IEEE/ASME Transactions on Mechatronics最新文献_第6页

Encircling General 2-D Boundaries by Mobile Robots With Collision Avoidance: A Vector Field-Guided Approach 具有避碰的移动机器人环绕一般二维边界：矢量场引导方法

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-26 DOI: 10.1109/TMECH.2026.3663573

Yuan Tian;Bin Zhang;Xiaodong Shao;David Navarro-Alarcon

{"title":"Encircling General 2-D Boundaries by Mobile Robots With Collision Avoidance: A Vector Field-Guided Approach","authors":"Yuan Tian;Bin Zhang;Xiaodong Shao;David Navarro-Alarcon","doi":"10.1109/TMECH.2026.3663573","DOIUrl":"10.1109/TMECH.2026.3663573","url":null,"abstract":"The ability to automatically encircle boundaries with mobile robots is crucial for tasks, such as border tracking and object enclosing. Previous research has primarily focused on regular boundaries, often assuming that their geometric equations are known in advance, which is not often the case in practice. In this article, we investigate a more general case and propose an algorithm that addresses geometric irregularities of boundaries without requiring prior knowledge of their analytical expressions. To achieve this, we develop a Fourier-based curve fitting method for boundary approximation using sampled points, enabling parametric characterization of general 2-D boundaries. This approach allows star-shaped boundaries to be fitted into polar-angle-based parametric curves, while boundaries of other shapes are handled through decomposition. Then, we design a vector field to achieve the encirclement of the parameterized boundary, wherein a polar radius error is introduced to measure the robot’s “distance” to the boundary. The controller is finally synthesized using the control barrier function and quadratic programming to mediate some potentially conflicting specifications: boundary encirclement, obstacle avoidance, and limited actuation. Simulations and experiments are presented to verify the performance of our new method.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5559-5570"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147319451","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Robust Point Cloud Registration Method Using Geometrical Information and Probabilistic Models for Robot-Assisted Bronchoscopy Navigation 基于几何信息和概率模型的点云配准方法在机器人辅助支气管镜导航中的应用

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-01-30 DOI: 10.1109/TMECH.2026.3651322

Haixing Zhu;Duochen Jin;Qidi Hu;Yuan Wang;Zongru Yang;Zhiyuan Zhou;Baoru Huang;Weipeng Liu

{"title":"A Robust Point Cloud Registration Method Using Geometrical Information and Probabilistic Models for Robot-Assisted Bronchoscopy Navigation","authors":"Haixing Zhu;Duochen Jin;Qidi Hu;Yuan Wang;Zongru Yang;Zhiyuan Zhou;Baoru Huang;Weipeng Liu","doi":"10.1109/TMECH.2026.3651322","DOIUrl":"10.1109/TMECH.2026.3651322","url":null,"abstract":"Point cloud registration in robot-assisted surgery is a fundamental procedure, which is directly related to navigation accuracy and patient safety. However, preoperative reconstructions furnish dense point cloud representations, while intraoperative point clouds only yield partial point sets. In addition, the intraoperative measurements from diverse sensor modalities are often disturbed by substantial noise, thereby posing a challenging partial-to-full registration problem. Therefore, we propose a robust registration framework underpinned by geometric information and probabilistic modeling to overcome these limitations and align intraoperative measurements with preoperative volumetric models. First, an initial rigid transformation is obtained by matching global geometric features. Second, we jointly characterize spatial deviation in both point cloud via Gaussian mixtures and models orientational consistency via the cosine of the corresponding normal vector angle to simultaneously drive geometric and directional alignment. Next, we recast registration as a maximum likelihood estimation problem and embed a Kullback–Leibler (KL) divergence regularizer into the posterior update step to enhance robustness and convergence stability. A robot-assisted bronchoscopy platform is established, on which simulation and phantom experiments are conducted to verify the comprehensive performance. The experimental results quantitatively and qualitatively demonstrate that our framework can obtain accurate and robust registration performance.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5173-5185"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146089894","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multimode Composite Continuum Robot: Coupled Static Modeling and Verification 多模态复合连续机器人：耦合静态建模与验证

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-20 DOI: 10.1109/TMECH.2026.3656679

Jing Su;Hangxing Wei;Fuxin Du;Han Zeng;Changwei Yin;Rui Song;Yibin Li

{"title":"Multimode Composite Continuum Robot: Coupled Static Modeling and Verification","authors":"Jing Su;Hangxing Wei;Fuxin Du;Han Zeng;Changwei Yin;Rui Song;Yibin Li","doi":"10.1109/TMECH.2026.3656679","DOIUrl":"10.1109/TMECH.2026.3656679","url":null,"abstract":"Hybrid continuum robots with concentric tubes and cable-driven mechanisms offer compactness and dexterity. However, they face limited adaptability and modeling challenges. This article proposes, for the first time, a multimode operation strategy for the composite continuum robot, enabling switching among high stiffness, high flexibility, and high precision modes. By adjusting the relative position between the concentric tube and the notched continuum, the robot achieves flexible transitions among these modes. A static model based on Euler–Bernoulli beam theory is established, where the bending moments from the concentric tube acting on the notched continuum segment are analytically integrated to reflect coupling effects. Algorithms are designed to achieve the mapping between the driving force and the shape, as well as the mapping relationship between the driving cable length and the robot shape. Based on the Kepler oval and the established static model, the inverse kinematics model of the robot is constructed. Simulations and experimental results show a modeling error of only 0.042 mm (0.084%), outperforming conventional models. The robot demonstrates convenient mode switching, showing performance characteristics, such as high stiffness, high flexibility, and high precision. This work contributes to improved modeling and control strategies for continuum robots.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5412-5423"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146230859","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Method of Calibration and Multiview Point Cloud Registration for Bitelecentric PMP System 一种双心PMP系统的标定和多视点云配准方法

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-20 DOI: 10.1109/TMECH.2026.3659919

Chaolong Zhang;Liang Zhang;Kai Wang;Haibo Zhou;Wei Liang;Can Zhou;Ji-An Duan

{"title":"A Method of Calibration and Multiview Point Cloud Registration for Bitelecentric PMP System","authors":"Chaolong Zhang;Liang Zhang;Kai Wang;Haibo Zhou;Wei Liang;Can Zhou;Ji-An Duan","doi":"10.1109/TMECH.2026.3659919","DOIUrl":"10.1109/TMECH.2026.3659919","url":null,"abstract":"The use of bitelecentric lenses in optical measurements is gradually becoming popular, thanks to their low distortion, high sharpness, and large depth-of-field. However, the system parameter calibration in a phase measurement profilometry (PMP) system becomes difficult due to the special imaging model of these lenses. In addition, their small field of view requires complex point cloud registration algorithms for global part measurement. In this article, an accurate calibration and multiview point cloud registration method for bitelecentric PMP system is presented. First, the bitelecentric camera calibration method is used to analyze the reasons for the incomplete solutions of the rotation and translation matrices. Second, the rotation matrix is calculated using its characteristics and additional constraint, and the translation matrix is accurately obtained with the aid of a stage and an optimal camera coordinate system. Last, a virtual plane with position markers is constructed to establish the transformation relationship between the stage and the PMP coordinate systems, realizing accurate multiview point cloud registration. Experimental results verify the effectiveness of the proposed method in calibrating bitelecentric PMP systems and multiview point cloud registration.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5436-5446"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146230823","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Computationally Efficient Predictive Learning Control for Wheeled Mobile Robots: An Offline Sampling Approach 轮式移动机器人的高效预测学习控制：一种离线采样方法

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-26 DOI: 10.1109/TMECH.2026.3662041

Wenxian Wang;Deyuan Meng

引用次数: 0

Bio-Inspired Tensegrity Robotic Wrist With Tendon Sheath Functionality 具有肌腱鞘功能的仿生张拉整体机器人手腕

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-27 DOI: 10.1109/TMECH.2026.3664932

Jianwei Sun;Heng Luo;Meiling Zhang;Luquan Ren

{"title":"Bio-Inspired Tensegrity Robotic Wrist With Tendon Sheath Functionality","authors":"Jianwei Sun;Heng Luo;Meiling Zhang;Luquan Ren","doi":"10.1109/TMECH.2026.3664932","DOIUrl":"10.1109/TMECH.2026.3664932","url":null,"abstract":"Conventional robotic wrists predominantly employ rigid structures, which exhibit significant limitations in adaptability, while flexible robotic wrists often face challenges, such as insufficient stability and complex actuation system. Inspired by the bone-ligament composite structure of the human wrist, this study proposes a bio-inspired tensegrity mechanism that replicates functionality of wrist through kinematic mapping. By constraining the degrees of freedom (DOF) of the structure, we designed a biomimetic wrist with a workspace covering the human wrist’s motion range, achieving a balance between flexibility and stability. Furthermore, we investigated the role of tendon sheaths in wrist motion and simulated their function using eyebolt to guide tendon routing, enabling effective motion control. Impact test demonstrated the wrist’s rapid recovery (<inline-formula><tex-math>$0.6 , mathrm{s}$</tex-math></inline-formula>) to equilibrium after disturbance, with steady-state recovery rates of 99.73% (coronal plane) and 99.86% (sagittal plane), highlighting its superior stability. Laser-tracing experiment further validated the wrist’s capability to execute complex trajectory-tracking tasks. Finally, the potential of this robotic wrist for practical applications was demonstrated through both load-bearing and dynamic variable loading tests.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5662-5673"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147319805","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Collaborative Control Framework of a Robotic Transesophageal Echocardiography System for Guiding Structural Heart Interventions 指导结构性心脏介入的机器人经食管超声心动图系统协同控制框架

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-04 DOI: 10.1109/TMECH.2026.3656739

Xiu Zhang;Benjamín Ignacio Fortuño Jara;Matteo Di Mauro;Vanessa Cannizzaro;Angela Peloso;Anna Bicchi;Luca Vicentini;Andrea Aliverti;Emiliano Votta;Arianna Menciassi;Elena De Momi

{"title":"Collaborative Control Framework of a Robotic Transesophageal Echocardiography System for Guiding Structural Heart Interventions","authors":"Xiu Zhang;Benjamín Ignacio Fortuño Jara;Matteo Di Mauro;Vanessa Cannizzaro;Angela Peloso;Anna Bicchi;Luca Vicentini;Andrea Aliverti;Emiliano Votta;Arianna Menciassi;Elena De Momi","doi":"10.1109/TMECH.2026.3656739","DOIUrl":"10.1109/TMECH.2026.3656739","url":null,"abstract":"Transesophageal echocardiography (TEE) is important for guiding the surgeon in percutaneous intervention for structural heart diseases. TEE is acquired through a catheterlike probe that must be maneuvered by a sonographer. Also, since X-ray fluoroscopy is adopted along with TEE, surgeons and sonographers must wear heavy protective suits to shield against radiation, leading to fatigue and the long-term risk of musculoskeletal injuries. This work proposes a robotic TEE system with a collaborative control framework designed to autonomously adjust the TEE probe, while relieving sonographers from physical effort and X-ray exposure. To enable accurate task space control in the constrained anatomical environment, a hybrid adaptive controller is introduced, leveraging offline hysteresis data and real-time feedback from electromagnetic (EM) sensors. Experiments conducted on silicone-casted esophagus phantoms with varying thicknesses, as well as path following tests with different patterns, demonstrate the controller's adaptability and accuracy. The framework was further validated through a complete workflow simulation within a cardiac phantom, replicating a transcatheter mitral valve repair procedure. The system maintained a maximum angular error below <inline-formula><tex-math>$3.2^circ$</tex-math></inline-formula>. The results highlight the potential of the proposed robotic system for clinical applications in robot-assisted intervention procedures.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5210-5221"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146115778","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

EmoBipedNav: Emotion-Aware Social Navigation for Bipedal Robots With Deep Reinforcement Learning EmoBipedNav：基于深度强化学习的双足机器人情感感知社交导航

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-01-29 DOI: 10.1109/TMECH.2026.3653909

Wei Zhu;Abirath Raju;Abdulaziz Shamsah;Anqi Wu;Seth Hutchinson;Ye Zhao

{"title":"EmoBipedNav: Emotion-Aware Social Navigation for Bipedal Robots With Deep Reinforcement Learning","authors":"Wei Zhu;Abirath Raju;Abdulaziz Shamsah;Anqi Wu;Seth Hutchinson;Ye Zhao","doi":"10.1109/TMECH.2026.3653909","DOIUrl":"10.1109/TMECH.2026.3653909","url":null,"abstract":"This study presents an emotion-aware navigation framework—EmoBipedNav—using deep reinforcement learning (DRL) for bipedal robots walking in socially interactive environments. The inherent complex dynamics of bipedal robots challenge their safe maneuvering capabilities in dynamic environments. Furthermore, the intricacies of social interactions and cues such as emotions significantly compound the challenges of bipedal robot navigation. To address these coupled issues, we propose a two-stage pipeline that jointly considers the bipedal full-body dynamics and the complexities of socially aware navigation. More specifically, an emotion-integrated navigation policy is developed to balance safety, efficiency, and social courtesy by responding to human emotional cues. One key component of the policy is a novel representation of social environments using sequential LiDAR grid maps, from which we extract latent features, implicitly including collision regions, discomfort zones determined by emotions, social interactions, and the evolving dynamics of the navigation system including robot movements and pedestrian motions. To accounts for path tracking errors and locomotion constraints during social navigation, we present an end-to-end navigation system that incorporates full-order robot dynamics during training. Finally, extensive benchmarking and sim-to-real experiments demonstrate that our method outperforms both model-based planners and DRL baselines, and generalizes effectively to real-world environments.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5160-5172"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146089828","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An Efficient Continual Learning Grasp Detection Method With Lightweight RGB-D Fusion and Automated Data Annotation for Kitchen Waste Sorting 基于轻量级RGB-D融合和自动数据注释的厨余垃圾分类持续学习检测方法

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-01-23 DOI: 10.1109/TMECH.2025.3650331

Songyun Deng;Yaoxin Lai;Li Zhou;Ruiyuan Pei;Hai Qin;Shao Xiang;Qiaokang Liang;Wei Sun;Dan Zhang;Yaonan Wang

{"title":"An Efficient Continual Learning Grasp Detection Method With Lightweight RGB-D Fusion and Automated Data Annotation for Kitchen Waste Sorting","authors":"Songyun Deng;Yaoxin Lai;Li Zhou;Ruiyuan Pei;Hai Qin;Shao Xiang;Qiaokang Liang;Wei Sun;Dan Zhang;Yaonan Wang","doi":"10.1109/TMECH.2025.3650331","DOIUrl":"10.1109/TMECH.2025.3650331","url":null,"abstract":"Utilizing robots for sorting and impurity removal of kitchen waste presents a challenging task. When performing such tasks, visual servo systems often require a mechanism to continuously accommodate the new tasks and environments. First, we propose a lightweight RGB-D fusion module, which efficiently fuses RGB and depth information at the channel level, achieving an over 2.1% improvement in grasping accuracy compared to traditional RGB-D fusion methods without increasing computational burden. Second, we introduce a labels automated annotation module based on detecting the degree of gripper closure. This module determines grasp success or failure by assessing the actual closure of the gripper. Finally, through these labels and manual correction, we constructed five grasping tasks to build a new continual learning dataset [kitchen waste grasp on continual learning (KWG-CL)] and proposed a novel continual learning method. By using this method, our algorithm achieves the highest average image-level grasp accuracy (77.28%) on the KWG-CL compared to state-of-the-art approaches, while exhibiting the least catastrophic forgetting. In addition, we also validated this in a real-world robot system. To the best of the authors' knowledge, this is the first application of the continual learning method in kitchen waste sorting.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5077-5088"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146042538","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

IEEE/ASME Transactions on Mechatronics Publication Information

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-10-22 DOI: 10.1109/TMECH.2026.3740468

引用次数: 0