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Performance characterization of ionic-hydrogel based strain sensors

Science China(Technological Sciences) 2020年第6期63卷 923-930页

作者： XU HaiPeng SHEN ZeQun gu guoying Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Ionic hydrogels,owing to the advantages of stretchability,conductivity and transparency,have attracted more attention for developing new soft sensors and artificial *** works on ionic-hydrogel based sensors mostly focus on material synthesis,structure design and functional integration,while few studies investigate the characterization of their sensing *** this paper,we present a method to characterize the performance(e.g.,sensitivity,linearity and repeatability)of a kind of ionic-hydrogel based strain sensors by varying the testing frequencies and the sensors’geometry(e.g.,length-width(L/W)ratio).To this end,we first develop an experimental testing platform and fabricate a series of strain sensors made of the polyacrylamide(PAAm)hydrogel containing ionic conductive *** establish an equivalent electrical model to represent the ionic-hydrogel based strain sensors,indicating the influence of the testing frequencies and L/W ratio of the ionic hydrogels on their sensing *** theoretical predictions are in agreement with results obtained through experimental *** further demonstrate that(1)the sensitivity of the strain sensors,characterized by the gauge factor(GF),increases with the rise of testing frequencies but tends to be stable over the frequency of 5 kHz;(2)the sensitivity GF has a nonlinear relation with the L/W ratio of the strain sensors,but with a certain maximum value under the same testing frequency when the L/W ratio equals to *** verify the above experimental observations with two commonly used electrolytes,including lithium chloride and sodium *** the optimum testing frequency and L/W ratio,we finally conduct various experiments to demonstrate the low hysteresis and good repeatability of our ionic-hydrogel based strain *** work provides an approach to characterize the performance of the ionic-hydrogel based strain sensors,which may be an important step forward in further applicatio

关键词： ionic hydrogels sensor characterization large-strain sensor stretchable electronics

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Confined spaces path following for cable-driven snake robots with prediction lookup and interpolation algorithms

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Science China(Technological Sciences) 2020年第2期63卷 255-264页

作者： TANG Lei ZHU LiMin ZHU XiangYang gu guoying Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

While cable-driven snake robots are promising in exploring confined spaces, their hyper-redundancy makes the collision-free motion planning difficult. In this paper, by combining the prediction lookup and interpolation algorithms, we present a new path following method for cable-driven snake robots to high-efficiently slither into complex terrains along a desired path. In our method, we first discretize the desired path into points, and develop the prediction lookup algorithm to efficiently find the points matched with joints of the robot. According to geometric relations between the prediction lookup results and link length of the robot, we develop the interpolation algorithm to reduce the tracking errors caused by the discretization. Finally, simulations and experiments of inspections in two confined spaces including the obstacle array and pipe tank system are performed on our custom-built 25 degree of freedoms(DOFs) cable-driven snake robot. The results demonstrate that the presented method can successfully navigate our snake robot into confined spaces with high computational efficiency and good accuracy, which well verifies effectiveness of our development.

关键词： cable-driven snake robot confined spaces path following prediction lookup interpolation

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Synergistic control of soft robotic hands for human-like grasp postures

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Science China(Technological Sciences) 2022年第3期65卷 553-568页

作者： ZHANG NingBin ZHAO Yi gu guoying ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Although significant advances in the design of soft robotic hands have been made to mimic the structure of the human hands,there are great challenges to control them for coordinated and human-like *** on the principle of postural synergies in the human hand,we present a synergistic approach for coordinated control of a soft robotic hand to replicate the human-like grasp *** this end,we firstly develop a kinematic model to describe the control variables and the various postures of the soft robotic *** on the postural synergies,we use the developed model and Principal Component Analysis(PCA)method to describe the various postures of the soft robotic hand in a low-dimensional space formed by the synergies of actuator ***,the coordinates of these synergies can be used as low-dimensional control inputs for the soft robotic hand with a higher-dimensional postural ***,we establish an experimental platform on a customized soft robotic hand with6 pneumatical actuators to verify the effectiveness of the *** results demonstrate that with only a 2-dimensional control input,the soft robotic hand can reliably replicate 30 grasp postures in the Feix taxonomy of the human hand.

关键词： soft robotic hand synergistic control human-like grasp postures principal component analysis pneumatic actuation

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Low-resistance, high-force, and large-ROM fabric-based soft elbow exosuits with adaptive mechanism and composite bellows

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Science China(Technological Sciences) 2023年第1期66卷 24-32页

作者： HUANG WeiCheng FENG Miao YANG DeZhi gu guoying Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao TongUniversityShanghai 200240China

Due to the lightweight and compliance, fabric-based pneumatic exosuits are promising in the assistance and rehabilitation of elbow impairments. However, existing elbow exosuits generally suffer from remarkable mechanical resistance on the flexion of the elbow, thus limiting the output force, range of motion(ROM), and comfortability. To address these challenges, we develop a fabric-based soft elbow exosuit with an adaptive mechanism and composite bellows in this work. With the elbow kinesiology considered, the adaptive mechanism is fabricated by sewing the interface of the exosuit into spring-like triangle pleats, following the profile of the elbow to elongate or contract when the elbow flexes or extends. The composite bellows are implemented by further sealing a single blade of bellows into two branches to enhance the output force. Based on these structural features, we characterize the mechanical performance of different soft elbow exosuits: exosuit with normal bellows-NB, exosuit with adaptive mechanism and normal bellows-AMNB, exosuit with adaptive mechanism and composite bellows-AMCB. Experimental results demonstrate that by comparing with NB, the mechanical resistance of AMNB and AMCB decreases by 80.6% and 78.6%, respectively;on the other hand, the output torque of AMNB and AMCB increases to 120.3% and 207.0%, respectively, at50 k Pa when the joint angle is 120°. By wearing these exosuits on a wooden arm model(1.25 kg), we further verify that AMCB can cover a full ROM of 0°–130° at the elbow with 500 g weight. Finally, the application on a health volunteer with AMCB shows that when the volunteer flexes the elbow to lift a weight of 500 g, the s EMG activity of the biceps and triceps is markedly reduced.

关键词： wearable robots rehabilitation robots soft robot applications soft actuators design

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Operational-space wrench and acceleration capability analysis for multi-link cable-driven robots

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Science China(Technological Sciences) 2020年第10期63卷 2063-2072页

作者： SHENG XinJun TANG Lei HUANG XinJia ZHU LiMin ZHU XiangYang gu guoying Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Multi-link cable-driven robots(MCDRs)have potential advantages in confined spaces exploration because of their redundancy and *** space wrench and acceleration capability analysis of MCDRs is important for their design,manipulability optimization,and motion ***,existing works mainly focus on capability analysis in the joint *** this paper,we present a zonotope-based iterative method and a simplified capability zonotope to analyze the operational-space wrench and acceleration capability of *** the iterative method,the capability generated by some cables can be iteratively added to the initial capability zonotope based on the Minkowski *** the simplified zonotope capability representation,a threshold is put forward to reduce redundant vertices and faces with little volume ***,simulations on a 24 DOFs MCDR are performed to verify the effectiveness of the developed *** results demonstrate that our iterative algorithm can easily generate the capability zonotope with a few MB ROM,while traditional operational wrench capability evaluation without our iterative algorithm needs 18432 GB ***,our simplified representation reduces the vertices and faces from 1260 and 2516 to 88 and 172,respectively,but with only 3.3%volume loss,which decreases the constraints of the robot and is conducive to manipulability optimization and motion planning.

关键词： multi-link cable-driven robots operational space capability analysis zonotope

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Soft ionic-hydrogel electrodes for electroencephalography signal recording

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Science China(Technological Sciences) 2021年第2期64卷 273-282页

作者： SHENG XinJun QIN Zhun XU HaiPeng SHU XiaoKang gu guoying ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Wet gel electrodes have been widely used for electroencephalography(EEG) signal recording, which generally causes skin abrasion and longer preparation time. In this paper, we present soft ionic-hydrogel based electrodes to overcome such *** order to conveniently measure the EEG signals, we design the claw-like and patch-like structures for robust connection between metal(Ag/Ag Cl) electrodes and skin scalps. Next, we experimentally show that the soft ionic-hydrogel based electrodes have similar performance with the conventional wet gel electrodes in terms of the short-circuit noise, electrical impedance, and skin-electrode contact impedance on unprepared human skin, significantly better than dry electrodes and water-based *** further perform the EEG measurements and steady-state visual evoked potentials(SSVEP) experiments with five subjects to verify the effectiveness of the soft ionic-hydrogel based electrodes. The experimental results demonstrate that our developed soft ionic-hydrogel electrodes can record high-quality EEG signals in a fast and clean way, being a compelling option for EEG-based brain-computer interfaces.

关键词： brain-computer interface EEG electrodes ionic hydrogel soft materials

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A rate-dependent Prandtl-lshlinskii model for piezoelectric actuators using the dynamic envelope function based play operator

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Frontiers of Mechanical Engineering 2015年第1期10卷 37-42页

作者： Meiju YANG Chunxia LI guoying gu Limin ZHU State Key Laboratory of Mechanical System and Vibration School ofMechanical Engineering Shanghai Jiao Tong University Shanghai200240 China

In this paper, a novel rate-dependent Prandtl- Ishlinskii （P-I） model is proposed to characterize the rate- dependent hysteresis nonlinearity of piezoelectric actua- tors. The new model is based on a modified rate-dependent play operator, in which a dynamic envelope function is introduced to replace the input function of the classical play operator. Moreover, a dynamic density function is utilized in the proposed P-I model. The parameters of the proposed model are identified by a modified particle swarm optimization algorithm. Finally, experiments are conducted on a piezo-actuated nanopositioning stage to validate the proposed P-I model under the sinusoidal inputs. The experimental results show that the developed rate-dependent P-I model precisely characterize the rate- dependent hysteresis loops up to 1000 Hz.

关键词： piezoelectric actuators hysteresis Prandtl-Ishlinskii rate-dependent

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Cell Nanomechanics Based on Dielectric Elastomer Actuator Device

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Nano-Micro Letters 2019年第4期11卷 690-708页

作者： Zhichao Li Chao Gao Sisi Fan Jiang Zou guoying gu Mingdong Dong Jie Song Institute of Nano Biomedicine and Engineering Department of Instrument Science and EngineeringSchool of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Shanghai Engineering Research Center of Advanced Dental Technology and Materials Shanghai Ninth People’s HospitalShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Interdisciplinary Nanoscience Center(iNANO) Aarhus UniversityAarhus 8000Denmark

As a frontier of biology,mechanobiology plays an important role in tissue and biomedical *** is a common sense that mechanical cues under extracellular microenvironment affect a lot in regulating the behaviors of cells such as proliferation and gene expression,*** such an interdisciplinary field,engineering methods like the pneumatic and motor-driven devices have been employed for ***,such techniques usually rely on complex structures,which cost much but not so easy to *** elastomer actuators(DEAs)are well known as a kind of soft actuation technology,and their research prospect in biomechanical field is gradually concerned due to their properties just like large deformation(>100%)and fast response(gular microscope to realize real-time dynamic imaging of *** paper first reviews the basic components,principle,and evaluation of DEAs and then overview some corresponding applications of DEAs for cellular mechanobiology *** also provide a comparison between DEA-based bioreactors and current custom-built devices and share some opinions about their potential applications in the future according to widely reported results via other methods.

关键词： Dielectric elastomer actuator Mechanical stimulus Bioreactor Mechanobiology

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Muscle-fiber array inspired, multiple-mode, pneumatic artificial muscles through planar design and one-step rolling fabrication

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National Science Review 2021年第10期8卷 68-78页

作者： Jiang Zou Miao Feng Ningyuan Ding Peinan Yan Haipeng Xu Dezhi Yang Nicholas X.Fang guoying gu Xiangyang Zhu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Department of Mechanical Engineering Massachusetts Institute of Technology Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University

Advances in development of artificial muscles have enabled creation of soft robots with biological dexterity and self-adaption in unstructured environments; however, production of scalable artificial muscles with multiple-mode actuations remains elusive. Inspired by muscle-fiber arrays in muscular hydrostats, we present a class of versatile artificial muscles called MAIPAMs(muscle-fiber array inspired pneumatic artificial muscles), capable of multiple-mode actuations(such as parallel elongation-bending-spiraling actuations, 10 parallel bending actuations and cascaded elongation-bending-spiraling actuations). Our MAIPAMs consist of active 3 D elastomer-balloon arrays reinforced by a passive elastomer membrane,achieved through a planar design and one-step rolling fabrication approach. We introduce prototypical designs for the MAIPAMs and demonstrate their muscle-mimic structures and versatility, as well as their scalable ability to integrate flexible but non-stretchable layers for contraction and twisting actuation modes and compliant electrodes for self-sensing. We further demonstrate that this class of artificial muscles shows potential for versatile robotic applications, such as carrying a camera for recording videos, gripping or manipulating objects, and climbing a pipe-line.

关键词： soft robotics pneumatic artificial muscles multiple-mode actuations bio-inspired design

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Trimethyltriazine-derived olefin-linked covalent organic framework with ultralong nanofibers

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Science Bulletin 2020年第19期65卷 1659-1666,M0004页

作者： Fan Zhang Shice Wei Weiwei Wei Jiang Zou guoying gu Dongqing Wu Shuai Bi Fan Zhang School of Chemistry and Chemical Engineering Shanghai Jiao Tong UniversityShanghai 200240China Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Metal Matrix Composites Shanghai Jiao Tong UniversityShanghai 200240China

Two-dimensional(2D)olefin-linked covalent organic frameworks(COFs)with excellentπ-electron communication and high stability are emerging as promising crystalline polymeric ***,because of the limited species of COFs,their characteristics,processability and potential applications have not been completely understood and *** this work,we prepared two novel olefin-linked 2D COFs through Knoevenagel condensation of 2,4,6-trimethyl-1,3,5-triazine with tritopic triazine-cored *** resulting COFs exhibit highly crystalline honeycomb-like structures stacked from hexagonallatticed polymeric layers and display well-defined nanofibrillar morphologies with the uniform diameters of ca.80 nm and ultra-lengths up to several *** COF nanofibers can be readily composited with carbon nanotubes into high-quality continuous thin films,which are further compacted by a typical hot-pressing process to enhance their densities and mechanical strength without changing their fibrous *** film-fabricated interdigital microelectrodes and the ionogel electrolyte are assembled into planar micro-supercapacitors(MSCs),which exhibit an outstanding areal capacitance of 44.3 mF cm^-2,large operating voltage window of 2.5 V,high volumetric energy density of 38.5 mWh cm^-3 as well as excellent cycling stability.

关键词： Covalent organic framework Olefin linkage Nanofiber Micro-supercapacitor Energy storage

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