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Intuitive Human-Robot-Environment Interaction With EMG Signals:A Review

IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1075-1091页

作者： Dezhen Xiong Daohui zhang Yaqi Chu Yiwen Zhao xingang Zhao State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169 University of Chinese Academy of Sciences Beijing 100049China

A long history has passed since electromyography(EMG)signals have been explored in human-centered robots for intuitive interaction.However,it still has a gap between scientific research and real-life applications.Previous studies mainly focused on EMG decoding algorithms,leaving a dynamic relationship between the human,robot,and uncertain environment in real-life scenarios seldomly concerned.To fill this gap,this paper presents a comprehensive review of EMG-based techniques in human-robot-environment interaction(HREI)systems.The general processing framework is summarized,and three interaction paradigms,including direct control,sensory feedback,and partial autonomous control,are introduced.EMG-based intention decoding is treated as a module of the proposed paradigms.Five key issues involving precision,stability,user attention,compliance,and environmental awareness in this field are discussed.Several important directions,including EMG decomposition,robust algorithms,HREI dataset,proprioception feedback,reinforcement learning,and embodied intelligence,are proposed to pave the way for future research.To the best of what we know,this is the first time that a review of EMG-based methods in the HREI system is summarized.It provides a novel and broader perspective to improve the practicability of current myoelectric interaction systems,in which factors in human-robot interaction,robot-environment interaction,and state perception by human sensations are considered,which has never been done by previous studies.

关键词： robot summarized Robot

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Exploring the relationship between red blood cell levels and emotional regulation through the miR191-Riok3-Mxi1 pathway

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Journal of Traditional Chinese Medical Sciences 2024年第1期11卷 101-110页

作者： Da zhang Xiaoqing zhang Li Yang Yan Zhao xingang Hu School of Life Sciences Beijing University of Chinese MedicineBeijing 102488China School of Traditional Chinese Medicine Beijing University of Chinese MedicineBeijing 102488China Dongfang Hospital Beijing University of Chinese MedicineBeijing 100078China

Objective:To assess emotional fluctuations,physical and mental health status,and indicators closely related to red blood cells,such as RIO kinase 3(Riok3),MAX interactor 1(Mxi1),and microRNA 191(miR191),in participants with different levels of red blood cells.Methods:Participants who underwent physical examinations at Dongfang Hospital between April and October 2019 were divided into healthy,blood deficiency,and anemia groups(30 individuals in the healthy and blood deficiency group respectively,and 13 in the anemia group).The physical and mental conditions of the participants were evaluated through questionnaires,and emotional fluctuations were assessed through an emotion-inducing experiment,in which participants watched video segments designed to induce specific emotions.Relative expression levels of miR191,Riok3,and Mxi1 from venous blood samples were also determined.Results:The main psychological factors identified in the anemia and blood deficiency groups were obsessive-compulsive symptoms,depression,anxiety,and other negative emotions.Relative gene expression levels indicated that miR191 was upregulated and Riok3 and Mxi1 were downregulated in both the blood deficiency and anemia groups.Regarding the emotional score of disgust on video stage,the main effect was significant(F=335.58,P<.001),which showed that watching the three videos caused participants to have a dominant emotion,and there is a difference on group(F=5.35,P=.01),with higher disgust scores in the anemia and blood deficiency groups.The symptoms of blood deficiency and anemia,such as weakness in limbs were significantly negatively correlated with Riok3 and Mxi1 expression(r=-0.38 and-0.31 respectively),but was significantly positively correlated with miR191 expression(r=0.29).Conclusion:We determined that a close relationship exists between red blood cell levels and emotional status.Our findings suggest that individuals with anemia and blood deficiency are more likely to experience psychological problems and negative emotions,particularly disgust

关键词： Anemia Blood deficiency Emotional regulation miR191-Riok3-Mxi1 pathway Emotion-inducing experiments

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Copper-Catalyzed Highly Stereoselective Hydrodifluoroallylation of Cyclopropenes and Alkenyl Boronates with 3,3-Difluoroallyl Sulfonium Salts

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Chinese Journal of Chemistry 2023年第24期41卷 3521-3527页

作者： Xing Gao Xiaoxiao Ren Wei Deng xingang zhang Key Laboratory of Organofluorine Chemistry Shanghai Institute of Organic ChemistryUniversity of Chinese Academy of Sciences Chinese Academy of Sciences345 Lingling RoadShanghai200032 China School of Chemistry and Material Sciences Hangzhou Institute for Advanced StudyUniversity of Chinese Academy of Sciences1 Sub-lane XiangshanHangzhouZhejiang310024 China

Despite the paramount applications of organofluorine compounds in life and materials sciences,efficient strategies for stereoselectively constructing the C(sp^(3))-CF_(2)R bond at the stereogenic center remain limited.Here,we report a copper-catalyzed hydrodifluoroallylation of cyclopropenes and alkenyl boronates with 3,3-difluoroallyl sulfonium salts(DFASs).The use of DFASs overcomes the previous challenge of suppressing the reduction of fluoroalkylating reagents with M-H species.The reaction provides an array of gem-difluoroallyl cyclopropanes and borylalkanes with high efficiency and stereoselectivity under mild reaction conditions.Using chiral phosphine ligand could provide gem-difluoroallyl borylalkanes with high enantioselectivities,paving a new way for the catalytic asymmetric fluoroalkylation with ubiquitous alkenes.The advantages of this protocol are synthetic convenience,high functional group tolerance,and the synthetic versatility of the resulting gem-difluoroallyl cyclopropanes and borylalkanes.The synthetic utility of this approach has also been demonstrated by the diversified transformations of the gem-difluoroallylated products and the rapid synthesis of bioactive molecule analogs.

关键词： Asymmetric catalysis Copper hydride Cross-coupling Synthetic methods Hydrofluoroalkylation Sulfonium salts

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Assistive robots for Beijing Winter Paralympic torch relay: Accessible technologies to restore human functionality

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The Innovation 2024年第1期5卷 19-20页

作者： Bi zhang Mei Shuai Bicheng Han Shuo Li Lianqing Liu xingang Zhao State Key Laboratory of Robotics Shenyang Institute of AutomationCASShenyang 110016China Institutes for Robotics and Intelligent Manufacturing CASShenyang 110169China Department of Biomedical Engineering Beihang UniversityBeijing 100191China Beijing AI-Robotics Technology Co. Ltd.Beijing 100176China Zhejiang BrainCo Technology Co. Ltd.Hangzhou 311121China

The success of the Beijing Winter Olympics and Paralympics epitomized the vision of a community with a shared future for humankind.Various robots and artificial intelligence technologies were used in various games and events,such as assisting in parades,logistics,and security inspections.The integration of unmanned robotic systems into torch relays was one of the highlights of the Winter Olympics.

关键词： Winter Access artificial

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Boosting Fischer-Tropsch Synthesis via Tuning of N Dopants in TiO_(2)@CN-Supported Ru Catalysts

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Transactions of Tianjin University 2024年第1期30卷 90-102页

作者： Xincheng Li Yunhao Liu Dejian Zhao Shuaishuai Lyu Jingwei Ye Xiaoshen Li Peipei Wu Ye Tian Yingtian zhang Tong Ding Song Song Qingpeng Cheng xingang Li State Key Laboratory of Chemical Engineering Collaborative Innovation Center of Chemical Science and Engineering(Tianjin)Haihe Laboratory of Sustainable Chemical TransformationsTianjin Key Laboratory of Applied Catalysis Science and EngineeringSchool of Chemical Engineering and TechnologyTianjin UniversityTianjin 300350China Zhejiang Institute of Tianjin University Shaoxing 312300China Sinopec Research Institute of Petroleum Processing Co. LTDBeijing 100083China Physical Sciences and Engineering Division Advanced Membranes and Porous Materials(AMPM)CenterKing Abdullah University of Science and Technology(KAUST)23955-6900 ThuwalSaudi Arabia

Nitrogen(N)-doped carbon materials as metal catalyst supports have attracted signifi cant attention,but the eff ect of N dopants on catalytic performance remains unclear,especially for complex reaction processes such as Fischer-Tropsch synthesis(FTS).Herein,we engineered ruthenium(Ru)FTS catalysts supported on N-doped carbon overlayers on TiO_(2)nanoparticles.By regulating the carbonization temperatures,we successfully controlled the types and contents of N dopants to identify their impacts on metal-support interactions(MSI).Our fi ndings revealed that N dopants establish a favorable surface environment for electron transfer from the support to the Ru species.Moreover,pyridinic N demonstrates the highest electron-donating ability,followed by pyrrolic N and graphitic N.In addition to realizing excellent catalytic stability,strengthening the interaction between Ru sites and N dopants increases the Ru^(0)/Ru^(δ+)ratios to enlarge the active site numbers and surface electron density of Ru species to enhance the strength of adsorbed CO.Consequently,it improves the catalyst’s overall performance,encompassing intrinsic and apparent activities,as well as its ability for carbon chain growth.Accordingly,the as-synthesized Ru/TiO_(2)@CN-700 catalyst with abundant pyridine N dopants exhibits a superhigh C_(5+)time yield of 219.4 mol CO/(mol Ru·h)and C_(5+)selectivity of 85.5%.

关键词： Fischer-Tropsch synthesis N-doped carbon materials Ruthenium catalyst Pyridinic N Metal-N interaction

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Construction of Ru/WO3 with hetero-interface structure for efficient hydrogen evolution reaction

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能源化学:英文版 2023年第8期83卷 150-157,I0006页

作者： Xin Xie Yunxiao Fan Wanyu Tian Meng zhang Jialin Cai xingang zhang Jie Ding Yushan Liu Siyu Lu Green Catalysis Center College of ChemistryZhengzhou UniversityZhengzhou 450001HenanChina College of Material Henan Key Laboratory of Aeronautical Materials and Application TechnologyZhengzhou University of AeronauticsZhengzhou 4500oHenanChina

Water electrolysis is considered as one most promising technique for hydrogen production.The high efficiency electrocatalyst is the key to accelerating the sluggish kinetics of the hydrogen evolution reaction(HER) in alkaline media.In this work,an efficient HER electrocatalyst with hetero-interfacial metal-metal oxide structure was constructed through a redox solid phase reaction(SPR) strategy.During the annealing process under Ar atmosphere,RuO_(2) and WS_(2)in RuO_(2)/WS_(2)precursor were converted to Ru nanoparticles(NPs) and WO3in situ,where tiny Ru NPs and oxygen vacancies were uniformly distributed onto the newly formed WO3nanosheets.Different characterization techniques were adopted to confirm the successful formation of Ru/WO_(3)electrocatalyst(RWOC).The optimized RWOC sample annealed at 400℃ exhibited the low overpotential value of 13 mV at a current density of 10 mA cm^(-2)and strong durability under the alkaline condition.Density functional theoretical calculations further revealed that the promoted adsorption/desorption rate of reaction intermediates and the accelerated kinetics of HER process were deduced to the synergistic effect between Ru and WO_(3)in electrocatalyst.This work provides a feasible method to fabricate highly efficient HER electrocatalysts.

关键词： Ru WO_(3) Hetero-interface Hydrogen evolution reaction Electrocatalyst

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Bronsted Acid Catalyzed gem-Difluoroallylation of Aldehydes and Ketone with β-Tosyloxy-γ,γ-difluroallylboronic Acid Pinacol Ester

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Chinese Journal of Chemistry 2016年第5期34卷 477-480页

作者： Bo zhang xingang zhang Key Laboratory of Organofluorine Chemistry Shanghai Institute of Organic Chemistry Chinese Academy of Sciences Shanghai 200032 China

A shelf-stable gem-difluorinated reagent β-tosyloxy-γ,γ-difluroallylboronic acid pinacol ester has been prepared, which can be easily used for the preparation of gem-difluorinated homoallylic alcohols through Brons... 详细信息

关键词： Bronsted acid gem-difluoroallylation difluoroallylboronates aldehydes gem-difluorinated homoal-lylic alcohols

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Nickel-Catalyzed Difluoroalkylation of （Hetero）aryl Bromides with Unac-tivated 1-Bromo-l,l-difluoroalkanes

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Chinese Journal of Chemistry 2018年第11期36卷 1059-1062页

作者： Xu He Xing Gao xingang zhang Key Laboratory of Organofluorine Chemistry Center for Excellence in Molecular Synthesis Shanghai Institute of Organic Chemistry Chinese Academy of Sciences 345 Lingling Road Shanghai 200032 China

Although extensive efforts on fluoroalkylations have been made over the past decade, new and efficient methods to incorporate fluorinated groups into organic molecules remain highly desirable. Herein, we report an efficient method for catalytic synthesis of difluoroalkylated (hetero)arenes through nickel‐catalyzed reaction between readily accessible (hetero)aryl bromides and unactivated 1‐bromo‐1,1‐difluoroalkanes. The reaction exhibits high functional group tolerance and broad substrate scope, providing a cost‐efficient and straightforward route for applications in medicinal chemistry.

关键词： arylbromides 1‐bromo‐1,1‐difluoroalkanes cross‐coupling difluoroalkylations fluorine nickel

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Nickel-Catalyzed Difluoromethylation of Arylboronic Acids with Bromodifluoromethane

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Chinese Journal of Chemistry 2018年第2期36卷 143-146页

作者： Xia-Ping Fu Yu-Lan Xiao xingang zhang Key Laboratory of Organofluorine Chemistry Center for Excellence in Molecular Synthesis Shanghai Institute of Organic Chemistry Chinese Academy of Sciences 345 Lingling Road Shanghai 200032 China

Although bromodifluoromethane （BrCF2H） is a simple and readily available fluorine source, direct formation of difluoromethylated arenes with BrCF2H has not been reported. Herein, we describe an efficient method to access difluoromethylated arenes through a nickel-catalyzed difluoromethylation of arylboronic acids with BrCF2H. The reaction exhibits high efficiency, good functional group tolerance and broad substrate scope, thus providing an efficient route for applications in drug discovery and development. Preliminary mechanistic studies reveal that a difluoromethyl radical is involved in the reaction.

关键词： arylboronic acids bromodifluoromethane cross-coupling difluoromethylation nickel

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Nickel-Catalyzed Dicarbofunctionalization of Alkenes

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Chinese Journal of Chemistry 2020年第11期38卷 1371-1394页

作者： Yun-Cheng Luo Chang Xu xingang zhang Key Laboratory of Organofluorine Chemistry Center for Excellence in Molecular SynthesisShanghai Institute of Organic ChemistryUniversity of Chinese Academy of SciencesChinese Academy of Sciences345 Lingling LuShanghai 200032China

As a straightforward strategy for rapidly increasing molecular complexity,dicarbofunctionalization of alkenes has attracted substantial interests of organic synthesis,medicine chemistry,and materials science.Nickel-catalyzed cascade dicarbofunctionalizations have been flourished in this area recently,and nickel-mediated radical pathways particularly offer new opportunities in conjunctive cross-couplings with alkyl coupling partners.Herein,we give a comprehensive review of nickel-catalyzed dicarbofunctionalization of alkenes through a historical perspective,including intermolecular three-component reactions and intramolecular cascade reactions.Among the pathways discussed in this review,the carbometallation/cross-coupling process and the radical addition/cross-coupling process are the two major pathways for the nickel-catalyzed dicarbofunctionalization of alkenes.The oxidative cyclization and 1,2-metallate shift processes are also selectively discussed.These methods overcome the limitations associated with the reactions using noble metals in the field,providing an efficient and straightforward access to structurally diversified molecules.

关键词： nickel straight catalyzed

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