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A relation spectrum inheriting Taylor series:muscle synergy and coupling for hand

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Frontiers of Information Technology & Electronic Engineering 2022年第1期23卷 145-157页

作者： Gang LIU Jing WANG institute of robotics and Intelligent Systems Xi’an Jiaotong UniversityXi’an710049China

There are two famous function decomposition methods in math:the Taylor series and the Fourier *** Fourier series developed into the Fourier spectrum,which was applied to signal decomposition and ***,because the Taylor series function cannot be solved without a definite functional expression,it has rarely been used in *** developed a Taylor series using our proposed dendrite net(DD),constructed a relation spectrum,and applied it to decomposition and analysis of models and ***,knowledge of the intuitive link between muscle activity and finger movement is vital for the design of commercial prosthetic hands that do not need user ***,this link has yet to be understood due to the complexity of the human *** this study,the relation spectrum was applied to analyze the muscle—finger *** single muscle actuates multiple fingers,or multiple muscles actuate one single finger ***,the research was focused on muscle synergy and muscle coupling for the *** main contributions are twofold:(1)The findings concerning the hand contribute to the design of prosthetic hands;(2)The relation spectrum makes the online model human-readable,which unifies online performance and offline *** is available at https://***/liugang1234567/Gang-neuron.

关键词： Taylor series Relation spectrum Dendrite net(DD) Prosthetic hands Machine learning Engineering

Computer-controlled ultra high voltage amplifier for dielectric elastomer actuators

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Biomimetic Intelligence & robotics 2024年第1期4卷 14-23页

作者： Ardi Wiranata Zebing Mao Yu Kuwajima Yuya Yamaguchi Muhammad Akhsin Muflikhun Hiroki Shigemune Naoki Hosoya Shingo Maeda Department of Mechanical and Industrial Engineering University of Gadjah MadaYogyakarta 55281Indonesia Department of Mechanical Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan Department of Engineering and Science Shibaura Institute of TechnologyTokyo 135-8548Japan Department of Electrical Engineering Shibaura Institute of TechnologyTokyo 135-8548Japan Department of Engineering Science and Mechanics Shibaura Institute of TechnologyTokyo 135-8548Japan Living Systems Materialogy(LiSM)Research Group International Research Frontiers Initiative(IRFI)Tokyo Institute of TechnologyYokohama 226-8501Japan

Soft robotics is a breakthrough technology to support human-robot *** soft structure of a soft robot can increase safety during human and robot *** of the promising soft actuators for soft robotics is dielectric elastomer actuators(DEAs).DEAs can operate silently and have an excellent energy *** simple structure of DEAs leads to the easy fabrication of soft *** simplicity combined with silent operation and high energy density make DEAs interesting for soft robotics *** actuation follows the Maxwell-pressure *** pressure produced in the DEAs actuation depends much on the voltage *** DEAs requires high voltage to gain an *** the power consumption of DEAs is in the milli-Watt range,the current needed to operate the DEAs can be *** commercially available DC-DC converters can convert the volt range to the kV *** order to get a voltage in the 2-3 kV range,the reliable DC-DC converter can be pricy for each *** problem hinders the education of soft actuators,especially for a newcomer laboratory that works in soft electric *** paper introduces an entirely do-it-yourself(DIY)Ultrahigh voltage amplifier(UHV-Amp)for education in soft ***-Amp can amplify 12 V to at a maximum of 4 kV *** a demonstration,we used this UHV-Amp to test a single layer of powdered-based *** strategy to build this educational type UHV-Amp was utilizing a Cockcroft-Walton circuit structure to amplify the voltage range to the kV *** its current state,the UHV-Amp has the potential to achieve approximately 4 *** created a simple platform to control the UHV-Amp from a personal *** near future,we expect this easy control of the UHV-Amp can contribute to the education of soft electric actuators.

关键词： Dielectric elastomer actuators Electric amplifier Soft actuators Soft robotics Soft actuator education

A policy iteration method for improving robot assembly trajectory efficiency

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Chinese Journal of Aeronautics 2023年第3期36卷 436-448页

作者： Qi ZHANG Zongwu XIE Baoshi CAO Yang LIU State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China

Bolt assembly by robots is a vital and difficult task for replacing astronauts in extravehicular activities(EVA),but the trajectory efficiency still needs to be improved during the wrench insertion into hex hole of *** this paper,a policy iteration method based on reinforcement learning(RL)is proposed,by which the problem of trajectory efficiency improvement is constructed as an issue of RL-based objective ***,the projection relation between raw data and state-action space is established,and then a policy iteration initialization method is designed based on the projection to provide the initialization policy for *** iteration based on the protective policy is applied to continuously evaluating and optimizing the action-value function of all state-action pairs till the convergence is *** verify the feasibility and effectiveness of the proposed method,a noncontact demonstration experiment with human supervision is *** results show that the initialization policy and the generated policy can be obtained by the policy iteration method in a limited number of demonstrations.A comparison between the experiments with two different assembly tolerances shows that the convergent generated policy possesses higher trajectory efficiency than the conservative *** addition,this method can ensure safety during the training process and improve utilization efficiency of demonstration data.

关键词： Bolt assembly Policy initialization Policy iteration Reinforcement learning(RL) Robotic assembly Trajectory efficiency

Vision‐audio fusion SLAM in dynamic environments

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CAAI Transactions on Intelligence Technology 2023年第4期8卷 1364-1373页

作者： Tianwei Zhang Huayan Zhang Xiaofei Li Shenzhen institute of Artificial Intelligence and robotics for Society ShenzhenChina Department of robotics Ritsumeikan UniversityShigaJapan Westlake University and Westlake institute for Advanced Study HangzhouChina

Moving humans,agents,and subjects bring many challenges to robot self‐localisation and environment *** adapt to dynamic environments,SLAM researchers typically apply several deep learning image segmentation models to eliminate these moving ***,these moving obstacle segmentation methods cost too much computation resource for the onboard processing of mobile *** the current industrial environment,mobile robot collaboration scenario,the noise of mobile robots could be easily found by on‐board audio‐sensing processors and the direction of sound sources can be effectively acquired by sound source estimation algorithms,but the distance estimation of sound sources is ***,in the field of visual perception,the 3D structure information of the scene is relatively easy to obtain,but the recognition and segmentation of moving objects is more *** address these problems,a novel vision‐audio fusion method that combines sound source localisation methods with a visual SLAM scheme is proposed,thereby eliminating the effect of dynamic obstacles on multi‐agent *** heterogeneous robots experiments in different dynamic scenes indicate very stable self‐localisation and environment reconstruction performance of our method.

关键词： dynamic environment intelligent robots sensor fusion

Probabilistic movement primitive based motion learning for a lower limb exoskeleton with black-box optimization

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Frontiers of Information Technology & Electronic Engineering 2023年第1期24卷 104-116页

作者： Jiaqi WANG Yongzhuo GAO Dongmei WU Wei DONG State Key Laboratory of robotics and Systems Harbin Institute of TechnologyHarbin 150001China

As a wearable robot,an exoskeleton provides a direct transfer of mechanical power to assist or augment the wearer’s movement with an anthropomorphic *** an exoskeleton is used to facilitate the wearer’s movement,a motion generation process often plays an important role in high-level *** of the main challenges in this area is to generate in real time a reference trajectory that is parallel with human intention and can adapt to different *** this paper,we first describe a novel motion modeling method based on probabilistic movement primitive(ProMP)for a lower limb exoskeleton,which is a new and powerful representative tool for generating motion *** adapt the trajectory to different situations when the exoskeleton is used by different wearers,we propose a novel motion learning scheme based on black-box optimization(BBO)PIBB combined with *** motion model is first learned by ProMP offline,which can generate reference trajectories for use by exoskeleton controllers *** is adopted to learn and update the model for online trajectory generation,which provides the capability of adaptation of the system and eliminates the effects of *** and experiments involving six subjects using the lower limb exoskeleton HEXO demonstrate the effectiveness of the proposed methods.

关键词： Lower limb exoskeleton Human-robot interaction Motion learning Trajectory generation Movement primitive Black-box optimization

A Rhythmic Motion Control Method Inspired by Board Shoe Racing for a Weight-Bearing Exoskeleton

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Journal of Bionic Engineering 2022年第2期19卷 403-415页

作者： Tianshuo Wang Jie Zhao Dongbao Sui Sikai Zhao Yanhe Zhu State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China

To ensure the flexible walking of the weight-bearing exoskeleton robot,most researchers control the exoskeleton to follow the wearer’s movements and provide force to maintain the current dynamic ***,due to the limitation of sensing information and computing power,it is difficult for the exoskeleton to provide the wearer reasonable and stable force only based on the dynamic model,especially in switching between swing phase and stance *** by China’s traditional sport named board shoe racing,a walking control method based on the cooperation of the human and the exoskeleton is proposed in this paper for a lower-limb exoskeleton named *** certain conditions,the exoskeleton itself can walk stably depending on the rhythm signals generated by the Central Pattern Generator(CPG).With certain initiative during walking,it can make proper adjustments according to the human *** the help of dynamic simulation software and Genetic Algorithm(GA),the optimized CPG parameters are *** control is introduced to increase the comfort of the *** impedance parameters as well as the CPG parameters are tuned in real time based on *** experiments were conducted with *** results demonstrate that PALExo can effectively assist the wearer walking with a 45-kg payload benefiting from the proposed method.

关键词： Exoskeleton robot Central pattern generator Walking control method

Hybrid Mapping Method:from Human to Robotic Hands with Dissimilar Kinematics

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Journal of Bionic Engineering 2022年第4期19卷 935-952页

作者： Bingchen Liu Li Jiang Shaowei Fan State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin 150080China

Mapping grasps from human to anthropomorphic robotic hands is an open issue in research,because the master hand and the slave hand have dissimilar *** paper proposes a hybrid mapping method to solve this *** the proposed method,fingers in the master and the slave hands are divided into vital and synergic fingers according to their contribution to the grasping *** tip of the vital finger of the master hand is first mapped to that of the slave hand while ensuring that both are in simultaneous contact with the object to be *** postural synergy theory,joints of the other synergic fingers of the slave hand are then used to generate an anthropomorphic grasping configuration according to the shape of the object to be *** this,a human-guided impedance controller is used to reduce the pre-grasping error and realize compliant interaction with the *** proposed hybrid mapping method can not only generate the posture of the humanoid envelope but can also carry out impedance-adaptive *** was evaluated using simulations and an experiment involving an anthropomorphic robotic slave hand.

关键词： Robotic hand Human-in-the-loop Grasping Postural synergy Impedance control

Learning physical characteristics like animals for legged robots

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National Science Review 2023年第5期10卷 22-37页

作者： Peng Xu Liang Ding Zhengyang Li Huaiguang Yang Zhikai Wang Haibo Gao Ruyi Zhou Yang Su Zongquan Deng Yanlong Huang Key Laboratory of robotics and Systems Harbin Institute of Technology School of Computing University of Leeds

Physical characteristics of terrains,such as softness and friction,provide essential information for legged robots to avoid non-geometric obstacles,like mires and slippery stones,in the *** perception of such characteristics often relies on tactile perception and vision *** tactile perception is more accurate,it is limited to close-range us e;by contrast,establishing a supervised or self-supervised contactless prediction system using computer vision re quires adequate labeled data and lacks the ability to adapt to the dynamic *** this paper,we simulate the behavior of animals and propose an unsupervised learning framework for legged robots to learn the physical characteristics of terrains,which is the first report to manage it online,incrementally and with the ability to solve cognitive *** proposed scheme allows robots to interact with the environment and adjust their cognition in real time,therefore endowing robots with the adaptation *** and outdoor experiments on a hexapod robot are carried out to show that the robot can extract tactile and visual features of terrains to create cognitive networks independently;an associative layer between visual and tactile features is created during the robot’s exploration;with the layer,the robot can autonomously generate a physical segmentation model of terrains and solve cognitive conflicts in an ever-changing environment,facilitating its safe navigation.

关键词： legged robot unsupervised learning environmental perception cognitive learning

A New EMG Decomposition Framework for Upper Limb Prosthetic Systems

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Journal of Bionic Engineering 2023年第6期20卷 2646-2660页

作者： Wenhao Wu Li Jiang Bangchu Yang Kening Gong Chunhao Peng Tianbao He State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin150080China

Neural interfaces based on surface Electromyography(EMG)decomposition have been widely used in upper limb prosthetic *** the current EMG decomposition framework,most Blind Source Separation(BSS)algorithms require EMG with a large number of channels(generally larger than 64)as input,while users of prosthetic limbs can generally only provide less skin surface for electrode placement than healthy *** performed decomposition tests to demonstrate the performance of the new framework with the simulated EMG *** results show that the new framework identified more Motor Units(MUs)compared to the control group and it is suitable for decomposing EMG signals with low channel *** order to verify the application value of the new framework in the upper limb prosthesis system,we tested its performance in decomposing experimental EMG signals in force fitting experiments as well as pattern recognition *** average Pearson coefficient between the fitted finger forces and the ground truth forces is 0.9079 and the average accuracy of gesture classification is 95.11%.The results show that the decomposition results obtained by the new framework can be used in the control of the upper limb prosthesis while only requiring EMG signals with fewer channels.

关键词： EMG decomposition Peel-off strategy Few channels Upper limb prosthetic system