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On Adaptive Grasp with Underactuated Anthropomorphic Hands

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Journal of Bionic Engineering 2016年第1期13卷 59-72页

作者： Wenrui Chen caihua xiong Institute of Rehabilitation and Medical Robotics State Key Lab of Digital Manufacturing Equipment and TechnologySchool of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

To automatically adapt to the shape of different objects with enough grasping force is a challenge in the design of under- actuated anthropomorphic hands, because the grasped object is easily ejected from the hands during underactuated grasping process. The goal of this paper is to develop a design method of underactuated anthropomorphic hands to guarantee reliable adaption to different grasped objects. An analysis method is developed to investigate the evolution of motion and force in the whole underactuated grasping process. Based on the evolution of motion and force, the underactuated grasping process is decomposed into four aspects including initial contact state, grasp terminal state, grasp trajectory and rate of progress. More- over, the influence factors of such four aspects are found as the form of the combinations of underactuated mechanism pa- rameters. According to the four aspects of the underactuated grasping process, this paper presents a stepwise parameter design method through optimization of parameter combinations step-by-step. The reliable adaptive grasp for a wide scale of grasped object size is achieved. Experimental setups are constructed to corroborate the results from the theory analysis and design.

关键词： anthropomorphic hands underactuated hands grasping adaptability mechanism design

Variable-step integration method for milling chatter stability prediction with multiple delays

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Science China(Technological Sciences) 2011年第12期54卷 3137-3154页

作者： ZHANG XiaoJian xiong caihua DING Ye xiong YouLun State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan 430074 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China

This paper analyzes the stability of milling with variable pitch cutter and tool runout cases characterized by multiple delays,and proposes a new variable-step numerical integration method for efficient and accurate stability prediction. The variable-step technique is emphasized here to expand the numerical integration method,especially for the low radial immersion cases with multiple delays. First,the calculation accuracy of the numerical integration method is discussed and the variable-step algorithm is developed for milling stability prediction for single-delay and multiple-delay cases,respectively. The milling stability with variable pitch cutter is analyzed and the result is compared with those predicted with the frequency domain method and the improved full-discretization method. The influence of the runout effect on the stability boundary is investigated by the presented method. The numerical simulation shows that the cutter runout effect increases the stability boundary,and the increasing stability limit is verified by the milling chatter experimental results in the previous research. The numerical and experiment results verify the validity of the proposed method.

关键词： variable-step numerical integration method milling chatter stability prediction multiple delays variable pitch cutter cutter runout

AN ANALYSIS OF A CYLINDRICAL THIN SHELL AS A PIEZOELECTRIC TRANSFORMER

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Acta Mechanica Solida Sinica 2007年第2期20卷 163-170页

作者： Gao Farong Hu Hongping Hu Yuantai xiong caihua Department of Mechanics Huazhong University of Science and Technology Wuhan 430074 China School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

The vibration of a circular cylindrical piezoelectric ceramic shell with tangential poling is investigated for transformer application and an analytical solution is obtained. Numerical calculations of the output voltage, input admittance and the efficiency of the transformer are presented. The results indicate that the structure analyzed can be used as a piezoelectric transformer with a certain harmonic driving frequency and matching load impedance.

关键词： piezoelectricity transformer shell torsion

Mechatronic Design of a Synergetic Upper Limb Exoskeletal Robot and Wrench-based Assistive Control

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Journal of Bionic Engineering 2018年第2期15卷 247-259页

作者： Lei He caihua xiong Kai Liu Jian Huang Chang He Wenbin Chen School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China School of Automation Huazhong University of Science and Technology Wuhan 430074 China

Upper limb exoskeletal rehabilitation robots are required to assist patients＇ arms to perform activities of daily living according to their motion intentions. In this paper, we address two questions： how to design an exoskeletal robot which can mechanically reconstruct functional movements using only a few actuators and how to establish wrench-based assistive control. We first show that the mechanism replicating the synergic feature of the human upper limb can be designed in a recursive manner, meaning that the entire robot can be constructed from two basic mechanical units. Next, we illustrate that the assistive control for the synergetic exoskeletal robot can be transformed into an optimization problem and a Riemannian metric is proposed to generate anthropomorphic reaching movements according to contact forces and torques. Finally, experiments are carried out to verify the functionality of the proposed theory.

关键词： upper limb exoskeletal robot postural synergy wrench based assistive control

Design, modelling and identification of a fiber-reinforced bending pneumatic muscle

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Science China(Information Sciences) 2019年第5期62卷 41-43页

作者： Hongge RU Jian HUANG Wenbin CHEN caihua xiong Junzhe WANG Jun HUO School of Automation Huazhong University of Science and Technology School of Mechanical Science and Engineering Huazhong University of Science and Technology

Dear editor,Many countries are facing the social problem of an increasing aging population, which means that the demand for professional caregivers will be increasing. Meanwhile, people suffering from stroke,various injuries to joints, or some other physical diseases of the knuckles are also in desperate need of physical support [1]. While the human resources

关键词： modelling and identification of a fiber-reinforced bending pneumatic muscle Design

Constrained oscillation of a bubble subjected to shock wave in microvessel

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Progress in Natural Science:Materials International 2009年第9期19卷 1109-1117页

作者： Farong Gao, caihua xiong *, Youlun xiong Institute of Rehabilitation and Medical Robotics, State Key Lab of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China Institute of Rehabilitation and Medical Robotics State Key Lab of Digital Manufacturing Equipment and Technology School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

A three-phase coupled model of the gasliquid-solid oscillation system is established to analyze the oscillation characteristics of a bubble inside a micro blood vessel with various radii and its shape changes with different interface boundaries. The results show that unlike the spherical symmetric oscillation in an unbounded fluid, the oscillating bubble has significant asymmetric characteristics under the constraint of a fiexible microvessel, especially while its radius reduces to the same order of magnitude as that of the bubble. Moreover, the variation of microbubble motion, whether the geometric shape or oscillation feature, exhibits obvious differences in the micro blood vessel compared with the rigid wall. The reasons behind these phenomena are analyzed in this paper. The conclusions have significant importance in the understanding of the mechanism of microvessel injury in ultrasound therapy.

关键词： Asymmetric oscillation Microbubble Shock wave Micro blood vessel Boundary effects

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S曲线加减速模式下的加工轨迹效率评价

华中科技大学学报（自然科学版） 2008年第2期36卷 1-4页

作者：陈绪兵熊蔡华熊有伦华中科技大学机械科学与工程学院湖北武汉430074

建立了高速加工轨迹中的直线段、圆弧段、NURBS曲线段等基本曲线的几何模型,并在常用的、具有无柔性冲击特点的S曲线加减速控制模式下,以最短时间为优化目标,建立了约束条件下的速度规划方程组,给出了统计加工总时间的软件算法,从而为... 详细信息

建立了高速加工轨迹中的直线段、圆弧段、NURBS曲线段等基本曲线的几何模型,并在常用的、具有无柔性冲击特点的S曲线加减速控制模式下,以最短时间为优化目标,建立了约束条件下的速度规划方程组,给出了统计加工总时间的软件算法,从而为高速加工轨迹的效率评价提供了客观依据.同时,在完成速度规划之后,给出算法流程,计算每条直线段、圆弧段、NURBS曲线段所需要的加工时间,从而统计加工总时间,作为高速加工轨迹效率评价的技术指标.

关键词：数控高速加工 S曲线轨迹效率评价

截瘫助行外骨骼研究综述:从拟人设计依据到外骨骼研究现状

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机器人 2021年第5期43卷 585-605页

作者：陈豫生张琴熊蔡华数字制造装备与技术国家重点实验室湖北武汉430074

围绕截瘫助行外骨骼(WAEX)研究现状,结合人体运动机理研究成果,对助行外骨骼研究的局限性、人体下肢仿生基础研究进行了综述,在此基础上对实现平衡稳定、运动功能丰富、穿戴舒适的助行外骨骼提出了拟人设计与研究的建议与展望。首先,分... 详细信息

围绕截瘫助行外骨骼(WAEX)研究现状,结合人体运动机理研究成果,对助行外骨骼研究的局限性、人体下肢仿生基础研究进行了综述,在此基础上对实现平衡稳定、运动功能丰富、穿戴舒适的助行外骨骼提出了拟人设计与研究的建议与展望。首先,分析和总结了现有截瘫助行外骨骼在稳定性、功能性和舒适性等方面的局限性。其次,鉴于拟人设计对外骨骼创新研究的重要性,阐述了人体下肢的神经肌肉骨骼结构、信息感知和神经控制等对下肢运动与平衡的重要贡献。再次,总结了现有截瘫助行外骨骼在结构、驱动、感知和控制等方面的典型设计方案。最后,基于现有助行外骨骼及其期望目标之间的差距,对影响和改善助行外骨骼稳定性、功能性和舒适性的关键技术与研究趋势进行了总结与展望。

关键词：助行外骨骼人体神经肌骨骼系统稳定性功能性舒适性

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脑损伤上肢康复机器人及其临床应用研究

机械工程学报 2023年第19期59卷 65-80页

作者：何畅熊蔡华陈文斌华中科技大学医疗装备科学与工程研究院武汉430074 华中科技大学智能制造装备与技术全国重点实验室武汉430074

综合运用现代医学和工程科学方法,研制重塑受损脑神经环路的康复机器人,是人机共融机器人学前沿研究的重要科学目标,也是当前国际上亟待破解的难题之一,面临医学、信息科学、机械工程等多学科的挑战。以人体上肢康复机器人为对象,系统... 详细信息

综合运用现代医学和工程科学方法,研制重塑受损脑神经环路的康复机器人,是人机共融机器人学前沿研究的重要科学目标,也是当前国际上亟待破解的难题之一,面临医学、信息科学、机械工程等多学科的挑战。以人体上肢康复机器人为对象,系统深入地剖析了当前最先进的上肢康复机器人及其临床应用情况,具体从人肢体自然运动规律及其机械复现原理,机械运动、神经刺激原理,人-机主被动协调控制等角度,比较了当前各种康复装备的特点,讨论了肢体康复机器人的未来发展趋势,阐述了脑损伤康复机器人走向临床应用需要破解的关键核心技术问题。

关键词：人机共融机器人脑神经环路机械复现原理人机协同控制临床应用