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International Journal of Biomechatronics and Biomedical Robotics最新文献

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Parameterisation analysis for a four in-wheel-motors drive and four wheels independent steering electric vehicle based on multi-body inverse kinematics 基于多体逆运动学的四轮电机驱动四轮独立转向电动车参数化分析
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 1900-01-01 DOI: 10.1504/IJBBR.2013.058734
Ren Shaoyun, Z. Dong, H. Qiu, Liu Zhanyu, Z. Qi
{"title":"Parameterisation analysis for a four in-wheel-motors drive and four wheels independent steering electric vehicle based on multi-body inverse kinematics","authors":"Ren Shaoyun, Z. Dong, H. Qiu, Liu Zhanyu, Z. Qi","doi":"10.1504/IJBBR.2013.058734","DOIUrl":"https://doi.org/10.1504/IJBBR.2013.058734","url":null,"abstract":"In this paper, a kinematics model with 14 degrees of freedom (DOF) is built for a four in-wheel-motors drive and four wheels independent steering electric vehicle based on the multi-body dynamics theory and modelling integration method. Considering the slippage control of wheels, the optimal speeds for the individual wheel and the optimal steering angles can be obtained for the desired trajectory through inverse kinematics analysis of the model. A typical case has been simulated and the useful driving parameterisation analysis for the vehicle can be obtained. The results of this paper can provide the basic and standard data for the coordination control among four driven in-wheel-motors and four all wheels independent steering motors according to the desired curve motion and will be validated by future test data results.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126364174","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Computational modelling of musculoskeletal to predict the human response with exoskeleton suit 肌肉骨骼的计算模型，以预测人体对外骨骼的反应
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 1900-01-01 DOI: 10.1504/ijbbr.2020.10030379
G. A. Padmanabha, S. T. Ramalingasetty, Boobalan Vetrivel, I. Mukherjee, S. Omkar, R. Sivakumar
{"title":"Computational modelling of musculoskeletal to predict the human response with exoskeleton suit","authors":"G. A. Padmanabha, S. T. Ramalingasetty, Boobalan Vetrivel, I. Mukherjee, S. Omkar, R. Sivakumar","doi":"10.1504/ijbbr.2020.10030379","DOIUrl":"https://doi.org/10.1504/ijbbr.2020.10030379","url":null,"abstract":"","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128708070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Towards active walking from compass gait: stability and hip torque requirement for level ground walking 从罗盘步态走向主动行走:平地行走的稳定性和髋部扭矩要求
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 1900-01-01 DOI: 10.1504/IJBBR.2015.10000401
O. Mazumder, A. S. Kundu, Ritwik Chattaraj, P. Lenka, S. Bhaumik
{"title":"Towards active walking from compass gait: stability and hip torque requirement for level ground walking","authors":"O. Mazumder, A. S. Kundu, Ritwik Chattaraj, P. Lenka, S. Bhaumik","doi":"10.1504/IJBBR.2015.10000401","DOIUrl":"https://doi.org/10.1504/IJBBR.2015.10000401","url":null,"abstract":"The aim of this paper is to develop a stable biped model for level ground walking with anthropomorphic parameters. Two models for level ground walking has been simulated and studied, one with active hip joint and the other with ankle impulse. Proposed model is derived from compass gait model with additional torque only at hip joint. Level ground walking has been simulated to find torque requirement and relation between applied torque and angular variation of stance and swing leg. Stability analysis to find disturbance rejection range has also been found. Proposed model serves as a transition from passive walking to energy efficient anthropomorphic walking. Initial stability analysis and model behaviour shows satisfactory results. This concept can be modified towards complete anthropomorphic biped walking by applying minimum possible torque at knee and ankle joint along with hip and also for developing energy efficient active exoskeleton.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121808654","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
The structural synthesis of planar 10-link, 3-DOF simple and multiple joint kinematic chains 平面十连杆、三自由度单关节和多关节运动链的结构综合
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 1900-01-01 DOI: 10.1504/IJBBR.2013.058718
J. Chu, Yanhuo Zou, P. He
{"title":"The structural synthesis of planar 10-link, 3-DOF simple and multiple joint kinematic chains","authors":"J. Chu, Yanhuo Zou, P. He","doi":"10.1504/IJBBR.2013.058718","DOIUrl":"https://doi.org/10.1504/IJBBR.2013.058718","url":null,"abstract":"A method has been proposed for structural synthesis of the planar 10-link, 3-DOF simple and multiple joint kinematic chains in this paper. The procedure for structural synthesis of the kinematic chains is obtained by applying the single-kinematic-chain (SKC) adding theory with the help of double-colour-topological-graph (DCTG) model representation. The mean feature of this method is that a multiple joint kinematic chain with L independent loops can be formed by subsequently adding single-open-chain (SOC) on a single-closed-chain (SCC) with three adding styles. By this method, the structures of all the 10-link, 3-DOF simple and multiple joint kinematic chains have been synthesised by computer.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124449461","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
Analysis and Improvement of Non-contact Permanent Magnet Adsorption Unit for Ship Wall-climbing Robot 船舶爬壁机器人非接触式永磁吸附装置的分析与改进
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 1900-01-01 DOI: 10.1504/ijbbr.2022.10053095
Shuwei Zhu, Yufan Yang, Zhang Zhisheng, Yunde Shi, Zhijie Xia, Fang Jia
{"title":"Analysis and Improvement of Non-contact Permanent Magnet Adsorption Unit for Ship Wall-climbing Robot","authors":"Shuwei Zhu, Yufan Yang, Zhang Zhisheng, Yunde Shi, Zhijie Xia, Fang Jia","doi":"10.1504/ijbbr.2022.10053095","DOIUrl":"https://doi.org/10.1504/ijbbr.2022.10053095","url":null,"abstract":"","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115849066","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A review of shear/slip sensor for improving robotic and human dexterity 用于提高机器人和人类灵巧性的剪切/滑移传感器综述
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 1900-01-01 DOI: 10.1504/ijbbr.2022.10052559
T. Giffney, Yuting Zhu
{"title":"A review of shear/slip sensor for improving robotic and human dexterity","authors":"T. Giffney, Yuting Zhu","doi":"10.1504/ijbbr.2022.10052559","DOIUrl":"https://doi.org/10.1504/ijbbr.2022.10052559","url":null,"abstract":"","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131496705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Fibre optic force sensor for flexible bevel tip needles in minimally invasive surgeries 用于微创手术中柔性斜尖针的光纤力传感器
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 1900-01-01 DOI: 10.1504/IJBBR.2013.058742
Jasvinder A. Singh, J. Potgieter, Weiliang Xu
{"title":"Fibre optic force sensor for flexible bevel tip needles in minimally invasive surgeries","authors":"Jasvinder A. Singh, J. Potgieter, Weiliang Xu","doi":"10.1504/IJBBR.2013.058742","DOIUrl":"https://doi.org/10.1504/IJBBR.2013.058742","url":null,"abstract":"This paper presents and discusses the design of a novel fibre optic force sensor which will be embedded within the needle. This sensor will provide information on lateral and axial forces acting on the needle. The proposed design is amalgamation of two technologies and uses both Fabry Perot interferometer and fibre brags grating.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129852540","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Evaluating the Brightness Difference of Driver’s Visual Adaptation between road and HMI Using Consensus Model and PSO Algorithm 基于共识模型和粒子群算法的驾驶员道路与人机界面视觉适应亮度差异评价
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 1900-01-01 DOI: 10.1504/ijbbr.2022.10054114
Zhijie Xia, Wenyu Wu, Zhisheng Zhang, Dihui Chu, Fangzhou Dong
{"title":"Evaluating the Brightness Difference of Driver’s Visual Adaptation between road and HMI Using Consensus Model and PSO Algorithm","authors":"Zhijie Xia, Wenyu Wu, Zhisheng Zhang, Dihui Chu, Fangzhou Dong","doi":"10.1504/ijbbr.2022.10054114","DOIUrl":"https://doi.org/10.1504/ijbbr.2022.10054114","url":null,"abstract":"","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128579677","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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