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Configuration Design and Kinematic Performance Analysis of a Novel 4-DOF Parallel Ankle Rehabilitation Mechanism with Two Virtual Motion Centers

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Chinese Journal of Mechanical Engineering 2023年第6期36卷 87-104页

作者： Jingke Song Jun Wei Bin Yu Chenglei Liu Cunjin Ai Jianjun Zhang School of Mechanical Engineering Hebei University of TechnologyTianjin 300401China hebei provincial key laboratory of robot perception and human-machine fusion Tianjin 300130China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education Tianjin 300130China

Aiming at the problem that the existing ankle rehabilitation robot is difficult to fully fit the complex motion of human ankle joint and has poor human-machine motion compatibility,an equivalent series mechanism model that is highly matched with the actual bone structure of the human ankle joint is proposed and mapped into a parallel rehabilita-tion *** parallel rehabilitation mechanism has two virtual motion centers(VMCs),which can simulate the complex motion of the ankle joint,adapt to the individual differences of various patients,and can meet the reha-bilitation needs of both left and right feet of ***,based on the motion properties and physiological structure of the human ankle joint,the mapping relationship between the rehabilitation mechanism and ankle joint is determined,and the series equivalent model of the ankle joint is *** to the kinematic and con-straint properties of the ankle equivalent model,the configuration design of the parallel ankle rehabilitation robot is carried ***,according to the intersecting motion planes theory,the full-cycle mobility of the mechanism is proved,and the continuous axis of the mechanism is judged based on the constraint power and its ***,the kinematics of the parallel ankle rehabilitation robot is ***,based on the OpenSim biomechanical soft-ware,a human-machine coupling rehabilitation simulation model is established to evaluate the rehabilitation effect,which lays the foundation for the formulation of a rehabilitation strategy for the later prototype.

关键词： Ankle rehabilitation robot Double-VMCs mechanism Kinematic performance human-machine rehabilitation simulation

Turbulent Image Restoration in Atmosphere with Cyclopean Processing via Binocular fusion

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Chinese Physics Letters 2024年第8期41卷 33-38页

作者： Han Yao Jin-Yan Lin Li-Bang Chen Yi-Kun Liu Jian-Ying Zhou State key laboratory of Optoelectronic Materials and Technologies School of PhysicsSun Yat-Sen UniversityGuangzhou 510275China Guangdong provincial key laboratory of Quantum Metrology and Sensing School of Physics and AstronomySun Yat-Sen University(Zhuhai Campus)Zhuhai 519082China

The outstanding issue to overcoming atmospheric turbulence on distant imaging is a fundamental interest and technological *** propose a novel scenario and technique to restore the optical image in turbulent environmental by referring to Cyclopean image with binocular *** human visual intelligence,image distortion resulting from the turbulence is shown to be substantially *** simulation results taking into account of the atmospheric turbulence,optical image system,image sensors,display and binocular vision perception are presented to demonstrate the robustness of the image restoration,which is compared with a single channel planar optical imaging and *** involving binocular telescope,image recording and the stereo-image display is conducted and good agreement is obtained between the simulation with perceptive experience.A natural extension of the scenario is to enhance the capability of anti-vibration or anti-shaking for general optical imaging with Cyclopean image.

关键词： image turbulence shaking

A framework for the fusion of visual and tactile modalities for improving robot perception

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Science China(Information Sciences) 2017年第1期60卷 145-156页

作者： Wenchang ZHANG Fuchun SUN Hang WU Haolin YANG The State key laboratory of Intelligent Technology and Systems Tsinghua University

robots should ideally perceive objects using human-like multi-modal sensing such as vision, tactile feedback, smell, and hearing. However, the features presentations are different for each modal sensor. Moreover,the extracted feature methods for each modal are not the same. Some modal features such as vision, which presents a spatial property, are static while features such as tactile feedback, which presents temporal pattern,are dynamic. It is difficult to fuse these data at the feature level for robot perception. In this study, we propose a framework for the fusion of visual and tactile modal features, which includes the extraction of features, feature vector normalization and generation based on bag-of-system(BoS), and coding by robust multi-modal joint sparse representation(RM-JSR) and classification, thereby enabling robot perception to solve the problem of diverse modal data fusion at the feature level. Finally, comparative experiments are carried out to demonstrate the performance of this framework.

关键词： multi-modal fusion robot perception vision tactile classification

Puncture site decision method for venipuncture robot based on near-infrared vision and multiobjective optimization

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Science China(Technological Sciences) 2023年第1期66卷 13-23页

作者： HE TianBao GUO ChuangQiang JIANG Li State key laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China

Venipuncture robots have superior perception and stability to humans and are expected to replace manual ***, their use is greatly restricted because they cannot make decisions regarding the puncture sites. Thus, this study presents a multi-information fusion method for determining puncture sites for venipuncture robots to improve their autonomy in the case of limited resources. Here, numerous images have been gathered and processed to establish an image dataset of human forearms for training the U-Net with the soft attention mechanism(SAU-Net) for vein segmentation. Then, the veins are segmented from the images, feature information is extracted based on near-infrared vision, and a multiobjective optimization model for puncture site decision is provided by considering the depth, diameter, curvature, and length of the vein to determine the optimal puncture site. Experiments demonstrate that the method achieves a segmentation accuracy of 91.2% and a vein extraction rate of 86.7%while achieving the Pareto solution set(average time: 1.458 s) and optimal results for each vessel. Finally, a near-infrared camera is applied to the venipuncture robot to segment veins and determine puncture sites in real time, with the results transmitted back to the robot for an attitude adjustment. Consequently, this method can enhance the autonomy of venipuncture robots if implemented dramatically.

关键词： puncture site decision vein extraction near-infrared vision venipuncture robot

Dynamic Obstacle Avoidance for Application of human-robot Cooperative Dispensing Medicines

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Journal of Shanghai Jiaotong university(Science) 2022年第1期27卷 24-35页

作者： WANG Zheng XU Hui LU Na TAO Wei CHEN Guodong CHI Wenzheng SUN Lining Department of Gerontology Shanghai Jiao Tong University Affiliated Sixth People’s HospitalShanghai 200233China School of Mechanical and Electrical Engineering/Jiangsu provincial key laboratory of Advanced robotics/Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow UniversitySuzhou 215123JiangsuChina Department of Instrument Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China

For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and *** this dynamic unstructured environment,such as a humanrobot collaboration scenario,the safety of human,robot,and equipment in the environment is *** this work,a practical and effective robot motion planning method is proposed for dynamic unstructured *** figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and ***,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real ***,the robot’s dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.

关键词： automated dispensing medicines dynamic unstructured environment human-robot collaboration dynamic obstacle avoidance multi-sensor depth images 3D grids reactive control method

Safety Protection Method of Rehabilitation robot Based on fNIRS and RGB-D Information fusion

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Journal of Shanghai Jiaotong university(Science) 2022年第1期27卷 45-54页

作者： LI Dong FAN Yulin LU Na CHEN Guodong WANG Zheng CHI Wenzheng School of Mechanical and Electrical Engineering/Jiangsu provincial key laboratory of Advanced robotics/Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow UniversitySuzhou 215123JiangsuChina Department of Gerontology Shanghai Jiao Tong University Affiliated Sixth People’s HospitalShanghai 200233China Department of Instrument Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China

In order to improve the safety protection performance of the rehabilitation robot,an active safety protection method is proposed in the rehabilitation *** oxyhemoglobin concentration information and RGB-D information are combined in this method,which aims to realize the comprehensive monitoring of the invasion target,the patient’s brain function movement state,and the joint angle in the rehabilitation *** main focus is to study the fusion method of the oxyhemoglobin concentration information and RGB-D information in the rehabilitation *** analysis of brain functional connectivity coefficient was used to distinguish the basic motion *** human skeleton recognition algorithm was used to realize the angle monitoring of the upper limb joint combined with the depth *** with speed and separation monitoring,the protection method of multi-information fusion is safer and more comprehensive for stroke *** building the active safety protection platform of the upper limb rehabilitation robot,the performance of the system in different safety states is tested,and the safety protection performance of the method in the upper limb rehabilitation scene is verified.

关键词： upper limb rehabilitation robot safety protection functional near-infrared spectroscopy(fNIRS) multi-information fusion

Cascaded Superpixel Pedestrian Object Segmentation Algorithm

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Cascaded Superpixel Pedestrian Object Segmentation Algorithm

Knot-inspired optical sensors for slip detection and friction measurement in dexterous robotic manipulation

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作者： Dawei Yang Junda Huang Jing Zhang Rubo Zhang College of Mechanical and Electrical Engineering Dalian Minzu University key laboratory of Intelligent perception and Advanced Control (Dalian Nationalities University) State Ethnic Affairs Commission Dalian Minzu University

For the human-being’s body contour distortion problem of the pedestrian object segmentation at the complex indoor and outdoor environment for mobile robot visual applications, a cascaded superpixel pedestrian object segmentation algorithm was proposed for considering background interference. Based on acquiring the global superpixel blocks with the primary superpixel computation, the secondary superpixel achieved the correlation degree of the average color and center point Euclidean distance of each superpixel blocks between inside and outside of the pedestrian saliency detection region, in order to obtain the segmentation of the upright person. With the simulation results, this proposed algorithm is 0.9797 in precision-recall statistical average and has excellent target extraction performance compared to state-of-the-art saliency object segmentation algorithm, so that this algorithm can provide the support for the pedestrian object tracking and autonomous driving applications.

关键词： Superpixel Segmentation Pedestrian Cascaded

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Opto-Electronic Advances 2023年第10期6卷 45-53页

作者： Jing Pan Qi Wang Shuaikang Gao Zhang Zhang Yu Xie Longteng Yu Lei Zhang Research Center for humanoid Sensing Zhejiang LabHangzhou 311100China State key laboratory of Modern Optical Instrumentation College of Optical Science and EngineeringZhejiang UniversityHangzhou 310027China.

Friction plays a critical role in dexterous robotic ***,realizing friction sensing remains a challenge due to the difficulty in designing sensing structures to decouple multi-axial *** by the topological mechanics of knots,we construct optical fiber knot(OFN)sensors for slip detection and friction *** introducing localized self-contacts along the fiber,the knot structure enables anisotropic responses to normal and frictional *** employing OFNs and a change point detection algorithm,we demonstrate adaptive robotic grasping of slipping *** further develop a robotic finger that can measure tri-axial forces via a centrosymmetric architecture composed of five *** a tactile finger allows a robotic hand to manipulate human tools *** work could provide a straightforward and cost-effective strategy for promoting adaptive grasping,dexterous manipulation,and human-robot interaction with tactile sensing.

关键词： robotic perception adaptive grasping slip detection force decoupling polymer optical fiber