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Dynamics Modeling and Parameter Identification for a Coupled-Drive Dual-Arm Nursing Robot

Chinese Journal of Mechanical Engineering 2024年第4期 256-270页

作者： Hao Lu Zhiqiang Yang Deliang Zhu Fei Deng Shijie Guo College of Electronic Information and Automation Tianjin University of Science and Technology Academy for Engineering & Technology Fudan University Shanghai Engineering Research Center of AI & robotics School of Mechanical Engineering Hebei University of Technology

A dual-arm nursing robot can gently lift patients and transfer them between a bed and a wheelchair. With its lightweight design, high load-bearing capacity, and smooth surface, the coupled-drive joint is particularly well suited for these robots. However, the coupled nature of the joint disrupts the direct linear relationship between the input and output torques, posing challenges for dynamic modeling and practical applications. This study investigated the transmission mechanism of this joint and employed the Lagrangian method to construct a dynamic model of its internal dynamics. Building on this foundation, the Newton-Euler method was used to develop a dynamic model for the entire robotic arm. A continuously differentiable friction model was incorporated to reduce the vibrations caused by speed transitions to zero. An experimental method was designed to compensate for gravity, inertia,and modeling errors to identify the parameters of the friction model. This method establishes a mapping relationship between the friction force and motor current. In addition, a Fourier series-based excitation trajectory was developed to facilitate the identification of the dynamic model parameters of the robotic arm. Trajectory tracking experiments were conducted during the experimental validation phase, demonstrating the high accuracy of the dynamic model and the parameter identification method for the robotic arm. This study presents a dynamic modeling and parameter identification method for coupled-drive joint robotic arms, thereby establishing a foundation for motion control in humanoid nursing robots.

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Untethered Micro/Nanorobots for Remote Sensing:Toward Intelligent Platform

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Nano-Micro Letters 2024年第2期16卷 450-483页

作者： Qianqian Wang Shihao Yang Li Zhang Jiangsu Key laboratory for Design and Manufacture of Micro‑Nano Biomedical Instruments School of Mechanical EngineeringSoutheast UniversityNanjing 211189People’s Republic of China Department of Mechanical and Automation Engineering The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China Chow Yuk Ho Technology Centre for Innovative Medicine The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China T Stone robotics Institute The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China Department of Surgery The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China

Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse *** are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems,enabling in situ detection of substances that traditional sensing methods struggle to *** the past decade of development,significant research progress has been made in designing sensing strategies based on micro/nanorobots,employing various coordinated control and sensing *** review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots,robot behavior,microrobotic manipulation,and robot-environment *** recent studies and relevant applications in remote sensing,we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments,translating lab research achievements into widespread real applications.

关键词： Micro/nanorobot Remote sensing Wireless control Self-propulsion Actuation at small scales

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A Novel Locomotion Rule Rmbedding Long Short-Term Memory Network with Attention for Human Locomotor Intent Classification Using Multi-Sensors Signals

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Computers, Materials & Continua 2024年第6期79卷 4349-4370页

作者： Jiajie Shen Yan Wang Dongxu Zhang Key laboratory of Symbol Computation and Knowledge Engineering Ministry of EducationColleague of Computer Science and TechnologyJilin UniversityChangchun130012China College of Software and Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of EducationJilin UniversityChangchun130012China

Locomotor intent classification has become a research hotspot due to its importance to the development of assistive robotics and wearable *** work have achieved impressive performance in classifying steady locomotion ***,it remains challenging for these methods to attain high accuracy when facing transitions between steady locomotion *** to the similarities between the information of the transitions and their adjacent steady ***,most of these methods rely solely on data and overlook the objective laws between physical activities,resulting in lower accuracy,particularly when encountering complex locomotion modes such as *** address the existing deficiencies,we propose the locomotion rule embedding long short-term memory(LSTM)network with Attention(LREAL)for human locomotor intent classification,with a particular focus on transitions,using data from fewer sensors(two inertial measurement units and four goniometers).The LREAL network consists of two levels:One responsible for distinguishing between steady states and transitions,and the other for the accurate identification of locomotor *** classifier in these levels is composed of multiple-LSTM layers and an attention *** introduce real-world motion rules and apply constraints to the network,a prior knowledge was added to the network via a rule-modulating *** method was tested on the ENABL3S dataset,which contains continuous locomotion date for seven steady and twelve transitions *** results showed that the LREAL network could recognize locomotor intents with an average accuracy of 99.03%and 96.52%for the steady and transitions states,*** is worth noting that the LREAL network accuracy for transition-state recognition improved by 0.18%compared to other state-of-the-art network,while using data from fewer sensors.

关键词： Lower-limb prosthetics deep neural networks motion classification

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Biomimetic soft robotic wrist with 3-DOF motion and stiffness tunability based on ring-reinforced pneumatic actuators and a particle jamming joint

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Science China(Technological Sciences) 2024年第3期67卷 774-790页

作者： HU TeTe LU XinJiang YI Jian WANG YuHui XU Du State Key laboratory of Precision Manufacturing for Extreme Service Performance School of Mechanical and Electrical EngineeringCentral South UniversityChangsha 410083China

The human wrist, a complex articulation of skeletal muscles and two-carpal rows, substantially contributes to improvements in maneuverability by agilely performing three-degree-of-freedom(3-DOF) orienting tasks and regulating stiffness according to variations in interaction forces. However, few soft robotic wrists simultaneously demonstrate dexterous 3-DOF motion and variable stiffness;in addition, they do not fully consider a soft-rigid hybrid structure of integrated muscles and two carpal *** this study, we developed a soft-rigid hybrid structure to design a biomimetic soft robotic wrist(BSRW) that is capable of rotating in the x and y directions, twisting around the z-axis, and possessing stiffness-tunable capacity. To actuate the BSRW, a lightweight soft-ring-reinforced bellows-type pneumatic actuator(SRBPA) with large axial, linear deformation(η_(lcmax)=70.6%,η_(lemax)=54.3%) and small radial expansion(η_(demax)=3.7%) is designed to mimic the motion of skeletal muscles. To represent the function of two-carpal rows, a compact particle-jamming joint(PJJ) that combines particles with a membrane-covered ballsocket mechanism is developed to achieve various 3-DOF motions and high axial load-carrying capacity(>60 N). By varying the jamming pressure, the stiffness of the PJJ can be adjusted. Finally, a centrally positioned PJJ and six independently actuated SRBPAs, which are in an inclined and antagonistic arrangement, are sandwiched between two rigid plates to form a flexible,stable, and compact BSRW. Such a structure enables the BSRW to have a dexterous 3-DOF motion, high load-carrying ability,and stiffness tunability. Experimental analysis verify 3-DOF motion of BSRW, producing force of 29.6 N and 36 N and torque of2.2 Nm in corresponding rotations. Moreover, the range of rotational angle and stiffness-tuning properties of BSRW are studied by applying jamming pressure to the PJJ. Finally, a system combining a BSRW and a soft enclosing gripper is proposed to demo

关键词： pneumatic soft actuators particle jamming robotic wrist soft robotics stiffness-tunable

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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

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An Energy-based Nonlinear Coupling Control for Offshore Ship-mounted Cranes

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International Journal of Automation and computing 2018年第5期15卷 570-581页

作者： Yu-Zhe Qian Yong-Chun Fang Tong Yang Institute of robotics and Automatic Information System Nankai University Tianjin Key laboratory of Intelligent robotics Nankai University

This paper proposes a novel nonlinear energy-based coupling control for an underactuated offshore ship-mounted crane,which guarantees both precise trolley positioning and payload swing suppressing performances under external sea wave disturbance. In addition to having such typical nonlinear underactuated property, as it is well known, an offshore ship-mounted crane also suffers from much unexpected persistent disturbances induced by sea waves or currents, which, essentially different from an overhead crane fixed on land, cause much difficulty in modeling and controller design. Inspired by the desire to achieve appropriate control performance against those challenging factors, in this paper, through carefully analyzing the inherent mechanism of the nonlinear dynamics, we first construct a new composite signal to enhance the coupling behavior of the trolley motion as well as the payload swing in the presence of ship′s roll motion disturbance. Based on which, an energy-based coupling control law is presented to achieve asymptotic stability of the crane control system′s equilibrium point. Without any linearization of the complex nonlinear dynamics, unlike traditional feedback controllers, the proposed control law takes a much simpler structure independent of the system parameters. To support the theoretical derivations and to further verify the actual control performance, Lyapunov-based mathematical analysis as well as numerical simulation/experimental results are carried out, which clarify the feasibility and superior performance of the proposed method over complicated disturbances.

关键词： Energy-based control offshore ship-mounted cranes Lyapunov methods underactuated nonlinear control systems.

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Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory

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Science China(Information Sciences) 2015年第3期58卷 183-195页

作者： GUO Xian MA ShuGen LI Bin WANG MingHui WANG YueChao State Key laboratory of robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Department of robotics Ritsumeikan University

For the snake-like robot with passive wheels,the side constraint force provides the required thrust which is less than the maximum static *** the side constraint force can reduce possibility of skidding which is important to ensure stable and efficient motion of the *** this paper we model the snakelike robot based on the fiber bundle *** method can reduce the complexity of the dynamics and derive the exact analytical solution for the side constraint force which is linear to the redundant *** the linear relation,we can derive directly the optimal torque by minimizing the side constraint *** the nonholonomic constraint can be used for constructing the connection of the fiber *** the connection,we can select the gait of the snake-like *** position and orientation of the head can be described in terms of the special Euclidean group SE(2)which is also the structure group of the fiber *** the symmetry of the structure group,we can reduce the dynamics equations and derive the analytical solution for the side constraint *** and dynamics simulations validate the proposed methods.

关键词： snake-like robot redundant torque fiber bundle theory nonholonomic optimal control

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Fuzzy Theory Based Control Method for an In-pipe Robot to Move in Variable Resistance Environment

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Chinese Journal of Mechanical Engineering 2015年第6期28卷 1213-1221页

作者： LI Te MA Shugen LI Bin WANG Minghui WANG Yuechao State Key laboratory of robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Department of robotics Ritsumeikan University

Most of the existing screw drive in-pipe robots cannot actively adjust the maximum traction capacity, which limits the adaptability to the wide range of variable environment resistance, especially in curved pipes. In order to solve this problem, a screw drive in-pipe robot based on adaptive linkage mechanism is proposed. The differential property of the adaptive linkage mechanism allows the robot to move without motion interference in the straight and varied curved pipes by adjusting inclining angles of rollers self-adaptively. The maximum traction capacity of the robot can be changed by actively adjusting the inclining angles of rollers. In order to improve the adaptability to the variable resistance, a torque control method based on the fuzzy controller is proposed. For the variable environment resistance, the proposed control method can not only ensure enough traction force, but also limit the output torque in a feasible region. In the simulations, the robot with the proposed control method is compared to the robot with fixed inclining angles of rollers. The results show that the combination of the torque control method and the proposed robot achieves the better adaptability to the variable resistance in the straight and curved pipes.

关键词： screw drive in-pipe robot fuzzy control torque control

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Evaluation Method on Steering for the Shape-shifting Robot in Different Configurations

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Chinese Journal of Mechanical Engineering 2016年第1期29卷 21-32页

作者： CHANG Jian LI Bin WANG Chong ZHENG Huaibing LI Zhiqiang State Key laboratory of robotics Shenyang Institute of AutomationChinese Academy of Sciences

The evaluation method on steering is based on qualitative manner in existence, which causes the result inaccurate and fuzziness. It reduces the efficiency of process execution. So the method by quantitative manner for the shape-shifting robot in different configurations is proposed. Comparing to traditional evaluation method, the most important aspects which can influence the steering abilities of the robot in different configurations are researched in detail, including the energy, angular velocity, time and space. In order to improve the robustness of system, the ideal and slippage conditions are all considered by mathematical model. Comparing to the traditional weighting confirming method, the extent of robot steering method is proposed by the combination of subjective and objective weighting method. The subjective weighting method can show more preferences of the experts and is based on five-grade scale. The objective weighting method is based on information entropy to determine the factors. By the sensors fixed on the robot, the contract force between track grouser and ground, the intrinsic motion characteristics of robot are obtained and the experiment is done to prove the algorithm which is proposed as the robot in different common configurations. Through the method proposed in the article, fuzziness and inaccurate of the evaluation method has been solved, so the operators can choose the most suitable configuration of the robot to fulfil the different tasks more quickly and simply.

关键词： shape-shifting robot steering mobility quantitative manner

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HIT prosthetic hand based on tendon-driven mechanism

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Journal of Central South University 2014年第5期21卷 1778-1791页

作者：刘伊威丰飞高一夫 State Key laboratory of robotics and System Harbin Institute of Technology

An underactuated finger structure actuated by tendon-driven system is *** and static analysis of the finger is done,and the results indicate that the prosthetic finger structure is effective and *** on the design of finger,a prosthetic hand is *** hand is composed of 5 independent fingers and it looks more like *** size is about 85% of an adult's hand and weights about 350 *** the thumb finger,each finger is actuated by one DC motor,gear head and a tendon,and has three curling/extension *** thumb finger which is different from other existing prostheses is a novel design *** thumb finger has four joints including three curling/extension joints and a joint which is used to realize the motion of the thumb related to the palm,and these joints are also driven by one DC motor,harmonic drive and a *** underactuation and adaptive curling/extension motion of the finger are realized by joint torsion springs.A high-powered chip of digital signal processing(DSP)is the main part of the electrical system which is used for the motors control,data collection,communication with external controlling source,and so *** improve the reliability of the hand,structures and sensors are designed and made as simply as *** hand has strong manipulation capabilities that have been verified by finger motion and grasping tests and it can satisfy the daily operational needs and psychological needs of deformities.

关键词： prosthetic hand tendon-driven mechanism underactuation kinematics and static analysis

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