IEEE/ASME Transactions on Mechatronics最新文献_第9页

Learning-Based Contact Interpretation: A Transferable Skill for Robots 基于学习的接触解释：机器人的可转移技能

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-07-09 DOI: 10.1109/TMECH.2026.3702250

Maryam Rezayati;Kyu Min Park;Hans Wernher van de Venn

{"title":"Learning-Based Contact Interpretation: A Transferable Skill for Robots","authors":"Maryam Rezayati;Kyu Min Park;Hans Wernher van de Venn","doi":"10.1109/TMECH.2026.3702250","DOIUrl":"10.1109/TMECH.2026.3702250","url":null,"abstract":"As collaborative robots become increasingly integrated into diverse industrial environments, the need for adaptable and accurate human–robot contact interpretation (HRCI) systems has grown. Current approaches often depend on robot-specific features and handcrafted parameters, limiting their applicability across robots with varying degrees of freedom (DoF). Addressing this challenge, we investigate and compare DoF-agnostic CNN-BiLSTM and Transformer models, using only joint position errors, deployable without network modification. Recognizing the critical need for real-time performance, we introduce a two-stage hyperparameter selection methodology, prioritizing low inference latency before optimizing accuracy. Our analysis reveals that a hybrid approach, leveraging a Transformer for the detection and a CNN-BiLSTM for the localization task, provides the optimal balance. This system, trained on a seven-DoF Franka Emika Panda, achieves high source-robot performance: 97.97% accuracy in contact detection and 95.34% in localization. Models successfully transfer to target robots (another Franka, 6-DoF UR5e), with fine-tuning significantly boosting performance (especially reducing detection failures) compared to training from scratch on limited target data. This work demonstrates a practical, latency-aware methodology for developing universal, model-free contact interpretation skills, paving the way for more flexible and efficient physical human–robot interactions across various industrial applications.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5887-5897"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148414725","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

Dual-MPC Footstep Planning for Robust Quadruped Locomotion 鲁棒四足运动的双mpc脚步规划

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-08-26 DOI: 10.1109/TMECH.2026.3720700

Byeong-Il Ham;Hyun-Bin Kim;Jeonguk Kang;Keun Ha Choi;Kyung-Soo Kim

引用次数: 0

Intelligent Impedance Control for Soft Robotic Arms With Environmental Force Interaction 环境力作用下柔性机械臂的智能阻抗控制

IF 6.4 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 DOI: 10.1109/tmech.2026.3731122

Saeedeh Shekari, S. Ali A. Moosavian

引用次数: 0

Synchronous Vibration Suppression for Active Magnetic Bearing Systems With Induced Current and Stiffness Variation 具有感应电流和刚度变化的主动磁轴承系统同步振动抑制

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.2026.3659881

Qi Liu;Zhenzhong Su;Shouding Xu;Hao Jiang;Zhi Li

{"title":"Synchronous Vibration Suppression for Active Magnetic Bearing Systems With Induced Current and Stiffness Variation","authors":"Qi Liu;Zhenzhong Su;Shouding Xu;Hao Jiang;Zhi Li","doi":"10.1109/TMECH.2026.3659881","DOIUrl":"10.1109/TMECH.2026.3659881","url":null,"abstract":"The synchronous vibration suppression controllers (SVSCs) based on active magnetic bearings (AMBs) can isolate the synchronous electromagnetic force to achieve synchronous vibration suppression. In this article, we address two key factors that have limited the conventional SVSCs: the induced current and the stiffness variation, which are addressed by induced current compensation and online stiffness measurement. First, the induced current under both open-loop and closed-loop conditions, as well as its effect on the AMB electromagnetic forces, is analyzed. Additionally, an online stiffness measurement method is introduced, which requires only adjusting the bias current without increasing the test weight or altering the speed, thereby ensuring practical applicability. Then, an optimized phase-shifted bandpass filter SVSC is implemented, whose parameters are dynamically tuned by the real-time values of the induced current and stiffness. Finally, experimental results at various speeds demonstrate the effectiveness of the proposed method, achieving vibration reduction of at least 3.5 dB and up to 18 dB compared to conventional SVSCs.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5447-5457"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146230828","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

High-Precision Magnetic Tracking With Individual Magnet Identification for Medical Applications 高精度磁跟踪与单个磁体识别的医疗应用

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.2026.3660131

Zhuocong Cai;Mingyu Wang;Hongpeng Wang;Jianda Han;Yanding Qin

{"title":"High-Precision Magnetic Tracking With Individual Magnet Identification for Medical Applications","authors":"Zhuocong Cai;Mingyu Wang;Hongpeng Wang;Jianda Han;Yanding Qin","doi":"10.1109/TMECH.2026.3660131","DOIUrl":"10.1109/TMECH.2026.3660131","url":null,"abstract":"Permanent magnetic tracking can accurately track the surgical target within the human body via the embedded miniaturized magnet, such as in the tracking of implantable devices and minimally invasive surgical navigation. The measurement accuracy directly affects the safety and effectiveness in these surgical scenarios. Due to inevitable parameter perturbances of the miniaturized magnet, it is difficult to enhance the measurement accuracy using nominal parameters. In this article, an identified parameter-based magnetic tracking is proposed to enhance measurement accuracy, where the identified parameters are used in the tracking algorithm to attenuate the influence of parameter perturbations. Simulation results verify the ultrahigh fidelity of the established model of the magnet. Static and dynamic trajectory experiments further validate the effectiveness and applicability of this method at different positions and under various motion patterns. Compared with conventional methods, the proposed method enhances the position accuracy by 65.24% and the orientation accuracy by 41.35% on average. Finally, <italic>ex vivo</i> tissue experiments verify the feasibility of tracking the tip of a surgical tool in surgical scenarios. The results demonstrate that the proposed method effectively attenuates the influence of parameter perturbations on measurement accuracy and provides reliable technical support for clinical applications.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5458-5469"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146230824","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 Fingertip-Size Six-Axis Force Sensor via Origami Coil Arrays for Intrinsic Tactile Sensing 一种基于折纸线圈阵列的指尖大小的六轴力传感器

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-18 DOI: 10.1109/TMECH.2026.3660186

Yingao Xu;Houping Wu;Yunfei Xie;Jiayuan Zhang;Hongbo Wang

{"title":"A Fingertip-Size Six-Axis Force Sensor via Origami Coil Arrays for Intrinsic Tactile Sensing","authors":"Yingao Xu;Houping Wu;Yunfei Xie;Jiayuan Zhang;Hongbo Wang","doi":"10.1109/TMECH.2026.3660186","DOIUrl":"10.1109/TMECH.2026.3660186","url":null,"abstract":"Force and tactile sensing play increasingly important roles in robotics hands to complete complex tasks safely and effectively, complementing the last piece of the puzzle of human-level dexterity. Despite the advances in flexible sensors and skins, tactile sensing at the fingertip of robotic hands remains an open question. Exploiting embedded six-axis force/torque (F/T) sensors for external stimuli estimation, namely, intrinsic tactile sensing, seems to be an effective solution. Here, we present OriCube, an origami-inspired, fingertip-size (14.5 × 14.5 × 12.5 mm<sup>3</sup>), lightweight (4 g), fully integrated, inductive six-axis F/T sensor. It utilizes an origami coil array to achieve self-decoupled six-axis F/T measurements by detecting the displacements and rotations of a metal shell via eddy–current coupling. A modular silicone spring-based elastomer design allows fine-tuning of the stiffness and performance of each axis independently. The calibrated OriCube exhibits a high resolution of 0.01% F.S. (23 N), low crosstalk (2%), high stability (<0.2% drift in 6 h), and insensitivity to strong magnetic field changes. It is capable of detecting light touch by a feather as well as high impact force when hammered. We demonstrate real-time tactile sensing (contact position and force vector) at the curved surface of a robotic fingertip via one embedded OriCube sensor.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5377-5387"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146230851","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

Modeling and Analysis of Ultrasonic Power Transfer Systems With Asymmetric Transducers 非对称换能器超声功率传递系统的建模与分析

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-16 DOI: 10.1109/TMECH.2026.3656560

Lining Zhang;Lihua Tang;Mingrui Wang;Mengmeng Li;Peiying Hu;Kean Aw;Aiguo Patrick Hu

{"title":"Modeling and Analysis of Ultrasonic Power Transfer Systems With Asymmetric Transducers","authors":"Lining Zhang;Lihua Tang;Mingrui Wang;Mengmeng Li;Peiying Hu;Kean Aw;Aiguo Patrick Hu","doi":"10.1109/TMECH.2026.3656560","DOIUrl":"10.1109/TMECH.2026.3656560","url":null,"abstract":"This article presents a novel 2-D equivalent circuit model for analyzing the effects of asymmetric transducer dimensions and radial misalignment on ultrasonic power transfer (UPT) system performance. Based on electromechanical analogies and transfer matrix methods, the model establishes a comprehensive analytical framework incorporating mechanical–electrical coupling effects, energy losses, and geometric parameters. Experimental validation with varying size ratios and radial misalignment conditions between transmitting and receiving transducers demonstrates the model's accuracy. Parametric analysis reveals quantitative relationships between transducer size ratios and system performance, while elucidating the coupling effects between radial misalignment and transducer dimensional differences. The findings show that system efficiency is less impacted under small-range radial misalignment, particularly when the misalignment remains below the difference in transducer radii. Furthermore, the investigation shows a distinct tradeoff relationship: increased dimensional asymmetry enhances misalignment tolerance while reducing overall transmission efficiency. These insights provide theoretical guidance for the design optimization of asymmetric UPT systems.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5295-5306"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146205287","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

Optimization of an Axial Flux Motor-Cycloid Gear Actuator for Sizing Wearable Robots 可穿戴机器人轴向磁链电机-摆线齿轮作动器的优化设计

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.2026.3662305

Myles Cooper;Santiago Canete;Digby Chappell;Conor Walsh

{"title":"Optimization of an Axial Flux Motor-Cycloid Gear Actuator for Sizing Wearable Robots","authors":"Myles Cooper;Santiago Canete;Digby Chappell;Conor Walsh","doi":"10.1109/TMECH.2026.3662305","DOIUrl":"10.1109/TMECH.2026.3662305","url":null,"abstract":"Actuators for wearable robots are difficult to design due to the competing requirements of minimizing weight and form factor while achieving desired performance requirements. Current solutions often rely on a “one-size-fits-all” approach utilizing classical motors and gears. Here, we present a thin, high torque density wearable actuator consisting of a cycloid gear and PCB axial flux motor, along with a modeling and design optimization framework to minimize actuator and battery mass while maintaining target performance. The model predicts motor mass with 95.9% accuracy and battery power with 75.9-87.9% accuracy. We then apply this design and optimization framework to quantify the benefits of creating optimized sizes of wearable actuators for gait assistance for stroke survivors, which was found to reduce average actuator and battery mass by 384 g with just 5 sizes. Furthermore, sizing the actuator and battery together resulted in an average of 28.9% to 48.3% more weight savings than sizing only the motor or only the battery, respectively, for individually optimized actuators. This paradigm of sizing actuators like clothing, along with new actuator architectures, may yield weight savings that could improve adoption of daily-wear assistive devices.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5536-5547"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147319450","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

Gradient Direction Consistency-Based Redundancy Optimization for Smooth Joint Paths Generation of Industrial Robots 基于梯度方向一致性的工业机器人光滑关节路径冗余优化

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-19 DOI: 10.1109/TMECH.2026.3659351

Mansen Chen;Yuwen Sun;Shanglei Jiang;Jinting Xu;Chengxiang Lu;Qiang Guo;Jun Liu

{"title":"Gradient Direction Consistency-Based Redundancy Optimization for Smooth Joint Paths Generation of Industrial Robots","authors":"Mansen Chen;Yuwen Sun;Shanglei Jiang;Jinting Xu;Chengxiang Lu;Qiang Guo;Jun Liu","doi":"10.1109/TMECH.2026.3659351","DOIUrl":"10.1109/TMECH.2026.3659351","url":null,"abstract":"The discontinuity of geometric paths is a primary obstacle to high performance robotic milling, because it can easily cause abrupt changes in velocity, acceleration, and cutting load, which is adverse to milling stability and accuracy. To address this challenge, this article provides a novel approach to generating smooth joint paths for industrial robots through redundancy optimization. Specifically, a new smoothness metric based on a gradient direction consistency principle is introduced at first. Subsequently, a simple yet effective redundancy optimization model is built by incorporating the joint space limitation, singularity avoidance and stiffness constraints. This transforms the complex smooth joint paths generation problem into a manageable binary classification task. In addition, by combining the Taylor series expansion, a generalized solution algorithm based on sequential quadratic programming is also proposed to solve the problem. Comparative experiments are conducted to validate the proposed method. The experimental results demonstrate that, in comparison to other representative approaches, this method achieves a significant improvement in the smoothness of joint paths, with an 88% reduction in the metric, but also enhances machining accuracy, as evidenced by a 23% contour error reduction.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5388-5399"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146230846","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

Pseudorange-Based GNSS Attack Detection for Uncrewed Aerial Vehicles Using a Single Antenna 基于伪橙的单天线无人机GNSS攻击检测

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.2026.3651523

Junhong Wang;Qianyuan Liu;Dong Zhao;Wenshuo Li;Jianchun Zhang;Xiang Yu;Lei Guo

{"title":"Pseudorange-Based GNSS Attack Detection for Uncrewed Aerial Vehicles Using a Single Antenna","authors":"Junhong Wang;Qianyuan Liu;Dong Zhao;Wenshuo Li;Jianchun Zhang;Xiang Yu;Lei Guo","doi":"10.1109/TMECH.2026.3651523","DOIUrl":"10.1109/TMECH.2026.3651523","url":null,"abstract":"This article presents a pseudorange-based global navigation satellite system (GNSS) spoofing attack detection scheme for UAVs. The approach begins by developing a measurement-oriented model that accounts for relay-based spoofing attacks and the effects of multipath. The detection scheme ingeniously incorporates the signal spatial correlation with antenna motion. Inspired by the theory of composite disturbance filtering, this article employs a disturbance observer-based augmented state Kalman filter and a least mean squares filter to address distinct disturbances in attack detection. Specially, the least mean squares filter mitigates multipath effects caused by antenna motion in the pseudorange observations. Then, a generalized likelihood ratio test integrates both pseudorange observations and predictions of a moving antenna to enable robust detection. Monte Carlo simulations are conducted to analyze the effectiveness of the proposed method with different levels of disturbances. In addition, the performance of the proposed method is evaluated through experiments in comparison to existing approaches under various quadcopter movement states. The results demonstrate that the proposed method effectively detects GNSS spoofing attacks and exhibits better robustness.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5125-5136"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146042542","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