资源类型

期刊论文 408

会议视频 23

年份

2023 39

2022 58

2021 40

2020 35

2019 25

2018 24

2017 21

2016 17

2015 25

2014 15

2013 14

2012 10

2011 6

2010 19

2009 16

2008 14

2007 19

2006 6

2005 3

2004 1

展开 ︾

关键词

智能制造 7

农业科学 6

人工智能 4

新一代智能制造 3

人–信息–物理系统 2

人机协作 2

仿生机器人 2

信息技术 2

2020全球工程前沿 1

21世纪 1

N-糖基化 1

ANP 1

BP算法 1

CAD/CAE一体化 1

CFD 1

CO 1

COVID-19 1

DSM（设计结构矩阵） 1

HIFU 1

展开 ︾

检索范围：

排序： 展示方式：

Review of human–robot coordination control for rehabilitation based on motor function evaluation

《机械工程前沿（英文）》 2022年 第17卷 第2期 doi: 10.1007/s11465-022-0684-4

摘要： As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem of insufficient medical resources. One of the main elements of such a human–robot coupling system is a control system to ensure human–robot coordination. This review aims to summarise the development of human–robot coordination control and the associated research achievements and provide insight into the research challenges in promoting innovative design in such control systems. The patients’ functional disorders and clinical rehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robot coordination of lower limb rehabilitation robots. Then, human–robot coordination is discussed in terms of three aspects: modelling, perception and control. Based on the reviewed research, the demand for robotic rehabilitation, modelling for human–robot coupling systems with new structures and assessment methods with different etiologies based on multi-mode sensors are discussed in detail, suggesting development directions of human–robot coordination and providing a reference for relevant research.

关键词： human–robot coupling     lower limb rehabilitation     exoskeleton robot     motor assessment     dynamical model     perception    

HTML PDF 收藏

An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

《机械工程前沿（英文）》 2013年 第8卷 第1期   页码 95-103 doi: 10.1007/s11465-013-0357-4

摘要：

In this paper, an experimental analysis of human straight walking has been presented. Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-based measuring system. This system is adopted because it is capable of both pose and wrench measurements with fairly simple monitoring of operation. By using experimental results, trajectories of a human limb extremity and its posture have been analyzed; forces that are exerted against cables by the limb of a person under test have been measured by force sensors as well. Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait have been proposed.

关键词： human locomotion     walking gait     characterization     humanoid robot     biped robot    

HTML PDF 收藏

基于阻抗控制的人机协作范式研究及其机器人装配应用 Article

赵兴炜, 陈沂洺, 钱璐, 陶波, 丁汉

《工程（英文）》 2023年 第30卷 第11期   页码 83-92 doi: 10.1016/j.eng.2022.08.022

摘要：

人-机器人协作由于人和机器人的优势互补而成为一个新兴的研究领域。本文提出了一种基于阻抗控制人机协作理论框架。在人机理论协框架下，人是决策者，机器人是执行者，装配任务提供环境约束。机器人是执行装配动作的主要执行者，具有位置控制、拖动控制、正阻抗控制和负阻抗控制等方式。为了揭示人机协作框架的特点，本文讨论了不同控制模式的切换条件图和人机协同耦合系统的稳定性分析。最后进行了人机协作装配实验，在装配公差为0.08 mm或配合过盈配合时，均可完成装配任务。实验表明，人机协同装配具有人与机器人的互补优势，能够有效地完成复杂的装配任务。

关键词： 人机协作     阻抗控制     机器人装配    

HTML PDF 收藏

一种应用于功率放大液压驱动外骨骼的基于物理人机交互估计的控制策略 None

Yi LONG, Zhi-jiang DU, Wei-dong WANG, Long HE, Xi-wang MAO, Wei DONG

《信息与电子工程前沿（英文）》 2018年 第19卷 第9期   页码 1076-1085 doi: 10.1631/FITEE.1601667

摘要： 提出安装在外骨骼上的力矩传感器直接获得物理人机交互（physical human-robot interaction，pHRI）力矩信息。

关键词： 外骨骼；物理人机交互；力矩传感器；人体步态；卡尔曼平滑器    

HTML PDF 收藏

通过行为足迹学习人类习惯的个性化服务机器人 Article

李坤, Max Q.-H. Meng

《工程（英文）》 2015年 第1卷 第1期   页码 79-84 doi: 10.15302/J-ENG-2015024

摘要：

对家用的私人机器人来说，个性化服务和预先设计的任务同样重要，因为机器人需要根据操作者的习惯调整住宅状况。为了学习由诱因、行为和回报构成的操作者习惯，本文介绍了行为足迹，以描述操作者在家中的行为，并运用逆向增强学习技巧提取用回报函数代表的操作者习惯。本文用一个移动机器人调节室内温度，来实施这个方法，并把该方法和记录操作者所有诱因和行为的基准办法相比较。结果显示，提出的方法可以使机器人准确揭示操作者习惯，并相应地调节环境状况。

关键词： 个性化机器人     习惯学习     行为足迹    

HTML PDF 收藏

面向人—多机器人协同系统的带记忆强化学习行为控制任务管理器 Research Article

黄捷1,2,3,莫智斌1,2,3,张祯毅1,2,3,陈宇韬1,2,3

《信息与电子工程前沿（英文）》 2022年 第23卷 第8期   页码 1174-1188 doi: 10.1631/FITEE.2100280

摘要： 针对人—多机器人协同系统提出一种基于行为控制框架的带记忆强化学习任务管理器（RLTS）。由于重复的人工干预，现有人—多机器人协同系统决策时间成本高、任务跟踪误差大，限制了多机器人系统的自主性。此外，基于零空间行为控制框架的任务管理器依赖手动制定优先级切换规则，难以在多机器人和多任务情况下实现最优行为优先级调整策略。提出一种带记忆强化学习任务管理器，基于零空间行为控制框架融合深度Q-网络和长短时记忆神经网络知识库，实现任务冲突时最优行为优先级调整策略以及降低人为干预频率。当机器人在紧急情况下置信度不足时，所提带记忆强化学习任务管理器会记忆人类干预历史，在遭遇相同人工干预情况时重新加载历史控制信号。仿真结果验证了该方法的有效性。最后，通过一组受外界噪声和干扰的移动机器人实验，验证了所提带记忆强化学习任务管理器在不确定现实环境中的有效性。

关键词： 人—多机器人协同系统；基于零空间行为控制；任务管理器；强化学习；知识库    

HTML PDF 收藏

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

《机械工程前沿（英文）》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0687-1

摘要： Masticatory robots are an effective in vitro performance testing device for dental material and mandibular prostheses. A cable-driven linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robot that can achieve increasingly human-like chewing motion. The CDLA presents remarkable advantages, such as lightweight and high stiffness structure, in using cable amplification and pulley systems. This work also exploits the proposed CDLA and designs a masticatory robot called Southeast University masticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position change of the muscle’s origin. Stiffness analysis and performance experiment validate the CDLA’s efficiency, with its stiffness reaching 1379.6 N/mm (number of cable parts n = 4), which is 21.4 times the input wire stiffness. Accordingly, the CDLA’s force transmission efficiencies in two directions are 84.5% and 85.9%. Chewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can help SMAR achieve a natural human-like chewing motion and sufficient chewing forces for potential applications in performance tests of dental materials or prostheses.

关键词： masticatory robot     cable-driven     linear actuator     parallel robot     stiffness analysis    

HTML PDF 收藏

中国高速轨道交通空气动力学研究进展及发展思考

田红旗

《中国工程科学》 2015年 第17卷 第4期   页码 30-29

摘要：

阐释了高速铁路联调联试的内涵和必要性，结合我国高速铁路联调联试的工程实践，从轮轨关系、弓网关系、列车空气动力学、车-线-桥耦合等角度，对高速铁路联调联试关键技术进行了分析，对高速铁路联调联试和试验研究取得的主要成果进行了系统性提炼和归纳，给出可供高速铁路建设和运用参考的相关思考和建议。

关键词： 高速铁路；系统试验；联调联试；轮轨关系；弓网关系；车-线-桥；列车空气动力学    

HTML PDF 收藏

Microdamage study of granite under thermomechanical coupling based on the particle flow code

《结构与土木工程前沿（英文）》   页码 1413-1427 doi: 10.1007/s11709-023-0953-2

摘要： The thermomechanical coupling of rocks refers to the interaction between the mechanical and thermodynamic behaviors of rocks induced by temperature changes. The study of this coupling interaction is essential for understanding the mechanical and thermodynamic properties of the surrounding rocks in underground engineering. In this study, an improved temperature-dependent linear parallel bond model is introduced under the framework of a particle flow simulation. A series of numerical thermomechanical coupling tests are then conducted to calibrate the micro-parameters of the proposed model by considering the mechanical behavior of the rock under different thermomechanical loadings. Good agreement between the numerical results and experimental data are obtained, particularly in terms of the compression, tension, and elastic responses of granite. With this improved model, the thermodynamic response and underlying cracking behavior of a deep-buried tunnel under different thermal loading conditions are investigated and discussed in detail.

关键词： thermomechanical coupling effect     granite     improved linear parallel bond model     thermal property     particle flow code    

HTML PDF 收藏

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

《机械工程前沿（英文）》 2021年 第16卷 第2期   页码 271-284 doi: 10.1007/s11465-020-0623-1

摘要： Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

关键词： terrain classification     hexapod robot     legged robot     adaptive locomotion     gait control    

HTML PDF 收藏

Simulation of steel beam under ceiling jet based on a wind–fire–structure coupling model

《结构与土木工程前沿（英文）》 2023年 第17卷 第1期   页码 78-98 doi: 10.1007/s11709-022-0936-8

摘要： For localized fires, it is necessary to consider the thermal and mechanical responses of building elements subject to uneven heating under the influence of wind. In this paper, the thermomechanical phenomena experienced by a ceiling jet and I-beam in a structural fire were simulated. Instead of applying the concept of adiabatic surface temperature (AST) to achieve fluid–structure coupling, this paper proposes a new computational fluid dynamics–finite element method numerical simulation that combines wind, fire, thermal, and structural analyses. First, to analyze the velocity and temperature distributions, the results of the numerical model and experiment were compared in windless conditions, showing good agreement. Vortices were found in the local area formed by the upper and lower flanges of the I-beam and the web, generating a local high-temperature zone and enhancing the heat transfer of convection. In an incoming-flow scenario, the flame was blown askew significantly; the wall temperature was bimodally distributed in the axial direction. The first temperature peak was mainly caused by radiative heat transfer, while the second resulted from convective heat transfer. In terms of mechanical response, the yield strength degradation in the highest-temperature region in windless conditions was found to be significant, thus explaining the stress distribution of steel beams in the fire field. The mechanical response of the overall elements considering the incoming flows was essentially elastic.

关键词： CFD–FEM coupling     steel beam     wind     ceiling jet     numerical heat transfer    

HTML PDF 收藏

Design and modeling of continuum robot based on virtual-center of motion mechanism

《机械工程前沿（英文）》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0739-6

摘要： Continuum robot has attracted extensive attention since its emergence. It has multi-degree of freedom and high compliance, which give it significant advantages when traveling and operating in narrow spaces. The flexural virtual-center of motion (VCM) mechanism can be machined integrally, and this way eliminates the assembly between joints. Thus, it is well suited for use as a continuum robot joint. Therefore, a design method for continuum robots based on the VCM mechanism is proposed in this study. First, a novel VCM mechanism is formed using a double leaf-type isosceles-trapezoidal flexural pivot (D-LITFP), which is composed of a series of superimposed LITFPs, to enlarge its stroke. Then, the pseudo-rigid body (PRB) model of the leaf is extended to the VCM mechanism, and the stiffness and stroke of the D-LITFP are modeled. Second, the VCM mechanism is combined to form a flexural joint suitable for the continuum robot. Finally, experiments and simulations are used to validate the accuracy and validity of the PRB model by analyzing the performance (stiffness and stroke) of the VCM mechanism. Furthermore, the motion performance of the designed continuum robot is evaluated. Results show that the maximum stroke of the VCM mechanism is approximately 14.2°, the axial compressive strength is approximately 1915 N/mm, and the repeatable positioning accuracies of the continuum robot is approximately ±1.47° (bending angle) and ±2.46° (bending direction).

关键词： VCM mechanism     continuum robot     flexural joint     pseudo-rigid body model     cable-driven    

HTML PDF 收藏

儿童与机器人交互过程中的注意力转移：对孤独症谱系障碍儿童的初步临床研究 Special Feature on Intelligent Robats

Guo-bin WAN, Fu-hao DENG, Zi-jian JIANG, Sheng-zhao LIN, Cheng-lian ZHAO, Bo-xun LIU, Gong CHEN, Shen-hong CHEN, Xiao-hong CAI, Hao-bo WANG, Li-ping LI, Ting YAN, Jia-ming ZHANG

《信息与电子工程前沿（英文）》 2019年 第20卷 第3期   页码 374-387 doi: 10.1631/FITEE.1800555

摘要： 在孤独症谱系障碍（autism spectrum disorder，ASD）治疗和康复中，越来越需要引入社会交互式机器人作为辅助手段，以提升康复训练有效性和治疗多样性，缓解中国大陆和世界其它地方医疗人员短缺。为开展本次初步临床研究，在中国深圳4个不同康复设施/机构，对3个不同外观和功能的社会交互式机器人进行类似孤独症康复疗程的测试。包括52名孤独症儿童在内的74名参与者接受同时有3个不同机器人干预的测试，每位参与者与机器人交互过程由3台不同摄像机记录。统计数据源于收集的录像和大部分由参与者父母填写的问卷。初步临床研究有助于物理机器人设计和治疗环境下机器人评估。首先，设计物理机器人应优先考虑外观和功能。其次，采用类似视频中儿童注视方向和头部姿势分析注意力，定量测量儿童亲社会行为和动作（如注意力从一个特定机器人转移到其他机器人）。再次，观察计算视频剪辑中儿童与机器人探索/玩耍的时间频率，定性分析这些行为和动作。最后列举了本研究的局限性。

关键词： 人与机器人交互；机器人提升疗法；社会交互式机器人；机器人介导干预    

HTML PDF 收藏

catalysts derived from zeolitic imidazolate framework@MXene composites for efficient oxidative self-coupling

《化学科学与工程前沿（英文）》 2023年 第18卷 第1期 doi: 10.1007/s11705-023-2378-9

摘要： In this study, we synthesize a catalyst comprising cobalt nanoparticles supported on MXene by pyrolyzing a composite in a N2 environment. Specifically, the composite comprises a bimetallic Zn/Co zeolitic imidazole framework grown in situ on the outer surface of MXene. The catalytic efficiency of the catalyst is tested for the self-coupling of 4-methoxybenzylamine to produce value-added imine, where atmospheric oxygen (1 atm) is used as the oxidant. Based on the results, the catalyst displayed impressive catalytic activity, achieving 95.4% yield of the desired imine at 383 K for 8 h. Furthermore, the catalyst showed recyclability and tolerance toward benzylamine substrates with various functional groups. The outstanding performance of the catalyst is primarily attributed to the synergetic catalytic effect between the cobalt nanoparticles and MXene support, while also benefiting from the three-dimensional porous structure. Additionally, a preliminary investigation of potential reaction mechanisms is conducted.

关键词： MXene     sacrificial template     oxidative self-coupling     Co nanoparticles     imine    

HTML PDF 收藏

Strategy for robot motion and path planning in robot taping

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN

《机械工程前沿（英文）》 2016年 第11卷 第2期   页码 195-203 doi: 10.1007/s11465-016-0390-1

摘要：

Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corresponding taping tools are introduced for taping of following classes of surfaces: Cylindrical/extended surfaces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work.

关键词： robot taping     path planning     robot manipulation     3D scanning    

HTML PDF 收藏

标题 作者 时间 类型 操作

Review of human–robot coordination control for rehabilitation based on motor function evaluation

期刊论文

An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

期刊论文

基于阻抗控制的人机协作范式研究及其机器人装配应用

赵兴炜, 陈沂洺, 钱璐, 陶波, 丁汉

期刊论文

一种应用于功率放大液压驱动外骨骼的基于物理人机交互估计的控制策略

Yi LONG, Zhi-jiang DU, Wei-dong WANG, Long HE, Xi-wang MAO, Wei DONG

期刊论文

通过行为足迹学习人类习惯的个性化服务机器人

李坤, Max Q.-H. Meng

期刊论文

面向人—多机器人协同系统的带记忆强化学习行为控制任务管理器

黄捷1,2,3,莫智斌1,2,3,张祯毅1,2,3,陈宇韬1,2,3

期刊论文

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

期刊论文

中国高速轨道交通空气动力学研究进展及发展思考

田红旗

期刊论文

Microdamage study of granite under thermomechanical coupling based on the particle flow code

期刊论文

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

期刊论文

Simulation of steel beam under ceiling jet based on a wind–fire–structure coupling model

期刊论文

Design and modeling of continuum robot based on virtual-center of motion mechanism

期刊论文

儿童与机器人交互过程中的注意力转移：对孤独症谱系障碍儿童的初步临床研究

Guo-bin WAN, Fu-hao DENG, Zi-jian JIANG, Sheng-zhao LIN, Cheng-lian ZHAO, Bo-xun LIU, Gong CHEN, Shen-hong CHEN, Xiao-hong CAI, Hao-bo WANG, Li-ping LI, Ting YAN, Jia-ming ZHANG

期刊论文

catalysts derived from zeolitic imidazolate framework@MXene composites for efficient oxidative self-coupling

期刊论文

Strategy for robot motion and path planning in robot taping

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN

期刊论文