检索结果-南通市图书馆

Printable Kirigami-inspired Flexible and Soft Anthropomorphic Robotic Hand

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Journal of Bionic Engineering 2022年第3期19卷 668-677页

作者： Yunhol Chan Zion Tsz-Ho Tse hongliang ren Department of Biomedical Engineering National University of SingaporeKent Ridge119077Singapore Department of Electronic Engineering The Chinese University of Hong Kong(CUHK)ShatinNew TerritoryHong KongChina Department of Electronic Engineering University of YorkNorth YorkshirefYO105DDUK

We present a kirigami-inspired design scheme for a robotic hand by 3D printable folds and *** unique contribution is the printable flexible hand,which provides flexibility and maneuverability that is unavailable in rigid robotic *** integration of sensors in the robotic system enables force adjustment for robotic systems applicable in the *** experimental results have shown that this design can perform everyday tasks through grasping and pinching different *** fingers can bend from 40 to 100 ***,the direct printable kirigami cuts and folds from soft elastic printable materials have significant potential for prosthetic *** printable kirigami design framework opens the possibility for future developments and modifications in numerous robotic applications.

关键词： Kirigami-inspired design Prosthetic Soft materials Three-dimensional printing

A Review of Printable Flexible and Stretchable Tactile Sensors

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Research 2019年第1期2019卷 210-241页

作者： Kirthika Senthil Kumar Po-Yen Chen hongliang ren Department of Biomedical Engineering Medical Mechatronics LaboratoryNational University of SingaporeSingapore 117583 Department of Chemical and Biomolecular Engineering National University of SingaporeSingapore 117585

Flexible and stretchable tactile sensors that are printable,nonplanar,and dynamically morphing are emerging to enable proprioceptive interactions with the unstructured surrounding *** to its varied range of applications in the field of wearable electronics,soft robotics,human-machine interaction,and biomedical devices,it is required of these sensors to be flexible and stretchable conforming to the arbitrary surfaces of their stiff *** challenges in maintaining the fundamental features of these sensors,such as flexibility,sensitivity,repeatability,linearity,and durability,are tackled by the progress in the fabrication techniques and customization of the material *** review is aimed at summarizing the recent progress of rapid prototyping of sensors,printable material preparation,required printing properties,flexible and stretchable mechanisms,and promising applications and highlights challenges and opportunities in this research paradigm.

关键词： durability printing enable

A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Engineering 2015年第1期1卷 73-78页

作者： Zheng Li Jan Feiling hongliang ren Haoyong Yu Department of Biomedical Engineering National University of Singapore Institute of Digestive Disease the Chinese University of Hong Kong Chow Yuk Ho Technology Centre for Innovative Medicine the Chinese University of Hong Kong Faculty of Design Production Engineeringand Automotive EngineeringUniversity of Stuttgart

In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator(CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.

关键词： surgical robot flexible manipulator tendon-driven minimally invasive robotic surgery

Variable Admittance Control of High Compatibility Exoskeleton Based on Human-Robotic Interaction Force

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

CHINESE JOURNAL OF MECHANICAL ENGINEERING 2024年第1期37卷 1-15页

作者： Cao, Jian Zhang, Jianhua Wang, Chang Li, Kexiang Zhang, Jianjun Wang, Guihua ren, hongliang Hebei Univ Technol Sch Mech Engn Tianjin 300401 Peoples R China Univ Sci & Technol Beijing Sch Mech Engn Beijing 100083 Peoples R China North China Univ Technol Sch Mech & Mat Engn Beijing 100144 Peoples R China Chinese Univ Hong Kong Dept Elect Engn Hong Kong 999077 Peoples R China

The wearable exoskeleton system is a typical strongly coupled human-robotic system. Human-robotic is the environment for each other. The two support each other and compete with each other. Achieving high human-robotic compatibility is the most critical technology for wearable systems. Full structural compatibility can improve the intrinsic safety of the exoskeleton, and precise intention understanding and motion control can improve the comfort of the exoskeleton. This paper first designs a physiologically functional bionic lower limb exoskeleton based on the study of bone and joint functional anatomy and analyzes the drive mapping model of the dual closed-loop four-link knee joint. Secondly, an exoskeleton dual closed-loop controller composed of a position inner loop and a force outer loop is designed. The inner loop of the controller adopts the PID control algorithm, and the outer loop adopts the adaptive admittance control algorithm based on human-robot interaction force (HRI). The controller can adaptively adjust the admittance parameters according to the HRI to respond to dynamic changes in the mechanical and physical parameters of the human-robot system, thereby improving control compliance and the wearing comfort of the exoskeleton system. Finally, we built a joint simulation experiment platform based on SolidWorks/Simulink to conduct virtual prototype simulation experiments and recruited volunteers to wear rehabilitation exoskeletons to conduct related control experiments. Experimental results show that the designed physiologically functional bionic exoskeleton and adaptive admittance controller can significantly improve the accuracy of human-robotic joint motion tracking, effectively reducing human-machine interaction forces and improving the comfort and safety of the wearer. This paper proposes a dual-closed loop four-link knee joint exoskeleton and a variable admittance control method based on HRI, which provides a new method for the design and control of

关键词： Limb exoskeleton Strongly coupled system Human-robot interaction Admittance control

A review of bio-inspired needle for percutaneous interventions

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Biomimetic Intelligence & Robotics 2022年第4期2卷 2-13页

作者： Yichi Ma Xiao Xiao hongliang ren Max Q.-H.Meng Department of Mechanical Engineering University of CaliforniaBerkeley 94720USA Department of Electronic and Electrical Engineering Southern University of Science and TechnologyShenzhen 518055China Department of Electronic Engineering The Chinese University of Hong KongHongkong 999077China

Bio-inspired design translates the knowledge of natural or biological structures or behaviors into novel theories and technologies,providing new directions for research and *** the medical needles for percutaneous intervention technology appear to be mature,biomimetic solutions become popular to further facilitate the performance of the medical *** this paper,we review the current state of bio-inspired medical needle designs for percutaneous interventions,including a variety of biomimetic mechanisms and insertion *** and experimental designs of biomimetic medical needles are classified into five groups with respect to the applications,while their characteristics are identified and *** classification and discussion will not only provide technical insights into previous studies but also identify undiscovered directions for future research.

关键词： Bio-inspired needle Biopsy needle Steerable needle

Three-Dimensional Collision Avoidance Method for Robot-Assisted Minimally Invasive Surgery

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Cyborg and Bionic Systems 2023年第1期4卷 121-135页

作者： Ling Li Xiaojian Li Bo Ouyang Hangjie Mo hongliang ren Shanlin Yang School of Management Hefei University of TechnologyHefeiChina Key Laboratory of Process Optimization and Intelligent Decision-Making(Ministry of Education) Hefei University of TechnologyHefeiChina Philosophy and Social Sciences Laboratory of Data Science and Smart Society Governance(Ministry of Education) Hefei University of TechnologyHefeiChina Department of Biomedical Engineering Faculty of EngineeringNational University of SingaporeSingaporeSingapore Department of Electronic Engineering Shun Hing Institute of Advanced EngineeringThe Chinese University of Hong KongHong KongChina National Engineering Laboratory for Big Data Distribution and Exchange Technologies ShanghaiChina

In the robot-assisted minimally invasive surgery,if a collision occurs,the robot system program could be damaged,and normal tissues could be *** avoid collisions during surgery,a 3-dimensional collision avoidance method is proposed in this *** proposed method is predicated on the design of 3 strategic vectors:the collision-with-instrument-avoidance(CI)vector,the collision-with-tissues-avoidance(CT)vector,and the constrained-control(CC)*** CI vector demarcates 3 specific directions to forestall collision among the surgical *** CT vector,on the other hand,comprises 2 components tailored to prevent inadvertent contact between the robot-controlled instrument and nontarget ***,the CC vector is introduced to guide the endpoint of the robot-controlled instrument toward the desired position,ensuring precision in its movements,in alignment with the surgical *** results verify the proposed collision avoidance method for robot-assisted minimally invasive *** code and data are available at https://***/cynerelee/collision-avoidance.

关键词： collision desired verify

Auto-generating of 2D tessellated crease patterns of 3D biomimetic spring origami structure

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Biomimetic Intelligence & Robotics 2022年第2期2卷 17-31页

作者： Yu Xing Teo Catherine Jiayi Cai Bok Seng Yeow Zion Tsz Ho Tse hongliang ren Biomedical Engineering Department National University of SingaporeSingapore117575Singapore Department of Electronic Engineering University of YorkYork YO105DDUK Department of Electronic Engineering Chinese University of Hong KongChina

Computational simulations can accelerate the design and modelling of origami robots and *** paper presents a computational method using algorithms developed in Python to generate different tessellated origami crease patterns *** paper aims to automate this process by introducing a system that automatically generates origami crease patterns in Scalable Vector Graphics *** introducing different parameters,variations of the same underlying tessellated crease pattern can be *** user interface consists of an input file where the user can input the desired parameters,which are then processed by an algorithm written in Python to generate the respective origami 2D crease *** origami crease patterns can serve as inputs to current origami design software and algorithms to generate origami design models for faster and easier visual *** paper utilizes a basic biomimetic inspiration origami pattern to demonstrate the functionality by varying underlying crease pattern parameters that give rise to symmetric and asymmetric spring origami 3D ***,this paper conducts a qualitative analysis of the origami design outputs of an origami simulator from the input crease patterns and the respective manual folding of the origami structure.

关键词： Biomimetic soft robotics 3D origami design Design automation Computer-aided design Structural optimization Parametric design

Simultaneously improving the EMI shielding performances and mechanical properties of CF/PEKK composites via MXene interfacial modification

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Journal of Materials Science & Technology 2023年第23期154卷 202-209页

作者： Xueqin Yang Jiamei Luo hongliang ren Yi Xue Chenxi Yang Ting Yuan Zehao Yang Yong Liu Hui Zhang Jianyong Yu State Key Laboratory for Modification of Chemical Fibers and Polymer Materials College of Materials Science and Engineering Donghua University Shanghai 201620 China Innovation Center for Textile Science and Technology Donghua University Shanghai 201620 China Shanghai Key Laboratory of Lightweight Structural Composites Center for Civil Aviation Composites Donghua University Shanghai 201620 China

In this study, two-dimensional MXene (Ti3 C2 Tx ) was employed to modify the interface of carbon fiber-reinforced polyetherketoneketone (CF/PEKK) composites, in order to simultaneously improve the electromagnetic interference (EMI) shielding performances and mechanical properties. The obtained CF/PEKK composites possessed outstanding EMI and mechanical performances, as anticipated. Specifically, the CF/PEKK composites modified with MXene at 1 mg mL–1 exhibited an excellent EMI shielding effectiveness of 65.2 dB in the X-band, a 103.1% enhancement compared with the unmodified CF/PEKK composites. The attractive EMI shielding performances of CF/PEKK composites originated from enhanced ohmic losses and multiple reflections of electromagnetic waves with the help of the MXene and CF layers. In addition, CF/PEKK composites achieved the best mechanical properties by optimizing the dispersion concentration of MXene to 0.1 mg mL–1 . The flexural strength, flexural modulus, and interlaminar shear strength of CF/PEKK composites reached 1127 MPa, 81 GPa, and 89 MPa, which were 28.5%, 9.5%, and 29.7% higher than that of the unmodified CF/PEKK composites, respectively. Such improvement in mechanical properties could be ascribed to the comprehensive effect of mechanical interlocking, hydrogen bonds, and Van der Waals forces between the introduced MXene and CF, PEKK, respectively.

关键词： CF/PEKK composites Ti3C2T MXene Electromagnetic interference shielding performances Interfacial interactions

Design and evaluation of a novel biopsy needle with hemostatic function

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Frontiers of Mechanical Engineering 2023年第2期18卷 319-331页

作者： Xiaolong ZHU Yichi MA Xiao XIAO Liang LU Wei XIAO Ziqi ZHAO hongliang ren Max Q.-H.MENG Department of Electronic and Electrical Engineering Southern University of Science and TechnologyShenzhen 518055China Department of Mechanical Engineering University of CaliforniaBerkeleyBerkeleyCA 48072USA Department of Electronic Engineering The Chinese University of Hong KongHong KongChina

Biopsy is a method commonly used for early cancer ***,bleeding complications of widely available biopsy are risky for *** biopsy will result in a more accurate cancer diagnosis and a decrease in the risk of *** this article,we propose a novel biopsy needle that can reduce bleeding during biopsy procedures and achieve stable *** proposed biopsy needle features a compact structure and can be operated easily by left and right hands.A predictive model for puncture force and tip deflection based on coupled Eulerian–Lagrangian(CEL)method is *** results show that the biopsy needle can smoothly deliver the gelatin sponge hemostatic plug into the *** the hemostatic plug bends,the overall delivery process is stable,and the hemostatic plug retains in the tissue without being affected by the withdrawal of the *** experiments indicate that the specimens are well obtained and evenly distributed in the groove of the outer needle without *** proposed design of biopsy needle possesses strong ability of hemostasis,tissue cutting,and tissue *** CEL model accurately predicts the peak of puncture force and produces close estimation of the insertion force at the postpuncture stage and tip position.

关键词： cancer diagnosis biopsy needle hemostatic function predictive model coupled Eulerian−Lagrangian