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Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture point theory Research Article

Mei-ying Deng, Zhang-yi Ma, Ying-nan Wang, Han-song Wang, Yi-bing Zhao, Qian-xiao Wei, Wei Yang, Can-jun Yang,ycj@zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 10,   Pages 1322-1330 doi: 10.1631/FITEE.1800777

Abstract: We study the balance problem caused by forward leaning of the wearer’s upper body during rehabilitation training with a lower limb rehabilitation exoskeleton. The instantaneous is obtained by modeling the human-exoskeleton system and using the theory. By comparing the stability region with instantaneous s of different gait phases, the balancing characteristics of different gait phases and changes to the equilibrium state in the gait process are analyzed. Based on a model of the human-exoskeleton system and the condition of balance of different phases, a trajectory correction strategy is proposed for the instability of the human-exoskeleton system caused by forward leaning of the wearer’s upper body. Finally, the reliability of the trajectory correction strategy is verified by carrying out experiments on the Zhejiang University . The proposed trajectory correction strategy can respond to forward leaning of the upper body in a timely manner. Additionally, in the process of the center of gravity transferred from a double-support phase to a single-support phase, the ratio of gait cycle to zero moment point transfer is reduced correspondingly, and the gait stability is improved.

Keywords： 下肢机器人；捕获点；步态相位；人机系统平衡    

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DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking Article

Hongfei Wang, Shimeng Li, Yuan F. Zheng

Engineering 2015, Volume 1, Issue 1,   Pages 36-45 doi: 10.15302/J-ENG-2015006

Abstract:

In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency (DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge. As members of team DRC-HUBO, we propose different approaches for the Rough-Terrain task, such as enlarged foot pedals and a transformation into quadruped walking. We also introduce a new gait for humanoid robot locomotion to improve stability performance, called the Ski-Type gait. We analyze the stability performance of this gait and use the stability margin to choose between two candidate step sequences, Crawl-1 and Crawl-2. Next, we perform a force/torque analysis for the redundant closed-chain system in the Ski-Type gait, and determine the joint torques by minimizing the total energy consumption. Based on the stability and force/torque analysis, we design a cane length to support a feasible and stable Crawl-2 gait on the HUBO2 humanoid robot platform. Finally, we compare our experimental results with biped walking to validate the Ski-Type gait. We also present our team performance in the trials of the Robotics Challenge.

Keywords： humanoid robot     DARPA robotics challenge (DRC)     rough-terrain walking     Ski-Type gait    

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

Jiaqi WANG, Yongzhuo GAO, Dongmei WU, Wei DONG,wangjq@hit.edu.cn,gaoyongzhuo@hit.edu.cn,wdm@hit.edu.cn,dongwei@hit.edu.cn

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 1,   Pages 104-116 doi: 10.1631/FITEE.2200065

Abstract: As a wearable robot, an exoskeleton provides a direct transfer of mechanical power to assist or augment the wearer’s movement with an anthropomorphic configuration. When an exoskeleton is used to facilitate the wearer’s movement, a motion generation process often plays an important role in high-level control. One 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 situations. In this paper, we first describe a novel motion modeling method based on probabilistic (ProMP) for a , which is a new and powerful representative tool for generating motion trajectories. To adapt the trajectory to different situations when the exoskeleton is used by different wearers, we propose a novel scheme based on (BBO) PI combined with ProMP. The motion model is first learned by ProMP offline, which can generate reference trajectories for use by exoskeleton controllers online. PI is adopted to learn and update the model for online , which provides the capability of adaptation of the system and eliminates the effects of uncertainties. Simulations and experiments involving six subjects using the HEXO demonstrate the effectiveness of the proposed methods.

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

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Human–Robot Collaboration Framework Based on Impedance Control in Robotic Assembly Article

Xingwei Zhao,Yiming Chen,Lu Qian,Bo Tao,Han Ding

Engineering 2023, Volume 30, Issue 11,   Pages 83-92 doi: 10.1016/j.eng.2022.08.022

Abstract:

Human–robot (HR) collaboration (HRC) is an emerging research field because of the complementary advantages of humans and robots. An HRC framework for robotic assembly based on impedance control is proposed in this paper. In the HRC framework, the human is the decision maker, the robot acts as the executor, while the assembly environment provides constraints. The robot is the main executor to perform the assembly action, which has the position control, drag and drop, positive impedance control, and negative impedance control modes. To reveal the characteristics of the HRC framework, the switch condition map of different control modes and the stability analysis of the HR coupled system are discussed. In the end, HRC assembly experiments are conducted, where the HRC assembly task can be accomplished when the assembling tolerance is 0.08 mm or with the interference fit. Experiments show that the HRC assembly has the complementary advantages of humans and robots and is efficient in finishing complex assembly tasks.

Keywords： Human–robot collaboration     Impedance control     Robotic assembly    

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Development of a novel autonomous lower extremity exoskeleton robot forwalking assistance Special Feature on Intelligent Robats

Yong HE, Nan LI, Chao WANG, Lin-qing XIA, Xu YONG, Xin-yu WU

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 3,   Pages 318-329 doi: 10.1631/FITEE.1800561

Abstract:

Today, exoskeletons are widely applied to provide walking assistance for patients with lower limb motor incapacity. Most existing exoskeletons are under-actuated, resulting in a series of problems, e.g., interference and unnatural gait during walking. In this study, we propose a novel intelligent autonomous lower extremity exoskeleton (Auto-LEE), aiming at improving the user experience of wearable walking aids and extending their application range. Unlike traditional exoskeletons, Auto-LEE has 10 degrees of freedom, and all the joints are actuated independently by direct current motors, which allows the robot to maintain balance in aiding walking without extra support. The new exoskeleton is designed and developed with a modular structure concept and multi-modal human-robot interfaces are considered in the control system. To validate the ability of self-balancing bipedal walking, three general algorithms for generating walking patterns are researched, and a preliminary experiment is implemented.

Keywords： Lower-limb     Exoskeleton     Self-balancing     Bipedal walking     Modular design    

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Control strategy for gait transition of an underactuated 3Dbipedal robot Research Articles

Hai-hui YUAN, Yi-min GE, Chun-biao GAN

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 8,   Pages 1026-1035 doi: 10.1631/FITEE.1800206

Abstract: Significant research interest has recently been attracted to the study of bipedal robots due to the wide variety of their potential applications. In reality, bipedal robots are often required to perform gait transitions to achieve flexible walking. In this paper, we consider the gait transition of a five-link underactuated three-dimensional (3D) bipedal robot, and propose a two-layer control strategy. The strategy consists of a unique, event-based, feedback controller whose feedback gain in each step is updated by an adaptive control law, and a transition controller that guides the robot from the current gait to a neighboring point of the target gait so that the state trajectory can smoothly converge to the target gait. Compared with previous works, the transition controller is parameterized and its control parameters are obtained by solving an optimization problem to guarantee the physical constraints in the transition process. Finally, the effectiveness of the control strategy is illustrated on the underactuated 3D bipedal robot.

Keywords： Gait transition     Underactuated three-dimensional biped     Event-based feedback controller     Adaptive control law    

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From Remotely Operated Vehicles to Autonomous Undersea Vehicles

Feng Xisheng

Strategic Study of CAE 2000, Volume 2, Issue 12,   Pages 29-33

Abstract:

A clear definition and a very fine classification of the unmanned undersea vehicles are given in this paper. Following a brief introduction of the advances on the unmanned undersea vehicles the paper points out that the autonomous underwater vehicles at present is a hot spot in the research realm of the unmanned undersea vehicles. This paper describes the research and development achievements pertinent to the unmanned undersea vehicles in Shenyang Institute of Automation (SIA), Chinese Academy of Sciences with the cooperation of organizations home and abroad in the last two decades. SIA started to be engaged in the research and development of the remotely operated tethered vehicles in the end of 1970's. This paper gives a wide introduction of the critical characteristics and technical descriptions of the first remotely operated tethered vehicle “HR- 01” in China, the first autonomous underwater vehicle “Explorer” and the autonomous underwater vehicle CR-01 (6 000 m).

Keywords： undersea vehicles     ROV     AUV     ocean engineer     ocean resources exploration    

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A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery Article

Zheng Li, Jan Feiling, Hongliang Ren, Haoyong Yu

Engineering 2015, Volume 1, Issue 1,   Pages 73-78 doi: 10.15302/J-ENG-2015011

Abstract:

In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator (CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.

Keywords： surgical robot     flexible manipulator     tendon-driven     minimally invasive robotic surgery    

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A Description Model for Dynamic Evolution of Robot Team Formation

Li Shuqin,Cheng Xianyi,Tang Zhenmin,Yang Jingyu

Strategic Study of CAE 2006, Volume 8, Issue 4,   Pages 28-31

Abstract:

At present, there are some conception confusions about organization, team and group, and also team formation is still in qualitative analysis phase in multi-robot field. The paper, using Markov course and evolution calculation theory for reference, researches the difference between team and organization in conception and the formation mechanism of robot team from cooperative entity layer and ability layer. This paper proposes and describes a dynamic evolution model about robot team formation. There hasn't been a similar model at home and abroad now. The model can not only wholly describe robot team, but also quantitatively describe dynamical evolution course of the team formation.

Keywords： robot     robot team     dynamical evolution    

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Selective and Independent Control of Microrobots in a Magnetic Field: A Review Review

Min Wang, Tianyi Wu, Rui Liu, Zhuoran Zhang, Jun Liu

Engineering 2023, Volume 24, Issue 5,   Pages 21-38 doi: 10.1016/j.eng.2023.02.011

Abstract:

Due to the unique advantages of untethered connections and a high level of safety, magnetic actuation is a commonly used technique in microrobotics for propelling microswimmers, manipulating fluidics, and navigating medical devices. However, the microrobots or actuated targets are exposed to identical and homogeneous driving magnetic fields, which makes it challenging to selectively control a single robot or a specific group among multiple targets. This paper reviews recent advances in selective and independent control for multi-microrobot or multi-joint microrobot systems driven by magnetic fields. These selective and independent control approaches decode the global magnetic field into specific configurations for the individualized actuation of multiple microrobots. The methods include applying distinct properties for each microrobot or creating heterogeneous magnetic fields at different locations. Independent control of the selected targets enables the effective cooperation of multiple microrobots to accomplish more complicated operations. In this review, we provide a unique perspective to explain how to manipulate individual microrobots to achieve a high level of group intelligence on a small scale, which could help accelerate the translational development of microrobotic technology for real-life applications.

Keywords： Microrobot     Magnetic microrobot     Independent control     Selective control     Microrobotic manipulation    

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Warehouse automation by logistic robotic networks: a cyber-physical control approach Tutorial

Kai Cai,kai.cai@eng.osaka-cu.ac.jp

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 5,   Pages 649-808 doi: 10.1631/FITEE.2000156

Abstract: In this paper we provide a tutorial on the background of using and survey relevant work in the literature. We present a new cyber-physical control method that achieves safe, deadlock-free, efficient, and adaptive behavior of multiple robots serving the goods-to-man logistic operations. A central piece of this method is the incremental supervisory control design algorithm, which is computationally scalable with respect to the number of robots. Finally, we provide a case study on 30 robots with changing conditions to demonstrate the effectiveness of the proposed method.

Keywords： 离散事件系统；信息物理系统；机器人网络；仓库自动化；物流    

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Robotics: From Automation to Intelligent Systems

Eduardo Nebot

Engineering 2018, Volume 4, Issue 4,   Pages 446-448 doi: 10.1016/j.eng.2018.07.018

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Development and Future Challenges of Bio-Syncretic Robots Review

Chuang Zhang,Wenxue Wang,Ning Xi,Yuechao Wang,Lianqing Liu

Engineering 2018, Volume 4, Issue 4,   Pages 452-463 doi: 10.1016/j.eng.2018.07.005

Abstract:

Bio-syncretic robots consisting of both living biological materials and non-living systems possess desirable attributes such as high energy efficiency, intrinsic safety, high sensitivity, and self-repairing capabilities. Compared with living biological materials or non-living traditional robots based on electromechanical systems, the combined system of a bio-syncretic robot holds many advantages. Therefore, developing bio-syncretic robots has been a topic of great interest, and significant progress has been achieved in this area over the past decade. This review systematically summarizes the development of bio-syncretic robots. First, potential trends in the development of bio-syncretic robots are discussed. Next, the current performance of bio-syncretic robots, including simple movement and controllability of velocity and direction, is reviewed. The living biological materials and non-living materials that are used in bio-syncretic robots, and the corresponding fabrication methods, are then discussed. In addition, recently developed control methods for bio-syncretic robots, including physical and chemical control methods, are described. Finally, challenges in the development of bio-syncretic robots are discussed from multiple viewpoints, including sensing and intelligence, living and non-living materials, control approaches, and information technology.

Keywords： Bio-syncretic robot     Hybrid robot     Bio-actuator     Cardiomyocyte     Muscle cells    

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Architecture and Software Design for a Service Robot in an Elderly-Care Scenario Article

Norman Hendrich, Hannes Bistry, Jianwei Zhang

Engineering 2015, Volume 1, Issue 1,   Pages 27-35 doi: 10.15302/J-ENG-2015007

Abstract:

Systems for ambient assisted living (AAL) that integrate service robots with sensor networks and user monitoring can help elderly people with their daily activities, allowing them to stay in their homes and live active lives for as long as possible. In this paper, we outline the AAL system currently developed in the European project Robot-Era, and describe the engineering aspects and the service-oriented software architecture of the domestic robot, a service robot with advanced manipulation capabilities. Based on the robot operating system (ROS) middleware, our software integrates a large set of advanced algorithms for navigation, perception, and manipulation. In tests with real end users, the performance and acceptability of the platform are evaluated.

Keywords： service robots     ambient assisted living     manipulation and grasping     user study    

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Cross-industry standard test method developments: from manufacturing to wearable robots Review

Roger BOSTELMAN, Elena MESSINA, Sebti FOUFOU

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 10,   Pages 1447-1457 doi: 10.1631/FITEE.1601316

Abstract: Manufacturing robotics is moving towards human-robot collaboration with light duty robots being used side by side with workers. Similarly, exoskeletons that are both passive (spring and counterbalance forces) and active (motor forces) are worn by humans and used to move body parts. Exoskeletons are also called ‘wearable robots’ when they are actively controlled using a computer and integrated sensing. Safety standards now allow, through risk assessment, both manufacturing and wearable robots to be used. However, performance standards for both systems are still lacking. Ongoing research to develop standard test methods to assess the performance of manufacturing robots and emergency response robots can inspire similar test methods for exoskeletons. This paper describes recent research on performance standards for manufacturing robots as well as search and rescue robots. It also discusses how the performance of wearable robots could benefit from using the same test methods.

Keywords： Wearable robot     Exoskeleton     Cross-industry     Artifact     Standards     Grasping    

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Title Author Date Type Operation

Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture point theory

Mei-ying Deng, Zhang-yi Ma, Ying-nan Wang, Han-song Wang, Yi-bing Zhao, Qian-xiao Wei, Wei Yang, Can-jun Yang,ycj@zju.edu.cn

Journal Article

DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking

Hongfei Wang, Shimeng Li, Yuan F. Zheng

Journal Article

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

Jiaqi WANG, Yongzhuo GAO, Dongmei WU, Wei DONG,wangjq@hit.edu.cn,gaoyongzhuo@hit.edu.cn,wdm@hit.edu.cn,dongwei@hit.edu.cn

Journal Article

Human–Robot Collaboration Framework Based on Impedance Control in Robotic Assembly

Xingwei Zhao,Yiming Chen,Lu Qian,Bo Tao,Han Ding

Journal Article

Development of a novel autonomous lower extremity exoskeleton robot forwalking assistance

Yong HE, Nan LI, Chao WANG, Lin-qing XIA, Xu YONG, Xin-yu WU

Journal Article

Control strategy for gait transition of an underactuated 3Dbipedal robot

Hai-hui YUAN, Yi-min GE, Chun-biao GAN

Journal Article

From Remotely Operated Vehicles to Autonomous Undersea Vehicles

Feng Xisheng

Journal Article

A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery

Zheng Li, Jan Feiling, Hongliang Ren, Haoyong Yu

Journal Article

A Description Model for Dynamic Evolution of Robot Team Formation

Li Shuqin,Cheng Xianyi,Tang Zhenmin,Yang Jingyu

Journal Article

Selective and Independent Control of Microrobots in a Magnetic Field: A Review

Min Wang, Tianyi Wu, Rui Liu, Zhuoran Zhang, Jun Liu

Journal Article

Warehouse automation by logistic robotic networks: a cyber-physical control approach

Kai Cai,kai.cai@eng.osaka-cu.ac.jp

Journal Article

Robotics: From Automation to Intelligent Systems

Eduardo Nebot

Journal Article

Development and Future Challenges of Bio-Syncretic Robots

Chuang Zhang,Wenxue Wang,Ning Xi,Yuechao Wang,Lianqing Liu

Journal Article

Architecture and Software Design for a Service Robot in an Elderly-Care Scenario

Norman Hendrich, Hannes Bistry, Jianwei Zhang

Journal Article

Cross-industry standard test method developments: from manufacturing to wearable robots

Roger BOSTELMAN, Elena MESSINA, Sebti FOUFOU

Journal Article