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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
关键词: human–robot coupling lower limb rehabilitation exoskeleton robot motor assessment dynamical model perception
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
一种新型自主下肢外骨骼助行机器人的研制 Special Feature on Intelligent Robats
Yong HE, Nan LI, Chao WANG, Lin-qing XIA, Xu YONG, Xin-yu WU
《信息与电子工程前沿(英文)》 2019年 第20卷 第3期 页码 318-329 doi: 10.1631/FITEE.1800561
跨行业标准测试方法进展:从制造机器人到可穿戴机器人 Review
Roger BOSTELMAN, Elena MESSINA, Sebti FOUFOU
《信息与电子工程前沿(英文)》 2017年 第18卷 第10期 页码 1447-1457 doi: 10.1631/FITEE.1601316
Design and preliminary evaluation of an exoskeleton for upper limb resistance training
Tzong-Ming WU, Dar-Zen CHEN
《机械工程前沿(英文)》 2012年 第7卷 第2期 页码 188-198 doi: 10.1007/s11465-012-0327-2
Resistance training is a popular form of exercise recommended by national health organizations, such as the American College of Sports Medicine (ACSM) and the American Heart Association (AHA). This form of training is available for most populations. A compact design of upper limb exoskeleton mechanism for home-based resistance training using a spring-loaded upper limb exoskeleton with a three degree-of-freedom shoulder joint and a one degree-of-freedom elbow joint allows a patient or a healthy individual to move the upper limb with multiple joints in different planes. It can continuously increase the resistance by adjusting the spring length to train additional muscle groups and reduce the number of potential injuries to upper limb joints caused by the mass moment of inertia of the training equipment. The aim of this research is to perform a preliminary evaluation of the designed function by adopting an appropriate motion analysis system and experimental design to verify our prototype of the exoskeleton and determine the optimal configuration of the spring-loaded upper limb exoskeleton.
关键词: exoskeleton free-weight exercise upper limb motion analysis
针对下肢外骨骼机器人的基于概率运动基元的黑盒优化运动学习 Research Article
王嘉琪,高永卓,吴冬梅,董为
《信息与电子工程前沿(英文)》 2023年 第24卷 第1期 页码 104-116 doi: 10.1631/FITEE.2200065
Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton
《机械工程前沿(英文)》 2023年 第18卷 第4期 doi: 10.1007/s11465-023-0770-2
关键词: pneumatic soft arm soft airbag deployable origami exoskeleton bistable characteristics cargo-loading capacity
《机械工程前沿(英文)》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0687-1
关键词: masticatory robot cable-driven linear actuator parallel robot stiffness analysis
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
关键词: terrain classification hexapod robot legged robot adaptive locomotion gait control
潜在用于单侧膝受伤患者的传感引导步态同步下肢外骨骼 Research Articles
王东海1,2
《信息与电子工程前沿(英文)》 2022年 第23卷 第6期 页码 920-936 doi: 10.1631/FITEE.2000465
本文展示了一种可潜在帮助单侧膝受伤患者正常行走的传感引导步态同步下肢外骨骼系统。外骨骼能够减轻人体体重对受伤膝下肢的负载,并维持与健康侧下肢行走步态摆动相同步。传感引导步态同步系统集成了人体传感网络,它能感知健康侧下肢的运动步态。基于测量的关节角度轨迹引导,安装电机的髋关节在行走中提起腿杆,并将膝受伤步态和健康步态以半周期延时进行同步。实验验证了下肢外骨骼的效果。本文比较了健康腿和膝受伤腿的测量关节角度轨迹、仿真的膝受力、人机交互力等方面,结果说明髋关节安装电机受控制的下肢外骨骼能够将受伤腿和体重支撑外骨骼的融合步态与健康腿步态进行同步。
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
关键词: VCM mechanism continuum robot flexural joint pseudo-rigid body model cable-driven
降低自行车运动中股四头肌消耗的无动力膝关节外骨骼研究 Article
Ronnapee Chaichaowarat,Jun Kinugawa,Kazuhiro Kosuge
《工程(英文)》 2018年 第4卷 第4期 页码 471-478 doi: 10.1016/j.eng.2018.07.011
自行车是一种环保且具有娱乐性的交通方式。为了减少自行车运动的能量消耗同时不消耗额外的能源,我们提出利用扭力弹簧对膝关节伸展进行支撑。我们开发了一个基于嵌入式扭转弹簧与交叉四杆机构的膝关节外骨骼原型机。在研究过程中,通过分析8 名健康男性参与者以恒定功率骑行测试的数据,对原型机性能进行了评估。记录参与者在200 W 和225 W 带有加速系统的骑行训练机运动时两个腿部股直肌的表面肌电图(EMG)。然后,通过连续小波变换在时间频率上分析这些数据。在相同的骑行速度和腿部节奏下,肌电的中值功率谱频率随骑行负荷的增加而增加。在相同的骑行载荷下,外骨骼机器人可使中值功率谱频率降低。外骨骼机器人不消耗电能,不传递净正机械功,可减轻股四头肌的活动。此项基础研究可应用于骑行辅助可穿戴设备的进一步开发。
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
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
A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm
Prases K. MOHANTY,Dayal R. PARHI
《机械工程前沿(英文)》 2014年 第9卷 第4期 页码 317-330 doi: 10.1007/s11465-014-0304-z
Planning of the shortest/optimal route is essential for efficient operation of autonomous mobile robot or vehicle. In this paper Invasive Weed Optimization (IWO), a new meta-heuristic algorithm, has been implemented for solving the path planning problem of mobile robot in partially or totally unknown environments. This meta-heuristic optimization is based on the colonizing property of weeds. First we have framed an objective function that satisfied the conditions of obstacle avoidance and target seeking behavior of robot in partially or completely unknown environments. Depending upon the value of objective function of each weed in colony, the robot avoids obstacles and proceeds towards destination. The optimal trajectory is generated with this navigational algorithm when robot reaches its destination. The effectiveness, feasibility, and robustness of the proposed algorithm has been demonstrated through series of simulation and experimental results. Finally, it has been found that the developed path planning algorithm can be effectively applied to any kinds of complex situation.
关键词: mobile robot obstacle avoidance Invasive Weed Optimization navigation
An autonomous miniature wheeled robot based on visual feedback control
CHEN Haichu
《机械工程前沿(英文)》 2007年 第2卷 第2期 页码 197-200 doi: 10.1007/s11465-007-0033-7
关键词: measuring distance autonomous locomotion advantage navigation
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
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
Design and preliminary evaluation of an exoskeleton for upper limb resistance training
Tzong-Ming WU, Dar-Zen CHEN
期刊论文
Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion
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
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
A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm
Prases K. MOHANTY,Dayal R. PARHI
期刊论文