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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

Performance characterization of ionic-hydrogel based strain sensors

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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 skins.Existing 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 performances.In 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 medium.We 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 performances.These theoretical predictions are in agreement with results obtained through experimental measurements.We 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 4.80.We verify the above experimental observations with two commonly used electrolytes,including lithium chloride and sodium chloride.With 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 sensors.This work provides an approach to characterize the performance of the ionic-hydrogel based strain sensors,which may be an important step forward in further applications of ionic hydrogels in soft robotics.

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

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

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 flexibility.Operational space wrench and acceleration capability analysis of MCDRs is important for their design,manipulability optimization,and motion planning.However,existing works mainly focus on capability analysis in the joint space.In this paper,we present a zonotope-based iterative method and a simplified capability zonotope to analyze the operational-space wrench and acceleration capability of MCDRs.In the iterative method,the capability generated by some cables can be iteratively added to the initial capability zonotope based on the Minkowski sum.In the simplified zonotope capability representation,a threshold is put forward to reduce redundant vertices and faces with little volume loss.Finally,simulations on a 24 DOFs MCDR are performed to verify the effectiveness of the developed method.The 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 ROM.Furthermore,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

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 drawbacks.In 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 electrodes.We 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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星上天线波束指向角的简化算法

制导与引信 2024年第2期45卷 45-49页

作者：彭澎范明慧董国英顾杰上海无线电设备研究所上海201109

介绍了一种星上天线波束指向角的简化算法。该算法通过建立当前时刻与CGCS2000坐标系重合的惯性坐标系,实现CGCS2000坐标系到轨道坐标系的直接转换。和星上天线波束指向角通用算法相比,该算法不需要计算随时间持续变化的J2000惯性坐标系... 详细信息

介绍了一种星上天线波束指向角的简化算法。该算法通过建立当前时刻与CGCS2000坐标系重合的惯性坐标系,实现CGCS2000坐标系到轨道坐标系的直接转换。和星上天线波束指向角通用算法相比,该算法不需要计算随时间持续变化的J2000惯性坐标系到CGCS2000坐标系的转换矩阵,更不用考虑章动岁差模型与极移模型的选取所带来的计算误差。仿真计算结果表明:两种算法的计算误差均在米级,而简化算法大幅降低了乘法和加法运算的次数,在计算误差与计算量上都能满足星上计算的需求。

关键词：波束指向角 J2000惯性坐标系坐标转换

围孕期母亲同型半胱氨酸与子代出生体重结局关联的前瞻性队列研究

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中华儿科杂志 2024年第2期62卷 120-128页

作者：张羿陈逍天姚沁玙陈红燕李梦茹王定美窦亚兰彭远舟顾晓妍严卫丽黄国英国家儿童医学中心、复旦大学附属儿科医院临床流行病研究室&临床试验中心、上海市出生缺陷防治重点实验室、中国医学科学院小儿遗传相关心血管疾病早期防控创新单元上海201102 国家儿童医学中心、复旦大学附属儿科医院心血管中心、上海市出生缺陷防治重点实验室、中国医学科学院小儿遗传相关心血管疾病早期防控创新单元上海201102

目的分析围孕期母亲同型半胱氨酸(HCY)与子代出生体重结局的关系。方法前瞻性队列研究。上海市围孕期亲子队列(SPCC)中在2016年9月1日至2022年11月11日完成分娩的母子对19984组为研究对象。研究对象分为孕前、孕早期纳入两个亚组。纳入... 详细信息

目的分析围孕期母亲同型半胱氨酸(HCY)与子代出生体重结局的关系。方法前瞻性队列研究。上海市围孕期亲子队列(SPCC)中在2016年9月1日至2022年11月11日完成分娩的母子对19984组为研究对象。研究对象分为孕前、孕早期纳入两个亚组。纳入时收集血样并采用统一问卷收集一般人口学信息、膳食补充剂使用、孕期不良并发症等信息。血清HCY、叶酸和维生素B_(12)的测量采用化学发光微粒子免疫法,出生体重从医疗记录获取,采用多重填补法处理缺失数据。采用多因素线性回归和Poisson回归模型分析围孕期母亲HCY与子代出生体重和小于胎龄(SGA)的关系。结果本研究孕前纳入9452组,孕早期纳入10532组。怀孕年龄≥35岁的产妇占比为9.2%(1832/19984),初产妇占比为76.5%(15283/19984),孕前超重和肥胖占比为14.0%(2804/19984),孕前期使用叶酸补充剂的占比为21.4%(4272/19984),孕早期补充叶酸的占比为85.2%(8976/10532),妊娠期糖尿病患者占比为6.2%(1245/19984),妊娠期高血压综合征患者占比为3.6%(711/19984),子代出生体重为(3297±468)g,SGA儿1962例(9.8%)。围孕期总人群适于胎龄组母亲HCY浓度为(7.9±3.2)μmol/L,其中孕前亚组为(8.3±3.7)μmol/L,孕早期亚组为(7.3±2.4)μmol/L。调整围孕期人口学信息、妊娠不良结局、血清叶酸和维生素B_(12)等协变量后,围孕期母亲HCY升高与子代出生体重下降有显著关联(β=-2.30,95%CI-4.43~-0.16,P=0.035),亚组人群中仅有孕早期亚组与子代出生体重下降有显著关联(β=-7.39,95%CI-11.50~-3.21,P<0.001)。未发现围孕期总人群母亲HCY与子代SGA风险有关联。但孕早期母亲HCY升高与子代SGA风险升高有关(RR=1.05,95%CI 1.01~1.08,P=0.002)。围孕期维生素B_(12)在HCY升高与子代出生体重降低的关联中存在部分中介效应,围孕期总人群、孕前期、孕早期中介效应分别占其总效应的16.5%、41.2%和5.4%。结论围孕期母亲HCY与子代出生体重下降有关,未发现与SGA存在关联。孕早期亚组母亲HCY升高可能与子代SGA风险增加有关。

关键词：出生体重婴儿,小于胎龄围生医学孕前保健

Impact of clinical research on public health policy of neonatal screening for congenital heart disease in China

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Chinese Medical Journal 2022年第11期135卷 1261-1263页

作者： Miao Yang Youping Tian Pin Jia Xiaojing Ma Xiaoling Ge Xiaojing Hu Quming Zhao Fang Liu Bing Jia Weili Yan Qing gu guoying Huang National Management Office of Neonatal Screening Project for CHD Children’s Hospital of Fudan UniversityNational Children’s Medical CenterShanghai 201102China Shanghai Key Laboratory of Birth Defects Shanghai 201102China.

Congenital heart disease(CHD)is one of the most common congenital malformations,with a prevalence of approximately 1%in live births.[1,2]Among them,1/4 to 1/3 are major CHD,including critical CHD(CCHD)and serious CHD,which require surgical or catheter intervention before 1 year of age.[3]Major CHD,if left untreated,may cause serious outcomes,such as heart failure,cardiogenic shock,acidosis,and hypoxic-ischemic brain damage,and is one of the leading causes of infant death and childhood disability.[4]The missed diagnosis rate of CCHD in four nurseries ranges from 13%to 48%in developed countries,[4,5]but in China,is>71%before serious symptoms occur after birth.[6]Therefore,screening for CHD is useful for early detection,diagnosis,and treatment and helps to improve prognosis and reduces the medical,economic,and mental burden to both the family and the society.[5,7]

关键词： diagnosis congenital nurse

Polychlorinated biphenyls in the atmosphere of Taizhou,a major e-waste dismantling area in China

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Journal of Environmental Sciences 2010年第4期22卷 589-597页

作者： Wenliang Han Jialiang Feng Zeping gu Minghong Wu guoying Sheng Jiamo Fu Institute of Environmental Pollution and Health Shanghai University Shanghai 200072 China guangzhou Institute of Geochemistry Chinese Academy of Sciences Guangzhou 510640 China

PM2.5, total suspended particles （TSP） and gas phase samples were collected at two sites of Talzhou, a major e-waste dismantling area in China. Concentrations, seasonal variations, congener profiles, gas-particle partitioning and size distribution of the atmospheric polychlorinated biphenyls （PCBs） were studied to assess the current state of atmospheric PCBs after the phase out of massive historical dismantling of PCBs containing e-wastes. The average ∑38PCBs concentration in the ambient air （TSP plus gas phase） near the e-waste dismantling area was （12,407 ± 9592） pg/m^3 in winter, which was substantially lower than that found one decade ago. However, the atmospheric PCBs level near the e-waste dismantling area was 54 times of the reference urban site, indicating that the impact of the historical dismantling of PCBs containing e-wastes was still significant. Tri-Penta-CBs were dominant homologues, consisting with their dominant global production. Size distribution of particle-bound PCBs showed that higher chlorinated CBs tended to partition more to the fine particles, facilitating its long range air transportation.

关键词： polychlorinated biphenyls e-waste PM2.5 total suspended particles Talzhou