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A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 61-70 doi: 10.1007/s11465-011-0206-2

Abstract:

The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by theHowever, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complexperspective, this paper presents a method, which allows to generalize the problem of kinematic synthesis of a non-anthropomorphicwearable robot for the assistance of a specified set of contiguous body segments.robots: the HR-isomorphism and the HR-degeneracy tests.

Keywords： assistive robotics     non-anthropomorphic wearable robots     topology     kinematic synthesis     HR-isomorphism test    

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Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based

Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,

Engineering doi: 10.1016/j.eng.2023.07.018

Abstract: Therefore, an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenariosinformation that affects vehicle obstacle avoidance with the weight of the optimization function, and an anthropomorphicMoreover, this strategy can generate anthropomorphic trajectories that are similar to expert-demonstrated

Keywords： Obstacle avoidance trajectory planning     Inverse reinforcement theory     Anthropomorphic     Adaptive driving    

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Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4,   Pages 698-710 doi: 10.1007/s11465-021-0646-2

Abstract: This study proposes a seven-degree-of-freedom (7-DOF) redundant anthropomorphic hydraulically actuated

Keywords： hydraulic manipulator     inverse kinematic     redundant design     spherical wrist    

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Multifunctional, Wearable, and Wireless Sensing System via Thermoelectric Fabrics

Xinyang He,Jiaxin Cai,Mingyuan Liu,Xuepeng Ni,Wendi Liu,Hanyu Guo,Jianyong Yu,Liming Wang,Xiaohong Qin,

Engineering doi: 10.1016/j.eng.2023.05.026

Abstract: Flexible thermoelectric materials play an important role in smart wearables, such as wearable power generationartificial intelligence (AI), higher standards for comfort, multifunctionality, and sustainable operation of wearableHerein, we present a multifunctional, wearable, and wireless sensing system based on a thermoelectricThis novel thermoelectric fabric-based wearable and wireless sensing platform has promising applications

Keywords： Thermoelectric fabrics     Wearable device     Wireless     Multifunctional sensing system     Outdoor wearable signal    

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Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0756-0

Abstract: In-situ maintenance is of great significance for improving the efficiency and ensuring the safety of aero-engines. The cable-driven continuum robot (CDCR) with twin-pivot compliant mechanisms, which is enabled with flexible deformation capability and confined space accessibility, has emerged as a novel tool that aims to promote the development of intelligence and efficiency for in-situ aero-engine maintenance. The high-fidelity model that describes the kinematic and morphology of CDCR lays the foundation for the accurate operation and control for in-situ maintenance. However, this model was not well addressed in previous literature. In this study, a general kinetostatic modeling and morphology characterization methodology that comprehensively contains the effects of cable-hole friction, gravity, and payloads is proposed for the CDCR with twin-pivot compliant mechanisms. First, a novel cable-hole friction model with the variable friction coefficient and adaptive friction direction criterion is proposed through structure optimization and kinematic parameter analysis. Second, the cable-hole friction, all-component gravities, deflection-induced center-of-gravity shift of compliant joints, and payloads are all considered to deduce a comprehensive kinetostatic model enabled with the capacity of accurate morphology characterization for CDCR. Finally, a compact continuum robot system is integrated to experimentally validate the proposed kinetostatic model and the concept of in-situ aero-engine maintenance. Results indicate that the proposed model precisely predicts the morphology of CDCR and outperforms conventional models. The compact continuum robot system could be considered a novel solution to perform in-situ maintenance tasks of aero-engines in an invasive manner.

Keywords： kinetostatic modeling     morphology characterization     variable friction     continuum robots     in-situ   

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Wearable Sweat Sensors

Elizabeth K. Wilson

Engineering 2019, Volume 5, Issue 3,   Pages 359-360 doi: 10.1016/j.eng.2019.04.008

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Development Path of Anthropomorphic Test Device with Chinese Physical Signs

Liu Zhixin, Wu Yongqiang, Ma Weijie

Strategic Study of CAE 2019, Volume 21, Issue 3,   Pages 103-107 doi: 10.15302/J-SSCAE-2019.03.022

Abstract: text-align: justify;">Automobile safety is an important factor affecting public transport safety, and the anthropomorphic

Keywords： automobile safety     anthropomorphic test device (ATD)     Chinese physical signs     standards system    

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Wearable thermal energy harvester powered by human foot

Guodong XU, Yang YANG, Yixin ZHOU, Jing LIU

Frontiers in Energy 2013, Volume 7, Issue 1,   Pages 26-38 doi: 10.1007/s11708-012-0215-9

Abstract: It was demonstrated that, the TEG working as a wearable power resource by utilizing thermal energy of

Keywords： human power     thermal energy     energy harvesting     micro power     wearable device    

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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 204-212 doi: 10.1007/s11465-016-0380-3

Abstract: a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots

Keywords： industrial robot     nonlinear control     vibration damping     model-free control     motion control    

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Footholds optimization for legged robots walking on complex terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0742-y

Abstract: This paper proposes a novel continuous footholds optimization method for legged robots to expand their

Keywords： footholds optimization     legged robot     complex terrain adapting     hexapod robot     locomotion control    

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Evaluation of the power-generation capacity of wearable thermoelectric power generator

Yang YANG, Jing LIU,

Frontiers in Energy 2010, Volume 4, Issue 3,   Pages 346-357 doi: 10.1007/s11708-010-0112-z

Abstract: dissipating from the human body through the skin surface is a promising way to supply electronic power to wearableWe evaluate the energy generation capacity of a wearable TEG subject to various conditions based on biologicalTo further validate the calculation results for the wearable TEG, a series of conceptual experiments

Keywords： thermal energy harvester     thermoelectric generator     biological heat transfer     power generating capacity    

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Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 163-175 doi: 10.1007/s11465-020-0605-3

Abstract: Crawling robots have elicited much attention in recent years due to their stable and efficient locomotionIn this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAsThe SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors.

Keywords： soft robot     soft pneumatic actuator     kinematic model     crawling robot     modular design    

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A low cost wearable optical-based goniometer for human joint monitoring

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

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 13-22 doi: 10.1007/s11465-011-0201-7

Abstract: In this paper, we present a reliable and non-intrusive design of an optical-based goniometer for humanFrom the empirical results, it has been proven that this design can be use as a robust and effective wearable

Keywords： optical     goniometer     human-joint measurement    

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Research on the Development Strategy of Medical Devices and New Wearable Devices

Cheng Jing and Xing Wanli

Strategic Study of CAE 2017, Volume 19, Issue 2,   Pages 68-71 doi: 10.15302/J-SSCAE-2017.02.011

Abstract: In the burgeoning field of new wearable medical devices, we are encountering many more opportunitiesResearch on the Development Strategies of Medical Devices and New Wearable Medical Devices is one ofThis paper reports on the results of this project regarding research into medical devices and new wearableThis paper includes suggestions and proposals to clarify critical issues affecting the development of wearable

Keywords： medical devices     industry analysis     wearable devices     development strategies    

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Artificial muscles for wearable assistance and rehabilitation Review

Tian-yun DONG, Xiang-liang ZHANG, Tao LIU

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 11,   Pages 1303-1315 doi: 10.1631/FITEE.1800618

Abstract:

Traditional exoskeletons have made considerable contributions to people in terms of providing wearablestress, high response speed, and long life span, which give them great potential for application in wearableLastly, we present the initial applications of these two materials for wearable assistance and rehabilitation

Keywords： Artificial muscle     Smart material     Dielectric elastomers (DE)     Polyvinyl chloride (PVC) gel     Actuator     Wearable    

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Title Author Date Type Operation

A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Journal Article

Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based

Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,

Journal Article

Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical

Journal Article

Multifunctional, Wearable, and Wireless Sensing System via Thermoelectric Fabrics

Xinyang He,Jiaxin Cai,Mingyuan Liu,Xuepeng Ni,Wendi Liu,Hanyu Guo,Jianyong Yu,Liming Wang,Xiaohong Qin,

Journal Article

Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Journal Article

Wearable Sweat Sensors

Elizabeth K. Wilson

Journal Article

Development Path of Anthropomorphic Test Device with Chinese Physical Signs

Liu Zhixin, Wu Yongqiang, Ma Weijie

Journal Article

Wearable thermal energy harvester powered by human foot

Guodong XU, Yang YANG, Yixin ZHOU, Jing LIU

Journal Article

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Journal Article

Footholds optimization for legged robots walking on complex terrain

Journal Article

Evaluation of the power-generation capacity of wearable thermoelectric power generator

Yang YANG, Jing LIU,

Journal Article

Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Journal Article

A low cost wearable optical-based goniometer for human joint monitoring

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

Journal Article

Research on the Development Strategy of Medical Devices and New Wearable Devices

Cheng Jing and Xing Wanli

Journal Article

Artificial muscles for wearable assistance and rehabilitation

Tian-yun DONG, Xiang-liang ZHANG, Tao LIU

Journal Article