Search | Engineering

订阅投稿

首页工程期刊工程焦点工程成就工程前沿关于我们 English

资源类型

期刊论文 13

年份

2022 5

2021 2

2019 1

2016 1

2013 1

2011 1

2010 1

2006 1

展开︾

关键词

曲率尺度空间；手部关节；凸包；手形轮廓 1

泰勒级数；关系谱；树突网络；假肢手；机器学习；工程 1

移动作业；混合视觉伺服；眼在手上；全局雅可比；卡尔曼滤波 1

展开︾

检索范围：

排序：展示方式：

Review of hand, foot and mouth disease

Lan-Juan LI MD,

《医学前沿（英文）》 2010年第4卷第2期页码 139-146 doi: 10.1007/s11684-010-0033-6

摘要： Hand, foot and mouth disease (HFMD) is an acute viral illness that primarily affects infants and young children, and often occurs in clusters or outbreaks. The major causative agents of HFMD are coxsackievirus A16 (CVA16), human enterovirus 71 (HEV71) and coxsackievirus A10 (CVA10), of the genus in the family Picornaviridae. HFMD caused by EV71 is associated with severe neurological complications and death. Since the late 1990s, several major epidemics of EV71 HFMD have swept through the Asia-Pacific region, associated with a rapid fulminant course, severe neurological complications, and a large number of fatalities. Until now, little has been known about the genetics and transmission trends of the fast-mutation virus, and there is no effective and specific antiviral therapy or vaccine for HFMD. It is time to step up efforts to understand the molecular epidemics and pathogenesis so that we can develop effective management strategies and surveillance programs.

关键词： hand foot and mouth disease epidemiology pathogenesis management surveillance

HTML PDF 收藏

The influence of hand hole on the ultimate strength and crack pattern of shield tunnel segment joints

Shaochun WANG, Xi JIANG, Yun BAI

《结构与土木工程前沿（英文）》 2019年第13卷第5期页码 1200-1213 doi: 10.1007/s11709-019-0546-2

摘要： With the shield tunnel going deeper and deeper, the circumferential axial force becomes the governing factor rather than the bending moment. The hand hole acts as a weak point and initial damage in the segment joint especially when the circumferential axial force is extremely high. Despite the wide application of steel fiber or synthetic fiber in the tunneling, limited researches focus on the structural responses of segment joint with macro structural synthetic fiber (MSSF). In this paper, a 1:2 reduced-scale experiment was conducted to study the structural performance of the segment joint with different types of hand holes under ultra-high axial force. Special attention is paid to failure mode and structural performance (bearing capacity, deformation, cracking, and toughness). Moreover, segment joints with MSSF are also tested to evaluate the effects of MSSF on the failure mode and structural performance of the segment joints. The experiment results show that the hand hole becomes the weakest point of the segment joint under ultra-high axial force. A \ /-type crack pattern is always observed before the final failure of the segment joints. Different types and sizes of the hand hole have different degree of influences on the structural behavior of segment joints. The segment joint with MSSF shows higher ultimate bearing capacity and toughness compared to segment joint with common concrete. Besides, the MSSF improves the initial cracking load and anti-spallling resistance of the segment joint.

关键词： shield tunneling structural synthetic fiber concrete hand hole segment joint ultimate bearing capacity crack pattern

HTML PDF 收藏

Development of a novel hand−eye calibration for intuitive control of minimally invasive surgical robot

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-022-0698-y

摘要： Robotic-assisted surgical system has introduced a powerful platform through dexterous instrument and hand−eye coordination intuitive control. The knowledge of laparoscopic vision is a crucial piece of information for robot-assisted minimally invasive surgery focusing on improved surgical outcomes. Obtaining the transformation with respect to the laparoscope and robot slave arm frames using hand−eye calibration is essential, which is a key component for developing intuitive control algorithm. We proposed a novel two-step modified dual quaternion for hand−eye calibration in this study. The dual quaternion was exploited to solve the hand−eye calibration simultaneously and powered by an iteratively separate solution. The obtained hand−eye calibration result was applied to the intuitive control by using the hand−eye coordination criterion. Promising simulations and experimental studies were conducted to evaluate the proposed method on our surgical robot system. We extensively compared the proposed method with state-of-the-art methods. Results demonstrate this method can improve the calibration accuracy. The effectiveness of the intuitive control algorithm was quantitatively evaluated, and an improved hand−eye calibration method was developed. The relationship between laparoscope and robot kinematics can be established for intuitive control.

关键词： minimally invasive surgery hand−eye calibration intuitive control surgical robot dual quaternion

HTML PDF 收藏

A novel shape memory alloy actuated soft gripper imitated hand behavior

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0700-8

摘要： The limited length shrinkage of shape memory alloy (SMA) wire seriously limits the motion range of SMA-based gripper. In this paper, a new soft finger without silicone gel was designed based on pre bent SMA wire, and the finger was back to its original shape by heating SMA wire, rather than relying only on heat exchange with the environment. Through imitating palm movement, a structure with adjustable spacing between fingers was made using SMA spring and rigid spring. The hook structure design at the fingertip can form self-locking to further improve the load capacity of gripper. Through the long thin rod model, the relationship of the initial pre bent angle on the bending angle and output force of the finger was analyzed. The stress-strain model of SMA spring was established for the selection of rigid spring. Three grasping modes were proposed to adapt to the weight of the objects. Through the test of the gripper, it was proved that the gripper had large bending amplitude, bending force, and response rate. The design provides a new idea for the lightweight design and convenient design of soft gripper based on SMA.

关键词： shape memory alloy (SMA) pre bent wire gripper grasping mode lightweight

HTML PDF 收藏

A virtual reality system for arm and hand rehabilitation

Zhiqiang LUO, Chee Kian LIM, I-Ming CHEN, Song Huat YEO

《机械工程前沿（英文）》 2011年第6卷第1期页码 23-32 doi: 10.1007/s11465-011-0202-6

摘要：

This paper presents a virtual reality (VR) system for upper limb rehabilitation. The system incorporates two motion track components, the Arm Suit and the Smart Glove which are composed of a range of the optical linear encoders (OLE) and the inertial measurement units (IMU), and two interactive practice applications designed for driving users to perform the required functional and non-functional motor recovery tasks. We describe the technique details about the two motion track components and the rational to design two practice applications. The experiment results show that, compared with the marker-based tracking system, the Arm Suit can accurately track the elbow and wrist positions. The repeatability of the Smart Glove on measuring the five fingers’ movement can be satisfied. Given the low cost, high accuracy and easy installation, the system thus promises to be a valuable complement to conventional therapeutic programs offered in rehabilitation clinics and at home.

关键词： motion tracking rehabilitation optical linear encoder (OLE) virtual reality

HTML PDF 收藏

使用曲率尺度空间描述符从单眼深度图像中提取手关节

Shao-fan WANG,Chun LI,De-hui KONG,Bao-cai YIN

《信息与电子工程前沿（英文）》 2016年第17卷第1期页码 41-54 doi: 10.1631/FITEE.1500126

摘要：

我们提出了使用曲率标度空间（CSS）描述符从单眼深度图像中进行手关节检测的框架。我们从输入的深度图像中提取手部轮廓，并使用轮廓的修改CSS映射的局部极值获得轮廓的指尖和手指谷。然后我们根据轮廓内部点深度的局部变化恢复未检测到的指尖。与使用角度检测器或凸包检测器的传统基于外观的方法相比，修改后的CSS描述符可以更精确地提取指尖和手指谷，因为它对嘈杂或损坏的数据更可靠；此外，深度的局部极值可以恢复指尖不能很好地弯曲手指，而传统的基于外观的方法在不匹配手模型的情况下几乎无法工作。实验结果表明，与三种基于外观的最先进方法相比，我们的方法能够更精确地捕获手部关节。

关键词：曲率尺度空间；手部关节；凸包；手形轮廓

HTML PDF 收藏

Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-022-0696-0

摘要： The loss of hand functions in upper limb amputees severely restricts their mobility in daily life. Wearing a humanoid prosthetic hand would be an effective way of restoring lost hand functions. In a prosthetic hand design, replicating the natural and dexterous grasping functions with a few actuators remains a big challenge. In this study, a function-oriented optimization design (FOD) method is proposed for the design of a tendon-driven humanoid prosthetic hand. An optimization function of different functional conditions of full-phalanx contact, total contact force, and force isotropy was constructed based on the kinetostatic model of a prosthetic finger for the evaluation of grasping performance. Using a genetic algorithm, the optimal geometric parameters of the prosthetic finger could be determined for specific functional requirements. Optimal results reveal that the structure of the prosthetic finger is significantly different when designed for different functional requirements and grasping target sizes. A prosthetic finger was fabricated and tested with grasping experiments. The mean absolute percentage error between the theoretical value and the experimental result is less than 10%, demonstrating that the kinetostatic model of the prosthetic finger is effective and makes the FOD method possible. This study suggests that the FOD method enables the systematic evaluation of grasping performance for prosthetic hands in the design stage, which could improve the design efficiency and help prosthetic hands meet the design requirements.

关键词： function-oriented tendon driven prosthetic hand optimization humanoid underactuated

HTML PDF 收藏

Superunderactuated Multifingered Hand for Humanoid Robot

ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei

《机械工程前沿（英文）》 2006年第1卷第1期页码 33-39 doi: 10.1007/s11465-005-0015-6

摘要：

A novel underactuated finger mechanism was designed. Finger mechanism was incorporated into a humanoid robot hand to obtain more degrees of freedom with less actuators and good grasping functions with shape adaptation, therefore decreasing the requirements for the control system. A novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based on a previous underactuated finger mechanism. The TH-2 Hand was attached to a humanoid robot because of its high personification, superunderactuation, compactness, easy real-time control, small volume, light weight, and strong grasping function.

关键词： control real-time control superunderactuation TH-2 personification

HTML PDF 收藏

SAP30-2:1 is downregulated in congenital heart disease and regulates cell proliferation by targeting HAND2

Jing Ma, Shiyu Chen, Lili Hao, Wei Sheng, Weicheng Chen, Xiaojing Ma, Bowen Zhang, Duan Ma, Guoying Huang

《医学前沿（英文）》 2021年第15卷第1期页码 91-100 doi: 10.1007/s11684-020-0778-5

摘要： Congenital heart disease (CHD) is the most common birth defect worldwide. Long non-coding RNAs (lncRNAs) have been implicated in many diseases. However, their involvement in CHD is not well understood. This study aimed to investigate the role of dysregulated lncRNAs in CHD. We used Gene Expression Omnibus data mining, bioinformatics analysis, and analysis of clinical tissue samples and observed that the novel lncRNA SAP30-2:1 with unknown function was significantly downregulated in damaged cardiac tissues from patients with CHD. Knockdown of lncRNA SAP30-2:1 inhibited the proliferation of human embryonic kidney and AC16 cells and decreased the expression of heart and neural crest derivatives expressed 2 (HAND2). Moreover, lncRNA SAP30-2:1 was associated with HAND2 by RNA immunoprecipitation. Overall, these results suggest that lncRNA SAP30-2:1 may be involved in heart development through affecting cell proliferation via targeting HAND2 and may thus represent a novel therapeutic target for CHD.

关键词： congenital heart disease Gene Expression Omnibus lncRNA SAP30-2:1 cell proliferation RNA immunoprecipitation HAND2

HTML PDF 收藏

Progress on the research and development of human enterovirus 71 (EV71) vaccines

null

《医学前沿（英文）》 2013年第7卷第1期页码 111-121 doi: 10.1007/s11684-012-0237-z

摘要：

Enterovirus 71 (EV71) infections, which can cause severe complications, have become one of the serious public health issues in the Western Pacific region and China. To date, a number of pharmaceutical companies and institutes have initiated the research and development of EV71 vaccines as a countermeasure. As is the case with innovative vaccine development, there are several critical bottlenecks in EV71 vaccine development that must be overcome before the clinical trials, including the selection of vaccine strain, standardization of the procedure for quantifying neutralizing antibody (NTAb) and antigen, establishment and application of a reference standard and biological standards, development of animal models for the evaluation of protective efficacy, and identification of the target patient population. To tackle these technical obstacles, researchers in Mainland of China have conducted a series of studies concerning the screening of vaccine strains and the establishment of criteria, biological standards and detection methods, thereby advancing EV71 vaccine development. This review summarizes recent worldwide progress on the quality control and evaluation of EV71 vaccines.

关键词： enterovirus 71 (EV71) hand foot and mouth disease (HFMD) vaccine

HTML PDF 收藏

Mechanical design, modeling, and identification for a novel antagonistic variable stiffness dexterous finger

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-022-0691-5

摘要： This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous finger mechanism to improve the safety of dexterous hand in unpredictable environments, such as unstructured or man-made operational errors through comprehensive consideration of cost, accuracy, manufacturing, and application. Based on the concept of mechanical passive compliance, which is widely implemented in robots for interactions, a finger is dedicated to improving mechanical robustness. The finger mechanism not only achieves passive compliance against physical impacts, but also implements the variable stiffness actuator principle in a compact finger without adding supererogatory actuators. It achieves finger stiffness adjustability according to the biologically inspired stiffness variation principle of discarding some mobilities to adjust stiffness. The mechanical design of the finger and its stiffness adjusting methods are elaborated. The stiffness characteristics of the finger joint and the actuation unit are analyzed. Experimental results of the finger joint stiffness identification and finger impact tests under different finger stiffness presets are provided to verify the validity of the model. Fingers have been experimentally proven to be robust against physical impacts. Moreover, the experimental part verifies that fingers have good power, grasping, and manipulation performance.

关键词： multifingered hand mechanism design robot safety variable stiffness actuator

HTML PDF 收藏

继承泰勒级数的关系谱分析：手部肌肉协同与耦合 Research Article

刘刚,王晶

《信息与电子工程前沿（英文）》 2022年第23卷第1期页码 145-157 doi: 10.1631/FITEE.2000578

摘要：数学中有两种著名的函数分解方法：泰勒级数和傅里叶级数。傅里叶级数发展成为傅里叶频谱，用于信号分解和分析；而泰勒级数的求解需要已知具体函数表达式，所以其在工程领域很少被应用。本文使用树突网络发展了泰勒级数，构造了关系谱，并将其应用于模型或系统分解和分析。了解肌肉激活与手指运动之间的直观联系对于开发无需用户预训练的商业假肢至关重要。然而，由于人手的复杂性，该直观联系尚未被理解。本文使用关系谱分析了肌肉—手指系统。在手指运动中，一块肌肉同时驱动多个手指，多块肌肉同时驱动一个手指。因此，本研究聚焦于手部的肌肉协同与耦合。本文有两个主要贡献：（1）有关手部的发现有助于假肢手的设计；（2）关系谱使在线模型可读，从而统一了在线性能和离线结果。开源代码见https://github.com/liugang1234567/Gang-neuron。

关键词：泰勒级数；关系谱；树突网络；假肢手；机器学习；工程

HTML PDF 收藏

一种同时控制非完整约束底盘和机械臂的混合视觉伺服方法 Research Articles

李玮,熊蓉

《信息与电子工程前沿（英文）》 2021年第22卷第2期页码 141-286 doi: 10.1631/FITEE.1900460

摘要：视觉伺服控制规则是指利用机器人上所安装相机获取的图像数据进行机器人运动规划的控制方法，通常分为基于图像的视觉伺服、基于位置的视觉伺服和混合视觉伺服（HVS）控制规则。移动操作可扩大机械臂的工作范围和灵活性，但目前将视觉伺服控制应用于完整移动作业机器人运动的研究较少。本文提出一种面向6自由度机械臂与非完整移动基座组合构成的移动操作机器人HVS运动控制方法。基于移动操作机器人的运动学微分方程，推导了整个机器人的全局雅可比矩阵，进而结合位置信息和视觉图像信息推导了HVS控制方程。夹持器和目标之间的距离是通过安装在夹持器上的摄像机观察标记来计算的，并计算了在图像坐标系中标记特征点位置与期望位置之间的差异。将这些差异代入控制方程，可得到移动操作机器人各自由度的速度控制规律。为避免由观测引起的位置误差，引入卡尔曼滤波来校正机械臂末端的位置和方向。最后，在一台由Bulldog底盘、UR5机械臂和ZED相机组成的移动操作平台上进行了实验验证。

关键词：移动作业；混合视觉伺服；眼在手上；全局雅可比；卡尔曼滤波

HTML PDF 收藏

标题作者时间类型操作

Review of hand, foot and mouth disease

Lan-Juan LI MD,

期刊论文

The influence of hand hole on the ultimate strength and crack pattern of shield tunnel segment joints

Shaochun WANG, Xi JIANG, Yun BAI

期刊论文

Development of a novel hand−eye calibration for intuitive control of minimally invasive surgical robot

期刊论文

A novel shape memory alloy actuated soft gripper imitated hand behavior