Article
Chemistry, Analytical
Zhipeng Wang, Chifu Yang, Zhen Ding, Tao Yang, Hao Guo, Feng Jiang, Bowen Tian
Summary: The advantages of Bowden cable-based exoskeletons lie in their lightweight and flexible nature, making them convenient for human assistance. However, their performance is restricted by the exoskeleton's structure and human-exoskeleton interaction. In this study, control methods including disturbance observer, human-exoskeleton interaction feedforward model, and angle prediction using encoder are proposed to compensate for disturbances and limitations, thus improving the accuracy of assistance.
Article
Psychology, Multidisciplinary
Gavin Lawrence Kirkwood, Christopher D. Otmar, Mohemmad Hansia
Summary: Wearable robots are a new technology that combines the strength of machines with the flexibility of humans. Active exoskeletons, a type of wearable robot, have the ability to bear weight and synchronization is a key challenge in operating these technologies.
FRONTIERS IN PSYCHOLOGY
(2021)
Article
Chemistry, Analytical
Niclas Hoffmann, Samet Ersoysal, Gilbert Prokop, Matthias Hoefer, Robert Weidner
Summary: In modern times, the collaboration between humans and machines is increasing, with their respective benefits being combined. This paper introduces a low-cost sensor pad that has been validated for measurement accuracy and applied in an exoskeleton interface.
Article
Automation & Control Systems
Shan Chen, Tenghui Han, Fangfang Dong, Lei Lu, Haijun Liu, Xiaoqing Tian, Jiang Han
Summary: This article focuses on high-performance human-machine interaction force control design of underactuated lower limb exoskeletons with passive ankle joint, proposing a two-level interaction force controller using adaptive robust control algorithm and gain tuning method to achieve smaller interaction force and better robust performance.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
(2022)
Article
Chemistry, Analytical
Keya Ghonasgi, Saad N. Yousaf, Paria Esmatloo, Ashish D. Deshpande
Summary: This paper introduces a modular sensing panel design that uses force-sensing resistors combined with robust electrical and mechanical integration principles for distributed load measurement. The design is validated through the use of 24 sensing panels on an upper-arm cuff, in conjunction with the Harmony exoskeleton.
Article
Behavioral Sciences
Yilin Wang, Jing Qiu, Hong Cheng, Xiaojuan Zheng
Summary: This study aimed to measure the interaction forces between the AIDER exoskeleton system and the human body, and evaluate its ergonomic design.
Article
Engineering, Electrical & Electronic
Nengbing Zhou, Yali Liu, Qiuzhi Song, Dehao Wu
Summary: In this paper, a cooperative movement mode between human and passive exoskeleton was explored to reduce the body-exoskeleton interaction force. By analyzing the kinematic and dynamic constraints of the exoskeleton and establishing a dynamic model, a mode that uses human gravity and load weight to maintain the stability of the exoskeleton's movement was proposed. The simulation results showed a reduction of 98.5% in the interaction force at the lower leg, and the experimental results demonstrated a 65.1% reduction in the body-exoskeleton interaction force. The research provided a new analytical approach for the design of a passive exoskeleton and can guide its improvement.
Article
Robotics
Jiyuan Wu, Yuxuan Zhang, Yinglong Zhang, Minxu Yan, Xingsong Wang
Summary: In this study, a method inspired by the running posture of ungulate species was proposed to reduce metabolic energy by controlling load motion. An energy-saving exoskeleton with an active load CoM adjustment system was developed using active disturbance rejection control (ADRC) technology. Experimental results demonstrated the effectiveness of the energy-saving exoskeleton with significant reductions in EMG signals and net metabolic rate.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Computer Science, Artificial Intelligence
Lin Lang, Junhao Xiao, Yunshu Sun, Huimin Lu, Zongtan Zhou, Chunbaixue Ya
Summary: This paper proposes a unified framework for controlling the human-robot interaction force in load-carrying augmentation exoskeletons. A mid-level SFC method and a hybrid low-level controller are also proposed for load-carrying exoskeletons. Simulation results demonstrate the effectiveness of the proposed method.
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2022)
Article
Robotics
Guotao Li, Long Cheng, Ziwen Gao, Xiuze Xia, Jingang Jiang
Summary: This article proposes an untethered adaptive thumb exoskeleton that can improve hand function for stroke patients. Experimental validation shows that the exoskeleton can achieve a large workspace and self-aligning for thumb joints, reduce interaction forces, and assist delicate grasping.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Biotechnology & Applied Microbiology
Dorian Verdel, Simon Bastide, Nicolas Vignais, Olivier Bruneau, Bastien Berret
Summary: Active exoskeletons are promising devices for rehabilitation and preventing musculoskeletal disorders. This study focuses on improving weight support for the upper limb by considering joint misalignments in the weight model and implementing a control law. The results showed that introducing joint misalignments improved the accuracy and reliability of weight estimation. The weight support decreased activity in anti-gravity muscles but increased activity in elbow extensors. This suggests the potential for an adaptive weight support controller to minimize human effort in certain applications.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2022)
Article
Chemistry, Analytical
Jaeyong Lee, Hyungjoo Kim, Woosung Yang
Summary: A wrist robotic exoskeleton-type interface with suitable range of motion, large torque output performance, and low inertia has been developed. The device based on a fully actuated coaxial spherical parallel mechanism provides high torque output, low inertia, and a consistent range of motion comparable to human wrist activities. It is applicable for various fields of force interaction.
Article
Computer Science, Artificial Intelligence
Vasco Fanti, Vittorio Sanguineti, Darwin G. Caldwell, Jesus Ortiz, Christian Di Natali
Summary: This paper introduces a methodology for evaluating the kinetic effects of exoskeletons based on data collected via EMG and motion capture systems. The method calculates kinetic parameters, such as torque and power, reducing the complexity of experimental apparatus and data analysis. Furthermore, the method combines data from the literature and laboratory, allowing for easy access to statistical analysis.
FRONTIERS IN NEUROROBOTICS
(2022)
Article
Engineering, Mechanical
Yuansheng Ning, Hongbo Wang, Junjie Tian, Pan Zhu, Congliang Yang, Jianye Niu
Summary: A highly harmonized upper extremity rehabilitation robot was proposed in this paper, with optimized shoulder joint structure and analyzed workspace range. The experimental results show that the robot can increase the movement range of patients' upper extremities and improve the comfort of rehabilitation training.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2023)
Article
Automation & Control Systems
Xinbo Yu, Wei He, Qing Li, Yanan Li, Bin Li
Summary: This article proposes a hybrid framework using visual and force sensing for human-robot co-carrying tasks, achieving motion synchronization and stable interaction behavior between human and robot. The framework's effectiveness is validated through simulations and experiments.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Engineering, Electrical & Electronic
Xianglong Li, Tianjiao Zheng, Dongbao Sui, Nengxu Lin, Qinghua Zhang, Jie Zhao, Yanhe Zhu
Summary: This paper develops a dual-segment variable cross-section pneumatic soft manipulator to address the challenges in precise control of soft manipulators. An improved control strategy combining neural network IKM and iterative feedback tuning controller successfully reduces positioning errors, showing promising results in experiments.
SENSORS AND ACTUATORS A-PHYSICAL
(2022)
Article
Engineering, Multidisciplinary
Dongbao Sui, Sikai Zhao, Tianshuo Wang, Yubin Liu, Yanhe Zhu, Jie Zhao
Summary: This paper presents a continuum manipulator inspired by the anatomical characteristics of the elephant trunk. The design combines pneumatically actuated bellows and tendon-driven spring to achieve omnidirectional bending and variable stiffness. The paper also analyzes the stiffness and motion characteristics of the manipulator and validates the theoretical approach through experimental results.
JOURNAL OF BIONIC ENGINEERING
(2022)
Article
Engineering, Mechanical
Tian Xu, Jizhuang Fan, Qianqian Fang, Yanhe Zhu, Jie Zhao
Summary: This article proposes a systematic framework for robot dynamic calibration on current level, which includes modeling, identification and its applications. It is the first systematic work on robot dynamic calibration on current level. The proposed theories are validated by experiments on the UR10 robot.
NONLINEAR DYNAMICS
(2022)
Article
Robotics
Tian Xu, Jizhuang Fan, Qianqian Fang, Yanhe Zhu, Jie Zhao
Summary: This article proposes an accurate identification method based on double weighting for inertial parameters of robot payloads. Experimental comparisons show that this method performs the best, especially in improving the identification accuracy of mass and center of mass of the payload.
Article
Robotics
Qinghua Zhang, Changle Li, Hongwei Jing, Hongwu Li, Xianglong Li, Haotian Ju, Yuan Tang, Jie Zhao, Yanhe Zhu
Summary: Supernumerary robotic limbs, also known as the third limb, are wearable robots designed to provide better auxiliary ability for humans. This paper presents the design and implementation of a lightweight, compact, and multi-assistive Series-Parallel-Reconfigurable Tendon-driven Supernumerary Robotic Arms (RTSRAs). By balancing load capacity and flexibility through clever end-conversion tools, the RTSRAs can adapt to variable tasks effectively. The evaluation based on forward and inverse kinematics analysis shows the potential of RTSRAs in future applications, especially in typical load operation scenarios.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Junming Zhang, Yubin Liu, Liang Gao, Benshan Liu, Yanhe Zhu, Xizhe Zang, Jie Zhao, Hegao Cai
Summary: This article introduces a new bionic deformable wing drone, which improves roll control ability by combining wing deformation and ailerons, and verifies that the folding deformation of the wing can change the flight envelope.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Engineering, Multidisciplinary
Boyang Chen, Xizhe Zang, Yue Zhang, Liang Gao, Yanhe Zhu, Jie Zhao
Summary: This paper proposes a multi-modal biped gait planner based on DIRCON for generating different gaits on multiple non-flat terrains. Virtual knot and slacked complementary constraints are used for trajectory optimization in gait planning. Experimental results demonstrate the stability of the planned gaits on non-flat terrains.
Article
Engineering, Mechanical
Congcong Xu, Gangfeng Liu, Changle Li, Yanhe Zhu, Jie Zhao
Summary: Precise identification of inertial and nonlinear friction parameters of the Stewart platform has been a pending problem due to strong coupling and small workspace. This paper proposes a novel identification model based on symmetric excitation trajectory, and its validity and accuracy are demonstrated through experiments.
NONLINEAR DYNAMICS
(2023)
Article
Chemistry, Analytical
Boyang Chen, Xizhe Zang, Yue Zhang, Liang Gao, Yanhe Zhu, Jie Zhao
Summary: This paper proposes a full-order biped gait planner that considers symmetry, energy efficiency, and trajectory smoothness at the joint level, without relying on morphological priors. The planner is validated through dynamic simulations and physical comparison experiments with a real robot device.
Article
Computer Science, Artificial Intelligence
Sikai Zhao, Tianjiao Zheng, Dongbao Sui, Jie Zhao, Yanhe Zhu
Summary: In order to address the difficulties of maintaining the appropriate position during spacewalks, we propose the development of a wearable robotic limb system and a variable damping control method for astronaut assistance and positioning. The simulations demonstrate that the proposed method can meet the requirements for maintaining an astronaut's position during spacewalks.
FRONTIERS IN NEUROROBOTICS
(2023)
Article
Automation & Control Systems
He Zhang, Chunbo Wang, Ming Bai, Haoran Yi, Jiahui Yang, Yanhe Zhu, Jie Zhao
Summary: In this study, a micro-3-degree of freedom (DOF) force sensor is proposed to improve the flexibility of the intraocular robot during retinal surgery. The sensor, embedded in a nitinol tube with flexible hinges, integrates force sensing and injection functions. A new fiber Bragg grating (FBG) configuration method and linear decoupling algorithm are proposed. Static calibration experiments demonstrate excellent resolution of the force sensor. The feasibility and effectiveness of the developed sensor for monitoring the interaction forces during retinal vein cannulation (RVC) are further confirmed through an ex vivo experiment on pig cadaver eyes.
ADVANCED INTELLIGENT SYSTEMS
(2023)
Article
Automation & Control Systems
Ning Zhao, Liang Gao, Zhiyuan Yang, Jian Qi, Kai Han, Xin Sui, Jie Zhao, Yanhe Zhu
Summary: This study proposes a self-assembly strategy inspired by biological cooperative and mutual assistance behaviors, to enable the modular space robot to reorganize into different structures with different functions. The strategy utilizes the meta-module method to give nonmobile modules mobility and utilizes mutual assistance to achieve position and posture reachability of the assembly unit. An assembly planner is designed based on the motion characteristics of the meta-module and mutual assistance to obtain assembly sequences for self-manufacturing desired configurations.
ADVANCED INTELLIGENT SYSTEMS
(2023)
Article
Automation & Control Systems
Jingsong Gao, Hongzhe Jin, Liang Gao, Jie Zhao, Yanhe Zhu, Hegao Cai
Summary: This article introduces a new two-wheel-legged land-air locomotion robot (TLR) with three independent modes: flight, two-wheel, and four-wheel. By studying the cooperative control of rotor power and leg power, stable cooperative algorithm and walking cooperative algorithm are proposed to improve the stability, load capacity, and uphill ability of the robot.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Aerospace
Benshan Liu, Yongsheng Gao, Liang Gao, Junming Zhang, Yanhe Zhu, Xizhe Zang, Jie Zhao
Summary: This paper proposes a vertical take-off and landing (VTOL) aircraft that uses one-dimensional thrust vectoring nozzle modules to overcome the slow response of turbojet engines. The aircraft is easier to operate and has reduced fuselage thickness and ground effect.
Article
Engineering, Aerospace
Liang Gao, Yanhe Zhu, Yubin Liu, Junming Zhang, Benshan Liu, Jie Zhao
Summary: This paper investigates the design and performance optimization of morphing aircraft. The variable sweep concept is applied on a tandem-wing micro aerial vehicle to achieve multitask adaptability. The results show that the sweep morphing mode can significantly affect the aerodynamic characteristics of the aircraft during the transition process.
