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Leader-follower: Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

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Science China Technological Sciences 2025年第1期 325-338页

作者： Qinghua ZHANG Xianglong LI Hongwei JING Kerui SUN Yuancheng LI sikai zhao Lele LI Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie zhao Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of Technology The Learning Algorithms and Systems Laboratory School of Engineeringécole Polytechnique Fédérale de Lausanne

Supernumerary robotic arms(SuperLimb) are a new type of wearable robot that works closely with humans as a third hand to augment human operation capability. Accurate conveyance of wearers' intentions, allocation of roles, and humancentered interaction considerations are the key points in the process of human–SuperLimb collaboration. This paper proposes a human-centered intention-guided leader–follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying scenarios. The proposed leader–follower controller takes the human as the leader and the SuperLimb as the follower, achieving effective information communication, autonomous coordination, and good force compliance between SuperLimb, humans, and the environment under human safety assurance. First, the human–SuperLimb dynamic system is modeled to achieve force interaction with the environment and wearer. Second, to achieve the precise intention extraction of humans, pose data from five visual odometry sensors are fused to capture the human state, the generalized position, the velocity of hands, and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer network. Then, based on the real-time distance detection between human and mechanical limbs, the security assurance and force-compliant interaction of the human–SuperLimb system are realized. Finally, the human hand muscle intention recognition, human–robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories, and SuperLimb could well understand the wearer's intentions to switch different SuperLimb actions. The proposed sensor-based human–robot communication framework motivates future studies of o

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A Rhythmic Motion Control Method Inspired by Board Shoe Racing for a Weight-Bearing Exoskeleton

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Journal of Bionic Engineering 2022年第2期19卷 403-415页

作者： Tianshuo Wang Jie zhao Dongbao Sui sikai zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

To ensure the flexible walking of the weight-bearing exoskeleton robot,most researchers control the exoskeleton to follow the wearer’s movements and provide force to maintain the current dynamic ***,due to the limitation of sensing information and computing power,it is difficult for the exoskeleton to provide the wearer reasonable and stable force only based on the dynamic model,especially in switching between swing phase and stance *** by China’s traditional sport named board shoe racing,a walking control method based on the cooperation of the human and the exoskeleton is proposed in this paper for a lower-limb exoskeleton named *** certain conditions,the exoskeleton itself can walk stably depending on the rhythm signals generated by the Central Pattern Generator(CPG).With certain initiative during walking,it can make proper adjustments according to the human *** the help of dynamic simulation software and Genetic Algorithm(GA),the optimized CPG parameters are *** control is introduced to increase the comfort of the *** impedance parameters as well as the CPG parameters are tuned in real time based on *** experiments were conducted with *** results demonstrate that PALExo can effectively assist the wearer walking with a 45-kg payload benefiting from the proposed method.

关键词： Exoskeleton robot Central pattern generator Walking control method

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Parametric Gait Online Generation of a Lower-limb Exoskeleton for Individuals with Paraplegia

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Journal of Bionic Engineering 2018年第6期15卷 941-949页

作者： Tianjiao Zheng Yanhe Zhu ZongweiZhang sikai zhao Jie Chen Jie zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical Engineering and Automation Northeastern University Shenyang 110819 China

Lower-limb exoskeletons can provide paraplegics with the ability to restore gait function. In the community ambulation, the user would frequently meet different floors, doorsills, and other obstacles. Therefore, parametric gait generation is a significant issue for this kind of exoskeletons. In this paper, a parametric gait online generation approach is proposed, which combines a parametric gait control method with a torque compensation control strategy, based on the state machine. In the torque compensation control, the reference tra- jectories of joint positions are obtained through compensating gravity, inertia, and friction, which is intent on the natural and well-directed source data. Based on the reference trajectories, the parametric gait control method is established, in which the gait can be controlled via three parameters： velocity, step-length, and step-height. Two test cases are performed on three healthy subjects. The results demonstrate that the parametric gait can be online generated smoothly and correctly, meanwhile every variable step can be triggered as users expect. The effectiveness and practicability of the gait generation approach proposed in this paper are validated. In addition, this research is the foundation of autonomous gait planning.

关键词： exoskeleton parametric gait gait online generation paraplegic bionic design

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Novel polyhydroxy cationic collector N-(2,3-propanediol)-Ndodecylamine: Synthesis and flotation performance to hematite and quartz

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International Journal of Mining Science and Technology 2023年第1期33卷 115-122页

作者： Wenbao Liu Xiangyu Peng Wengang Liu Kelin Tong Yanbai Shen Qiang zhao sikai zhao Wenhan Sun School of Resources and Civil Engineering Northeastern UniversityShenyang 110819China Science and Technology Innovation Center of Smart Water and Resource Environment Northeastern UniversityShenyang 110819China

To enhance the performance of traditional cationic collector,a novel polyhydroxy amine collector N-(2,3-Propanediol)-N-dodecylamine(PDDA)was designed by introducing one propylene glycol group into dodecylamine(DDA).It was prepared by a nucleophilic substitution reaction,which showed better solubility and hydrophobicity than DDA and was firstly employed as the collector for the separation of hematite and *** tests showed that PDDA had an excellent flotation performance and significantly better selectivity than *** addition,the flotation performance and adsorption mechanism of PDDA on hematite and quartz surfaces were studied using Fourier transform infrared spectroscopy(FTIR),zeta potential and X-ray photoelectron spectroscopy(XPS)*** results demonstrated that the interaction between PDDA and the minerals’surfaces was mainly electrostatic adsorption and hydrogen bond,while PDDA tended to adsorb on the surfaces of quartz more than that of *** optimization of amine collectors by introducing hydroxyl was also verified,which was of great meaning to the design,development,and application of the polyhydroxy cationic *** conclusion,PDDA could be used as a potential collector in the flotation separation of quartz and hematite.

关键词： Polyhydroxy collector Quartz Hematite Interaction mechanism Hydrogen bonding

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Active knee joint exoskeleton for stair ascent augmentation

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Science China(Information Sciences) 2021年第3期64卷 243-245页

作者： Zongwei ZHANG Jizhuang FAN Hongzhe JIN Tianjiao ZHENG sikai zhao Shun MA Jie zhao Yanhe ZHU State Key Laboratory of Robotics and Systems

Dear editor,Stair climbing is a strenuous daily movement that is challenging for older adults and those with lower limb *** this study, we describe a novel stairclimbing exoskeleton that was designed to help weak-knee... 详细信息

关键词： exoskeleton stair climbing hybrid control zero-force tracking switching controller

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An efficient self-reconfiguration method to deploy space modular robots

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Science China Technological Sciences 2024年第12期67卷 3962-3964页

作者： zhao Ning GAO YongSheng QI Jian YANG ZhiYuan zhao sikai SUI Xin HAN Kai zhao Jie ZHU YanHe State Key Laboratory of Robotics and System Harbin Institute of Technology

Intelligent robots play a crucial role in space exploration, representing a significant trend in space automation technology. Modular robots, which can regenerate configurations and functions through self-reconfiguration [1],offer distinct adaptability and versatility [2,3] over traditional robots with fixed structures and single-purpose functions. Therefore, self-reconfiguration is regarded as a highly promising capability for space exploration and remains a primary motivation for research in this field [4].

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Enhanced detection of ppb-level NO_(2)by uniform Pt-doped ZnSnO_(3)nanocubes

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International Journal of Minerals,Metallurgy and Materials 2022年第6期29卷 1295-1303页

作者： Yaoyu Yin Yanbai Shen sikai zhao Ang Li Rui Lu Cong Han Baoyu Cui Dezhou Wei School of Resources and Civil Engineering Northeastern UniversityShenyang 110819China State Key Laboratory of Rolling and Automation Northeastern UniversityShenyang 110189China

ZnSnO_(3) nanocubes(ZSNCs)with various Pt concentrations(i.e.,1 at%,2 at%,and 5 at%)were synthesized by a simple one-pot hydrothermal *** microstructures of pure and Pt-doped ZSNCs were characterized by X-ray diffractometry,scanning electron microscopy,transmission electron microscopy,energy-dispersive X-ray spectroscopy,and X-ray photoelectron *** showed that the pure ZSNCs have a perovskite structure with a side length of approximately 600 nm;this length was reduced to 400 nm after Pt *** doping,PtO_(x)(PtO and PtO_(2)) nanoparticles with a diameter of approximately 5 nm were uniformly coated on the surface of the *** investigation of the gas-sensing abilities of the nanocubes showed that the Pt-doped ZSNCs have excellent sensing properties toward nitrogen dioxide(NO_(2)) gas in the operating temperature range of 75-175℃.Among the sensors prepared,that based on 1 at%Pt-doped ZSNCs exhibited the best response of 16.0 toward 500 ppb NO_(2) at 125℃;this response is over 11 times higher compared with that of pure *** enhanced NO_(2) sensing mechanism of the Pt-doped ZSNCs may be attributed to the synergistic effects of catalytic activity and chemical sensitization by Pt doping.

关键词： ZnSnO_(3)nanocubes Pt doping nitrogen dioxide gas sensor

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Synthesis and in-situ noble metal modification of WO3·0.33H2O nanorods from a tungsten-containing mineral for enhancing NH3 sensing performance

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Chinese Chemical Letters 2020年第8期31卷 2037-2040页

作者： Tingting Li Yanbai Shen sikai zhao Pengfei Zhou Xiangxi Zhong Shuling Gao Dezhou Wei Fanli Meng School of Resources and Civil Engineering Northeastern UniversityShenyang 110819China School of Information Science and Engineering Northeastern UniversityShenyang 110819China State Environmental Protection Key Laboratory of Mineral Metallurgical Resources Utilization and Pollution Control Wuhan University of Science and TechnologyWuhan 430081China

Ag-and Pt-doped WO3-0.33 H2O nanorods with high response and selectivity to NH3 were synthesized from a tungsten-containing mine ral of scheelite concentrate by a simple combined process,namely by a high pressure leaching method to obtain tungstate ions-containing leaching solution and followed by a hydrothermal method to prepare corresponding *** microstructure and NH3 sensing perfo rmance of the final products were investigated *** microstructure characte rization showed that the as-prepared WO3-0.33 H2 O nanorods had a hexagonal crystal structure,and Ag and Pt nanoparticles were uniformly distributed in the WO3-0.33 H2O nano *** sensing measurements indicated that Ag and Pt nanopa rticles not only could obviously enhance NH3 sensing properties in terms of response,selectivity as well as response/recovery time,but also could reduce the optimal operating temperature at which the highest response was *** highest responses of 22.4 and 47.6 for Agand Pt-doped WO3-0.33 H2O nanorods to 1000 ppm NH3 were obtained at 225 and 175℃,respectively,which were about four and eight folds higher than that of pure one at 250℃.The superior NH3 sensing properties are mainly ascribed to the catalytic activities of noble metals and the different work functions between noble metals and WO3-0.33 H2 O.

关键词： Scheelite concentrate Noble metal doping WO3·0.33H2O nanorods NH3 Sensing mechanism

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Photocatalytic degradation of xanthates under visible light using heterogeneous CuO/TiO_(2)/montmorillonite composites

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Green and Smart Mining Engineering 2024年第1期1卷 67-75页

作者： sikai zhao Hong Xiao Yunshuang Chen Yaozhong Qi Chenghao Yan Ruixue Ma Qiang zhao Wenbao Liu Yanbai Shen School of Resources and Civil Engineering Northeastern UniversityShenyang 110819China

Due to the significant demand for xanthate treatment in mineral effluents,photocatalytic techniques have emerged as one of the most promising *** this study,a high-performance TiO_(2)/Cuo/montmorillonite photocatalyst was *** this configuration,TiO_(2) was the classic photocatalytic material and CuO and montmorillonite were utilized to broaden the adsorption range of solar light and acted as carriers to support the photocatalyst.X-ray diffraction,scanning electron microscopy,transmission electron microscopy,and X-ray photoelectron spectroscopy were employed for the comprehensive characterization of the microstructure of the ternary *** results revealed that fine-sized TiO_(2) and Cuo nanoparticles were uniformly and tightly loaded on the montmorillonite *** photocatalytic properties of the photocatalyst were evaluated using sodium butyl xanthate as the target *** pristine TiO_(2),ultraviolet(UVv)light was required to effectively degrade sodium butyl ***,the degradation reaction could be processed efficiently under visible light using the TiO_(2)/CuO/montmorillonite composite as the ***,UV-visible diffuse reflectance spectroscopy,photoluminescence spectroscopy,and radical quench experiments were performed to elucidate the degradation process,and a possible degradation model and mechanism were proposed.

关键词： TiO_(2) Cuo Montmorillonite Visible-light photocatalysis Xanthates

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模块化可重构外肢体机器人

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仪器仪表学报 2021年第4期42卷 218-227页

作者：赵思恺李长乐张宗伟赵杰朱延河哈尔滨工业大学机器人技术与系统国家重点实验室哈尔滨150001

针对单人无法独立完成的操作任务,需要额外辅助的需求,提出并研制了一种模块化、可重构的外肢体机器人,该机器人由多个结构、功能相同的基本模块单元串联组成。为了实现模块化外肢体机器人的模块连接配置与变形重构能力,分析了基本模块... 详细信息

针对单人无法独立完成的操作任务,需要额外辅助的需求,提出并研制了一种模块化、可重构的外肢体机器人,该机器人由多个结构、功能相同的基本模块单元串联组成。为了实现模块化外肢体机器人的模块连接配置与变形重构能力,分析了基本模块单元的结构、功能需求,根据需求设计了基于舵机驱动的模块单元。每个模块单元由两个楔形子模块共轴相互转动构成,形成一个转动自由度。设计了基于磁铁吸附的机械连接机构,可以实现两个模块间的快速连接与分离;提出了双排金属触点间隔错位连接方法,保证两个模块单元间实现可靠的电气系统连接。划分了双模块串联条件下4种不同的连接方位,得出了外肢体机器人的构型配置种类与串联模块个数关系。面向具有任意模块个数、不同连接方位的外肢体机器人,建立了基于虚拟转轴的模块化外肢体机器人通用正向运动学模型。对基本模块的转动能力、承载能力、快速连接能力以及外肢体机器人在焊接过程中,辅助操作人员夹持导线、递送电话等能力进行了试验,验证了所提出的新型模块化外肢体机器人的辅助能力。

关键词：可穿戴机器人外肢体机器人模块化机器人可重构机器人人机协作

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