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Research on time-frequency cross mutual of motor imagination data based on multichannel EEG signal

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High Technology Letters 2022年第1期28卷 21-29页

作者：任彬 PAN Yunjie Shanghai Key laboratory of Intelligent Manufacturing and robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 200444P.R.China

At present,multi-channel electroencephalogram(EEG)signal acquisition equipment is used to collect motor imagery EEG data,and there is a problem with selecting multiple acquisition *** too many channels will result in a large amount of *** irrelevant to the task will interfere with the required features,which is not conducive to the real-time processing of EEG *** too few channels will result in the loss of useful information and low robustness.A method of selecting data channels for motion imagination is proposed based on the time-frequency cross mutual information(TFCMI).This method determines the required data channels in a targeted manner,uses the common spatial pattern mode for feature extraction,and uses support vector ma-chine(SVM)for feature *** experiment is designed to collect motor imagery EEG da-ta with four experimenters and adds brain-computer interface(BCI)Competition IV public motor imagery experimental data to verify the *** data demonstrates that compared with the meth-od of selecting too many or too few data channels,the time-frequency cross mutual information meth-od using motor imagery can improve the recognition accuracy and reduce the amount of calculation.

关键词： electroencephalogram(EEG)signal time-frequency cross mutual information(TFCMI) motion imaging common spatial pattern(CSP) support vector machine(SVM)

Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

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Frontiers of Mechanical Engineering 2022年第2期17卷 71-84页

作者： Peng CHEN Tingwen YUAN Yi YU Yuwang LIU 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 School of Mechanical Engineering Northeastern UniversityShenyang 110000China

Owing to their inherent great flexibility, good compliance, excellent adaptability, and safe interactivity, soft robots have shown great application potential. The advantages of light weight, high efficiency, non-polluting characteristic, and environmental adaptability provide pneumatic soft robots an important position in the field of soft robots. In this paper, a soft robot with 10 soft modules, comprising three uniformly distributed endoskeleton pneumatic artificial muscles, was developed. The robot can achieve flexible motion in 3D space. A novel kinematic modeling method for variable-curvature soft robots based on the minimum energy method was investigated, which can accurately and efficiently analyze forward and inverse kinematics. Experiments show that the robot can be controlled to move to the desired position based on the proposed model. The prototype and modeling method can provide a new perspective for soft robot design, modeling, and control.

关键词： pneumatic artificial muscles soft robot modeling approach principle of virtual work external load

The hydrodynamics of self-rolling locomotion driven by the flexible pectoral fins of 3-D bionic dolphin

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Journal of Ocean Engineering and Science 2022年第1期7卷 29-40页

作者： Zhihan Li Dan Xia Xufeng Zhou Jiabo Cao Weishan Chen Xingsong Wang School of Mechanical Engineering Southeast UniversityNanjing 211189China State Key laboratory of robotics and System Harbin Institute of TechnologyHarbin 150080China

The novel autonomous rolling performance is realized by the pair of pectoral fins of a three-dimensional(3-D)bionic dolphin in this paper numerically.3-D Navier-Stokes equations are employed to simulate the viscous fluid around the bionic *** effect of self-rolling manoeuvrability is ex-plored using the dynamic mesh technology and user-defined function(UDF).By varying the parameter ratios,the interaction of flexible pectoral fins is divided into two motion modes,amplitude differential and frequency differential *** the primary driving source,the differential motion of a pair of pec-toral fins can effectively provide the rolling torque,and the trajectory of the entire rolling process is approximately the clockwise *** results demonstrate that the rolling angular velocity and driving torque in the steady state can be improved by increasing parameter ratios,and the rolling efficiency can reach the maximum under the optimal parameter ***,different parameter ratios do not af-fect the rolling radius of the self-rolling *** evolution process around the pair of pectoral fins is shown by the flow structures in self-rolling swimming,reasonably revealing that self-rolling locomotion is produced by the pressure and wake vortices surrounding the pair of pectoral fins,and the wake struc-tures depend primarily on the variation of parameter *** properly turns out that the application of the pair of pectoral fins can realize the self-rolling performance through parameter differential modes.

关键词： Self-rolling dolphin Parameter differential mode Numerical simulation Hydrodynamic performance Flow structures

A survey of the pursuit-evasion problem in swarm intelligence

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信息与电子工程前沿:英文版 2023年第8期24卷 1093-1116页

作者： Zhenxin MU Jie PAN Ziye ZHOU Junzhi YU Lu CAO State Key laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China National Innovation Institute of Defense Technology Beijing 100071China

For complex functions to emerge in artificial systems,it is important to understand the intrinsic mechanisms of biological swarm behaviors in *** this paper,we present a comprehensive survey of pursuit–evasion,which is a critical problem in biological ***,we review the problem of pursuit–evasion from three different perspectives:game theory,control theory and artificial intelligence,and bio-inspired *** we provide an overview of the research on pursuit–evasion problems in biological systems and artificial *** summarize predator pursuit behavior and prey evasion behavior as predator–prey ***,we analyze the application of pursuit–evasion in artificial systems from three perspectives,i.e.,strong pursuer group *** evader group,weak pursuer group *** evader group,and equal-ability ***,relevant prospects for future pursuit–evasion challenges are *** survey provides new insights into the design of multi-agent and multi-robot systems to complete complex hunting tasks in uncertain dynamic scenarios.

关键词： Swarm behavior Pursuit-evasion Artificial systems Biological model Collective motion

Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

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Frontiers of Mechanical Engineering 2023年第4期18卷 119-130页

作者： Yuwang LIU Wenping SHI Peng CHEN Yi YU Dongyang ZHANG Dongqi WANG State Key laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Mechanical Engineering Northeastern UniversityShenyang 110000China University of Chinese Academy of Sciences Beijing 100049China

Soft arms have shown great application potential because of their flexibility and compliance in unstructured ***,soft arms made from soft materials exhibit limited cargo-loading capacity,which restricts their ability to manipulate *** this research,a novel soft arm was developed by coupling a rigid origami exoskeleton with soft *** joint module of the soft arm was composed of a deployable origami exoskeleton and three soft *** motion and load performance of the soft arm of the eight-joint module was *** developed soft arm withstood at least 5 kg of load during extension,contraction,and bending motions;exhibited bistable characteristics in both fully contracted and fully extended states;and achieved a bending angle of more than 240°and a contraction ratio of more than 300%.In addition,the high extension,contraction,bending,and torsional stiffnesses of the soft arm were experimentally demonstrated.A kinematic-based trajectory planning of the soft arm was performed to evaluate its error in repetitive *** work will provide new design ideas and methods for flexible manipulation applications of soft arms.

关键词： pneumatic soft arm soft airbag deployable origami exoskeleton bistable characteristics cargoloading capacity

Application of Optimal-Jerk Trajectory Planning in Gait-balance Training Robot

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Chinese Journal of Mechanical Engineering 2022年第1期35卷 50-61页

作者： Fu Yuan Diansheng Chen Chenghang Pan Jun Du Xiaodong Wei Min Wang robotics Institute Mechanical Engineering and AutomationBeihang UniversityBeijing 100191China

To accommodate the gait and balance disorder of the elderly with age progression and the occurrence of various senile diseases,this paper proposes a novel gait balance training robot(G-Balance)based on a six degree-of-freedom parallel *** the platform movement and IMU wearable sensors,two training modes,i.e.,active and passive,are developed to achieve vestibular *** reality technology is applied to achieve visual *** the active training mode,the elderly actively exercises to control the posture change of the platform and the switching of the virtual *** the passive training mode,the platform movement is combined with the virtual scene to simulate bumpy environments,such as earthquakes,to enhance the human anti-interference *** achieve a smooth switching of the scene,continuous speed and acceleration of the platform motion are required in some scenarios,in which a trajectory planning algorithm is *** paper describes the application of the trajectory planning algorithm in the balance training mode and the optimization of jerk(differential of acceleration)based on cubic spline planning,which can reduce impact on the joint and enhance stability.

关键词： Gait and balance training robot Balance training mode Optimal trajectory planning

Snake-worm: A Bi-modal Locomotion Robot

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Journal of Bionic Engineering 2022年第5期19卷 1272-1287页

作者： Zhouwei Du Hongbin Fang Jian Xu School of Aerospace Engineering and Applied Mechanics Tongji UniversityShanghai 200092China Institute of AI and robotics Fudan UniversityShanghai 200433China Engineering Research Center of AI and robotics Ministry of EducationFudan UniversityShanghai 20043China Shanghai Engineering Research Center of AI and robotics Fudan UniversityShanghai 200433China

Inspired by the morphology characteristics and the locomotion mechanisms of the earthworm,and the snakes’morphology characteristics and motivated by the demands for multi-modal locomotion robots in variable working environments,this paper presents a novel bi-modal robot named as Snake-Worm Locomotion Robot(SWL-Robot).Two fundamentally different locomotion mechanisms,the earthworm’s peristaltic rectilinear locomotion and the snake’s lateral undulation,are synthesized in the SWL-Robot *** detail,the SWL-Robot consists of six earthworm-like body segments interconnected by rotational joints and a head segment equipped with a couple of independently driven *** actuating the segments following a peristaltic wave-like gait,the robot as a whole could perform earthworm-like rectilinear *** robot could also perform snake-like undulatory locomotion driven by differential motions of the wheels at the head *** understand the relationship between the design parameters and the robotic locomotion performance,kinematic models of the SWL-Robot corresponding to the two locomotion modes are *** locomotion behaviors of the SWL-Robot are achieved,including the peristaltic locomotion inside a tube,multiple planar motions on a flat surface,and a hybrid motion that switches between the tube and the flat *** shows that the measured trajectories of the SWL-Robot agree well with the theoretical *** SWL-Robot is promising to be implemented in tasks where both tubular and flat environments may be encountered.

关键词： Multi-modal locomotion Peristaltic locomotion Planar locomotion Worm-like robot Snake-like robot

Locomotion control of a rigid-soft coupled snake robot in multiple environments

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Biomimetic Intelligence & robotics 2024年第2期4卷 12-23页

作者： Xuanyi Zhou Yuqiu Zhang Zhiwei Qiu Zhecheng Shan Shibo Cai Guanjun Bao College of Mechanical Engineering Zhejiang University of TechnologyHangzhou 310023China State Key laboratory of Chemical Engineering College of Chemicaland Bioogical EngineringZhejiang UniverstyHangzhou 310027China College of Biomedical Science and Engineering South China University of TechnologyGuangzhou 510000China

The versatile motion capability of snake robots offers themselves robust adaptability in varieties of challenging environments where traditional robots may be *** study reports a novel flexible snake robot featuring a rigid-flexible coupling structure and multiple motion *** better understand the robot's behavior,a bending model for the soft actuator is ***,a dynamic model is developed to map the relationship between the input air pressure and joint torque,which is the model base for controlling the robot *** on the wave motion generated by the joint coupling direction function in different planes,multiple motion gait planning methods of the snake-like robot are *** order to evaluate the adaptability and maneuverability of the developed snake robot,extensive experiments were conducted in complex *** results demonstrate the robot's effectiveness in navigating through intricate settings,underscoring its potential for applications in various fields.

关键词： Snake robot Rigid-flexible coupled Soft actuator motion gait analysis

Towards semi-supervised myoelectric finger motion recognition based on spatial motor units activation

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Science China(Technological Sciences) 2022年第6期65卷 1232-1242页

作者： GUO WeiChao WANG Mian SHENG XinJun ZHU XiangYang State Key laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Meta robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China

It is vital to recognize the intention of finger motions for human-machine interaction(HMI).The latest research focuses on fine myoelectric control through the decoding of neural motor unit action potential trains(MUAPt) from high-density surface electromyographic(sEMG) ***,the existing EMG decoding algorithms rarely obtain the spatial matching relationship between decoded motion units(MU) and designated muscles,and the control interface can only recognize the trained hand *** this study,a semi-supervised HMI based on MU-muscle matching(MMM) is proposed to recognize individual finger motions and even the untrained combined multi-finger *** automatic channel selection from high-density s EMG signals,the optimal spatial positions to monitor the MU activation of finger muscles are *** tapping experiment is carried out on ten subjects,and the experimental results show that the proposed s EMG decomposition algorithm based on MMM can accurately identify single finger motions with an accuracy of 93.1%±1.4%,which is comparable to that of state-of-the-art pattern recognition ***,the MMM allows unsupervised recognizing the untrained combined multi-finger motions with an accuracy of 73%±3.8%.The outcomes of this study benefit the practical applications of HMI,such as controlling prosthetic hand and virtual keyboard.

关键词： myoelectric control semi-supervised motor units activation channel selection template matching