mechanism is embedded in the robot body. Through the upward, downward, balancing, as well as leaning-down motion of clump weights, the center of gravity of the robot can enwrap its center of buoyancy. Experimental tests on the actual robotic jellyfish verify the great 3D swimming ability.
This paper aims at dynamic modeling and control of a new upper-limb rehabilitation robot which has a parallel structure. Dynamic modeling of parallel robot is a complicated problem, and the dynamics and voluntary forc...
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ISBN:
(纸本)9781479918096
This paper aims at dynamic modeling and control of a new upper-limb rehabilitation robot which has a parallel structure. Dynamic modeling of parallel robot is a complicated problem, and the dynamics and voluntary force of the patient arm increase the difficulty of dynamic analysis and control in rehabilitation training. The novelties of this study are: (1) dynamics of the robot and the patient are considered together, and this human-robot interaction system is modeled as a redundantly actuated closed-chain system (2 DOFs, 4 active joints); (2) the system dynamics are derived in workspace using a new method based on the dynamics of its three serial open-chain branches, and both kinematic constrains and interaction forces are considered during the derivation. Compared with the other two previous methods reviewed in this paper, the proposed method is easier to derive, more computationally efficient, and it can be used in both redundant and non-redundant cases. Besides, a model based PD-computed torque controller is designed and the simulation of passive training task along a circular path is presented to prove the effectiveness of this method.
In this paper, a novel robust adaptive control scheme is proposed for a lower limb rehabilitation robot designed by our laboratory. The proposed control strategy is based on the radial basis function (RBF) neural netw...
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ISBN:
(纸本)9781467396769
In this paper, a novel robust adaptive control scheme is proposed for a lower limb rehabilitation robot designed by our laboratory. The proposed control strategy is based on the radial basis function (RBF) neural networks and the parameters of the system dynamics are unknown. The weights of the RBF neural networks are updated by an adaptive law according to the Lyapunov stability analysis. The robustness against possible variations of the system dynamics and the external disturbance are considered in the control design. The proposed control strategy can not only avoid the complex procedure of system parameters identification, but also guarantee high robustness, small trajectory tracking errors and the assistance of the patient's voluntary participation. Using this control algorithm, the robot can regulate its exerted torque to adapt to the patient's active torque in real time during rehabilitation. The effectiveness of our control method is demonstrated by a simulation.
Structured light calibration is one of the most crucial parts in a visual sensing system of welding robots. And the main aspect of the structured light calibration is the accuracy. Besides, a practical and simplistic ...
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ISBN:
(纸本)9781467396769
Structured light calibration is one of the most crucial parts in a visual sensing system of welding robots. And the main aspect of the structured light calibration is the accuracy. Besides, a practical and simplistic calibration approach is preferable. In this paper, we propose a simple technique for structured light calibration. The vertical and horizontal lines are added to the planar object to facilitate points detection. The information from the camera calibration is fully used to detect the points on the light stripe. Then parameters of the structured light plane are estimated based on three non-collinear points definition. It could be said that the computation in this study is straight forward. Furthermore, it does not require any additional equipment. Thus, it is a truly simple and practical calibration method. According to the experimental results, the calibration errors are less than 0.2 mm. It shows that our proposed method is acceptable to measurement system of welding robots.
In this paper, we present a novel learning framework for traversable region detection. Firstly, we construct features from the super-pixel level which can reduce the computational cost compared to pixel level. Multi-s...
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ISBN:
(纸本)9781479969241
In this paper, we present a novel learning framework for traversable region detection. Firstly, we construct features from the super-pixel level which can reduce the computational cost compared to pixel level. Multi-scale super-pixels are extracted to give consideration to both outline and detail information. Then we classify the multiple-scale super-pixels and merge the labels in pixel level. Meanwhile, we use weighted ELM as our classifier which can deal with the imbalanced class distribution since we only assume that a small region in front of robot is traversable at the beginning of learning. Finally, we employ the online learning process so that our framework can be adaptive to varied scenes. Experimental results on three different style of image sequences, i.e. shadow road, rain sequence and variational sequence, demonstrate the adaptability, stability and parameter insensitivity of our method to the varied scenes and complex illumination.
Space manipulators are mainly used in the spatial loading *** with the problems of the spatial loading diversity,the testing loading installing position and the utilization ratio of the test platform,the space manipul...
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ISBN:
(纸本)9781479970186
Space manipulators are mainly used in the spatial loading *** with the problems of the spatial loading diversity,the testing loading installing position and the utilization ratio of the test platform,the space manipulator is asked to evaluate the position and attitude of *** paper first put forward the concept of the Omni-directional Coefficient,which can evaluate any point in the attainable domain of the manipulators,with the combination of the manipulation's position message,and got the relationship between its position and attitude of all points in the attainable ***,it represented the attitude of the end-effectors with attitude *** last,proposed the method to evaluate the Omni-directional characters of the whole *** paper analyzed space manipulator experiment data analysis,using the method of numerical computation and graphic *** the one hand,compared the Omni-directional Coefficient with the early quantitative representation used analytical method,on the other hand,vividly showed the Omni-directional Coefficient,Omni-directional space and the distribution of the Omni-directional in the attainable domain when the manipulator is the initial *** last,we got the Omni-directional Coefficient of the whole manipulator by data analysis method.
The tutor-tutee hand-in-hand teaching may be the most effective approach for a tutee to acquire new motor skills. Repetitive nature of such procedures in a group setting usually results in a high labour cost and time ...
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ISBN:
(纸本)9781509037636
The tutor-tutee hand-in-hand teaching may be the most effective approach for a tutee to acquire new motor skills. Repetitive nature of such procedures in a group setting usually results in a high labour cost and time inefficiency. Potential solution can be utilizing robotic platforms playing the role of tutors for demonstrating and transferring the required skills. This requires an appropriate guidance scheme to integrate the tutor's motor functionalities into the robot's control architecture. For instance, for hand-in-hand supervision of the writing task, the tutor's corrections can be applied when necessary, while a very compliant motion can be achieved if no errors are detected. Inspired by this behavior, we develop a teaching interface using a dual-arm robotic platform. In our setup, one arm is connected to the tutees arm providing guidance through a variable stiffness control approach, and the other to the tutor to capture the motion and to feedback the tutees performance in a haptic manner. The reference stiffness for the tutors arm stiffness is estimated in real-time and replicated by the tutees robotic arm. Comparative experiments have been carried out on a dual-arm Baxter robot. The results imply that the human tutor is able to intuitively transfer writing skills to the tutee and also show superior learning performance over over some conventional teaching by demonstration techniques.
A new torso design of humanoid robot is proposed as a 3-DOF PKM (Parallel Kinematic Manipulator) structure by using results of a biomimetic analysis of torso in humans and animals. Main characteristics of torso in nat...
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ISBN:
(纸本)9781479970995
A new torso design of humanoid robot is proposed as a 3-DOF PKM (Parallel Kinematic Manipulator) structure by using results of a biomimetic analysis of torso in humans and animals. Main characteristics of torso in nature are presented from which design requirements are outlined for a solution in humanoid robot. The PKM torso is consist of two platforms and four UPU mechanisms. The usefulness of such a biomimetic inspiration is proved by a numerical simulation of the proposed PKM torso in its basic movements.
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