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Direct Ink Writing Method of Fractal Wearable Flexible Sensor Based on Conductive Graphene/Polydimethylsiloxane Ink

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 18-26页

作者： CHEN Junling GAO Feiyang ZHANG Liming ZHENG Xiongfei State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China School of Mechanical Engineering Shenyang Ligong UniversityShenyang110159China institutes for robotics and intelligent manufacturing Chinese Academy of SciencesShenyang110169China

Flexible electronic technology has laid the foundation for complex human-computer interaction system,and has attracted great attention in the field of human motion detection and soft *** has received an extensive attention due to its excellent electrical conductivity;however,how to use it to fabricate wearable flexible sensors with complex structures remains *** this study,we studied the rheological behavior of graphene/polydimethylsiloxane ink and proposed an optimal graphene ratio,which makes the ink have an good printability and conductivity at the same ***,based on the theory of Peano fractal layout,we proposed a two-dimensional structure that can withstand multi-directional tension by replacing the traditional arris structure with the arc *** that,we manufactured circular arc fractal structure sensor by adjusting ink composition and printing structure through direct ink writing ***,we evaluated the detection performance and repeatability of the *** method provides a simple and effective solution for fabricating wearable flexible sensors and exhibits the potential to fabricate 3D complex flexible electronic devices.

关键词： direct ink writing conductive graphene ink wearable flexible sensor strain sensing fractal structure

Unscented Kalman-filter-based sliding mode control for an underwater gliding snake-like robot

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Science China(Information Sciences) 2020年第1期63卷 213-225页

作者： Jingge TANG Bin LI Jian CHANG Aiqun ZHANG State Key Laboratory of robotics Shenyang Institute of Automation Chinese Academy of Sciences institutes for robotics and intelligent manufacturing Chinese Academy of Sciences

With its strong endurance and high maneuverability, an underwater gliding snake-like robot(UGSR) is a strong potential candidate for aquatic exploration and monitoring. The major feature of the UGSR, which distinguishes it from other snake-like robots, is long range and long operation duration by gliding. This study establishes a gliding motion control system for the UGSR based on a sliding mode controller(SMC). The control system stabilizes the system and suppresses the uncertainties and unknown disturbances. In this strategy, chattering is reduced based on the reaching law method. To circumvent the difficulty of velocity measurements, a nonlinear observer based on an unscented Kalman filter(UKF) is employed for state estimation and random noise handling. The effectiveness of the proposed controller and observer is verified by simulating the UKF-based SMC closed-loop system.

关键词： underwater gliding snake-like robot sliding mode control reaching law nonlinear observer unscented Kalman filter robustness

Deep Learning for EMG-based Human-Machine Interaction:A Review

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IEEE/CAA Journal of Automatica Sinica 2021年第3期8卷 512-533页

作者： Dezhen Xiong Daohui Zhang Xingang Zhao Yiwen Zhao State Key Laboratory of robotics Shenyang Institute of AutomationInstitutes for Robotics and Intelligent ManufacturingChinese Academy of SciencesShenyang 110016 University of Chinese Academy of Sciences Beijing 100049China State Key Laboratory of robotics Shenyang Institute of AutomationInstitutes for Robotics and Intelligent ManufacturingChinese Academy of SciencesShenyang 110016China

Electromyography(EMG)has already been broadly used in human-machine interaction(HMI)*** how to decode the information inside EMG signals robustly and accurately is a key problem for which we urgently need a ***,many EMG pattern recognition tasks have been addressed using deep learning *** this paper,we analyze recent papers and present a literature review describing the role that deep learning plays in EMG-based *** overview of typical network structures and processing schemes will be *** progress in typical tasks such as movement classification,joint angle prediction,and force/torque estimation will be *** issues,including multimodal sensing,inter-subject/inter-session,and robustness toward disturbances will be *** attempt to provide a comprehensive analysis of current research by discussing the advantages,challenges,and opportunities brought by deep *** hope that deep learning can aid in eliminating factors that hinder the development of EMG-based HMI ***,possible future directions will be presented to pave the way for future research.

关键词： Accuracy deep learning electromyography(EMG) human-machine interaction(HMI) robustness

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

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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 ***,it still has a gap between scientific research and real-life *** studies mainly focused on EMG decoding algorithms,leaving a dynamic relationship between the human,robot,and uncertain environment in real-life scenarios seldomly *** fill this gap,this paper presents a comprehensive review of EMG-based techniques in human-robot-environment interaction(HREI)*** general processing framework is summarized,and three interaction paradigms,including direct control,sensory feedback,and partial autonomous control,are ***-based intention decoding is treated as a module of the proposed *** key issues involving precision,stability,user attention,compliance,and environmental awareness in this field are *** important directions,including EMG decomposition,robust algorithms,HREI dataset,proprioception feedback,reinforcement learning,and embodied intelligence,are proposed to pave the way for future *** the best of what we know,this is the first time that a review of EMG-based methods in the HREI system is *** 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

Review of Research and Development of Supernumerary Robotic Limbs

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IEEE/CAA Journal of Automatica Sinica 2021年第5期8卷 929-952页

作者： Yuchuang Tong Jinguo Liu the State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 the institutes for robotics and intelligent manufacturing Chinese Academy of SciencesShenyang 110016 the University of Chinese Academy of Sciences Beijing 100049China

Supernumerary robotic limbs(SRLs) are a new type of wearable human auxiliary equipment, which is currently a hot research topic in the world. SRLs have broad applications in many fields, and will provide a reference and technical support for the realization of human-robot collaboration and integration,while playing an important role in improving social security and public services. In this paper, representative SRLs are summarized from the aspects of related literature analysis,research status, ontology structure design, control and driving,sensing and perception, and application fields. This paper also analyzes and summarizes the current technical challenges faced by SRLs, and reviews development progress and key technologies,thus giving a prospect of future technical development trends.

关键词： Human-robot cooperation human-robot interaction supernumerary robotic finger supernumerary robotic limb wearable robots

intelligent and integrated RFID (Ⅱ-RFID) system for improving traceability in manufacturing

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Advances in manufacturing 2014年第2期2卷 106-120页

作者： Ke-Sheng Wang Shanghai Key Laboratory of intelligent manufacturing and robotics Shanghai University

In the wake of globalization,many modern manufacturing companies in Norway have come under intense pressure caused by increased competition,stricter government regulation,and customer demand for higher value at low cost in a short *** companies need traceability,which means a real-time view into thenproduction processes and *** frequency identification（RFID） technology enables manufacturing companies to gain instant traceability and visibility because it handles manufactured goods,materials and processes *** has become an important driver in manufacturing and supply chain ***,there is still a challenge in effectively deploying RFID in *** paper describes the importance for Norwegian manufacturing companies to implement RFID technology,and shows how the intelligent and integrated RFID（n-RFID） system,which has been developed in the Knowledge Discovery Laboratory of Norwegian University of Science and Technology,provides instant traceability and visibility into manufacturing *** supports the Norwegian manufacturing industries survive and thrive in global *** future research work will focus on the field of RFID data mining to support decision-making process in manufacturing.

关键词： Radio frequency identification(RFID) intelligent manufacturing Traceability Visibility System integration intelligent decision support systems

Advances in atomic force microscopy for single-cell analysis

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Nano Research 2019年第4期12卷 703-718页

作者： Mi Li Ning Xi Yuechao Wang Lianqing Liu State Key Laboratory of robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China institutes for robotics and intelligent manufacturing Chinese Academy of Sciences Shenyang 110016 China Department of Industrial and manufacturing Systems Engineering The University of Hong Kong Hong Kong 999077 China

Single-cell analysis has been considered as a promising way to uncover the underlying mechanisms guiding the mysteries of life activities, which con siderably complements traditio nal en semble assays and yields novel in sights into cell biology. The adve nt of atomic force microscopy (AFM) provides a potent tool for investigati ng the structures and properties of n ative biological samples at the micro/na no scale un der near-physiological conditions, which promotes the studies of single-cell behaviors. In the past decades, AFM has achieved great success in single-cell observation and manipulation for biomedical applications, demonstrating the excellent capabilities of AFM in addressing biological issues at the single-cell level with unprecedented spatiotemporal resolution. In this article, we review the recent advances in single-cell analysis that has been made with the utilization of AFM, and provide perspectives for future progression.

关键词： atomic force microscopy single-cell analysis cellular morphology cellular mechanics cellular manipulation

Scientific issues and critical technologies in planetary defense

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Chinese Journal of Aeronautics 2024年第11期37卷 24-65页

作者： Qinkun CHENG Wei ZHANG State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China institutes for robotics and intelligent manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

In history,the Earth has encountered frequent and massive *** today,it is still a collided target for Potentially Hazardous Objects(PHOs),gradually making planetary defense a concerned and important research topic in the field of aerospace *** this background,this work clarifies and discusses some important scientific issues and various critical technologies of planetary ***,the current status of planetary defense research is ***,the classification and characteristics of PHOs are introduced,focusing on their potential impact on planetary defense and related scientific research *** the purpose of protecting the Earth and maintaining space safety,the monitoring and characterization,deflection,and mitigation of PHOs have basically occupied all the attention of planetary defense ***,the critical technologies in planetary defense are discussed from these three aspects,and are also compared and analyzed in *** on the current research progress in planetary defense,the challenges for planetary defense are discussed,and future development directions are also ***,a summary of the entire study is provided.

关键词： Small celestial body Potentially hazardous object(PHO) Near-Earth asteroid(NEA) Planetary defense technology Space robot

Configuration analysis of a chain-type reconfigurable modular robot inspired by normal alkane

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Science China(Technological Sciences) 2021年第6期64卷 1167-1176页

作者： FENG JingKai LIU JinGuo State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China institutes for robotics and intelligent manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

Normal alkane is an unbranched alkane whose structural formula is H–CH2–CH2–…–CH2–…–CH2–H,which can be regarded as a reconfigurable chain-type structure composed of–CH2–*** by normal alkane,a normal-alkane-like reconfigurable modular robot (NAR) is *** module consists of two differential gear trains mounted *** differential gear train contains two input degrees of freedom and two output degrees of *** to the genderless interface design,multiple modules can be assembled into chain-type *** the genderless interfaces and flexible degrees of freedom,NAR can be reconfigured into different dimensions of spatial *** bond matrix is used to describe the configuration,which represents the bond attitude of the adjacent connected *** addition,full interconnected geometric feature (FIGF) algorithm is proposed for non-isomorphic configuration enumeration and *** configurations with three modules are simulated and the results verify the feasibility of the ***,a prototype with three modules is fabricated and the configuration motion sequence is demonstrated.

关键词： reconfigurable modular robot chain-type normal alkane configuration enumeration non-isomorphic configuration