Mechatronics最新文献_第2页

Compensating hysteresis and mechanical misalignment in piezo-stepper actuators 压电步进执行器的补偿滞后和机械错位

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-08-13 DOI: 10.1016/j.mechatronics.2025.103394

Max van Meer , Tim van Meijel , Emile van Halsema , Edwin Verschueren , Gert Witvoet , Tom Oomen

引用次数: 0

Learning-driven sensorless interaction force estimation for low-cost robot arm with limited dynamic features 基于学习驱动的低成本机械臂无传感器交互力估计

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-08-11 DOI: 10.1016/j.mechatronics.2025.103396

Jiaoyang Lu , Xianta Jiang , Ting Zou

{"title":"Learning-driven sensorless interaction force estimation for low-cost robot arm with limited dynamic features","authors":"Jiaoyang Lu , Xianta Jiang , Ting Zou","doi":"10.1016/j.mechatronics.2025.103396","DOIUrl":"10.1016/j.mechatronics.2025.103396","url":null,"abstract":"<div><div>Precise measurement of the interaction force between the robot and its environment benefits the decision-making processes in various robotic applications. Compared with sensor-based methods, sensorless approaches are commonly preferred due to their versatility and cost-effectiveness. This paper introduces a learning-based method that leverages the state-of-the-art transformer to accurately estimate the interaction force. In contrast to other estimation methods relying on accurate robot dynamic parameters, state information or image features, a notable innovation of our work is the utilization of the limited set of features. The elaborate feature set only includes the joint angle, velocity, and driven torque, with the omission of joint acceleration—a basic robot state typically employed in other research. This configuration expands the feasibility of the presented approach to low-cost robots which are solely equipped with encoders in each joint, and to scenarios where the collection of clear and unobstructed visual features are challenging. Another distinctive feature of our work is that both soft and stiff objects during interaction are considered. Results from the experiment demonstrate that, in comparison to previous image-based methods, our framework achieves an equivalent or even superior level of accuracy across a broader spectrum of environments. Additionally, due to the elimination of joint acceleration from the feature set, the proposed framework sacrifices a small degree of accuracy compared with some non-image-based methods to broaden its applicability.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"111 ","pages":"Article 103396"},"PeriodicalIF":3.1,"publicationDate":"2025-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144826749","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multiple model switched repetitive control for tremor suppression 多模型切换重复控制抑制震颤

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-08-05 DOI: 10.1016/j.mechatronics.2025.103392

Tingze Fang, Christopher T. Freeman

{"title":"Multiple model switched repetitive control for tremor suppression","authors":"Tingze Fang, Christopher T. Freeman","doi":"10.1016/j.mechatronics.2025.103392","DOIUrl":"10.1016/j.mechatronics.2025.103392","url":null,"abstract":"<div><div>Tremor is a condition that impacts millions of people globally, and is characterised by a periodic limb movement that impedes voluntary motion. Recent studies have shown that functional electrical stimulation (FES) can help reduce tremor by artificially stimulating opposing muscles, thereby decreasing the oscillation’s amplitude. Various control methods have been proposed for this purpose, but repetitive control (RC) has shown the most promise with potential to completely suppress the tremor. While several RC approaches have demonstrated suppression rates of up to 90%, they heavily rely on an accurate model of the underlying dynamics, and their effectiveness declines steeply due to factors like muscle fatigue, spasticity, and modelling inaccuracies.</div><div>This paper introduces a multiple model switched repetitive control (MMSRC) framework that addresses the limitations of existing RC approaches. It guarantees high performance tremor suppression provided the true dynamics belong to an uncertainty set specified by the designer. This enables it to adapt to time-varying physiological changes, as well as changes in the placement of the FES electrodes. Moreover, once an uncertainty set has been established, it removes the need for subsequent model identification. This is an important step towards home-based tremor suppression where model identification and expert tuning are not possible. Experimental validation is performed with four participants, showing that MMSRC effectively suppresses tremor even in the presence of severe modelling uncertainty and fatigue, unlike conventional RC methods which often become unstable under these conditions.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103392"},"PeriodicalIF":3.1,"publicationDate":"2025-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144770680","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","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 crutch-free walking for a powered exoskeleton considering human adaptation 考虑人类适应性的动力外骨骼无拐杖行走优化

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-08-05 DOI: 10.1016/j.mechatronics.2025.103389

Jongwon Kim , Abhiraj Singh , Jimin Youn , Hyeongjun Kim , Jeongsu Park , Jinsu Park , Kyoungchul Kong

{"title":"Optimization of crutch-free walking for a powered exoskeleton considering human adaptation","authors":"Jongwon Kim , Abhiraj Singh , Jimin Youn , Hyeongjun Kim , Jeongsu Park , Jinsu Park , Kyoungchul Kong","doi":"10.1016/j.mechatronics.2025.103389","DOIUrl":"10.1016/j.mechatronics.2025.103389","url":null,"abstract":"<div><div>In crutch-free walking with powered exoskeletons, pilots instinctively engage their upper body to adapt its motion and maintain balance, especially in the absence of lower-limb sensory feedback or external stabilizing aids. These self-balancing efforts, often involving significant head and trunk movement, not only increase physical and cognitive load but also reduce the overall usability of the exoskeleton. This study proposes a human-adaptation-in-the-loop optimization method that minimizes the need for voluntary upper-body adjustments, particularly head movement. This approach aims to enable crutch-free walking by minimizing the pilot’s voluntary balancing, achieved through the iterative optimization of ankle joint trajectory based on the modeling of the pilot’s head movements and the center of pressure (COP). As a result, the proposed human-adaptation-in-the-loop optimization minimized the instability caused by the pilot’s adaptation motion that is not reflected within the human–robot integrated system, enabling continuous walking for people with spinal cord injury (SCI) at a speed of 0.24 m/s without the use of crutches. This demonstrates an effective solution for achieving natural, crutch-free walking in a powered exoskeleton.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103389"},"PeriodicalIF":3.1,"publicationDate":"2025-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144770758","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Research on space proximity pursuit-evasion interception decision-making based on deep reinforcement learning 基于深度强化学习的空间接近追逃拦截决策研究

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-08-05 DOI: 10.1016/j.mechatronics.2025.103387

Cheng Huang, Quanli Zeng, Jiazhong Xu

{"title":"Research on space proximity pursuit-evasion interception decision-making based on deep reinforcement learning","authors":"Cheng Huang, Quanli Zeng, Jiazhong Xu","doi":"10.1016/j.mechatronics.2025.103387","DOIUrl":"10.1016/j.mechatronics.2025.103387","url":null,"abstract":"<div><div>Aiming at the one-to-one pursuit-evasion problem in space, to successfully intercept the close-range evader with arbitrary counter-maneuver under relative motion between pursuer and evader at a close given range, this paper proposes a decision-making method for close-range pursuit-evasion interception based on Distributed Distributional Deep Determined Policy Gradient (D4PG). An improved nearest neighbor algorithm exploration mechanism including random constant and logarithmic constant is adopted, which reduces the learning burden of the algorithm and improves its convergence stability. A target network containing three value networks is constructed, and the loss function is calculated by selecting a value network with the minimum variance of probability distribution in the three networks, which enables the more accurate estimation of the Q-functions, and the operation speed and efficiency of the algorithm are effectively improved. Four typical escaping scenarios of arbitrary counter-maneuvering are performed as experimental verification to the simulation, and the results show the effectiveness and superiority of the proposed decision-making method for space proximity pursuit-evasion interception.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103387"},"PeriodicalIF":3.1,"publicationDate":"2025-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144770681","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A novel pose control framework and its implementation for robot manipulators following constrained spatial paths 基于约束空间路径的机器人姿态控制框架及其实现

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-07-31 DOI: 10.1016/j.mechatronics.2025.103390

Yalun Wen, Prabhakar R. Pagilla

引用次数: 0

Proving the stability of cycle navigation using capture sets 利用捕获集证明循环导航的稳定性

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-07-31 DOI: 10.1016/j.mechatronics.2025.103385

Quentin Brateau, Loïck Degorre, Fabrice Le Bars, Luc Jaulin

{"title":"Proving the stability of cycle navigation using capture sets","authors":"Quentin Brateau, Loïck Degorre, Fabrice Le Bars, Luc Jaulin","doi":"10.1016/j.mechatronics.2025.103385","DOIUrl":"10.1016/j.mechatronics.2025.103385","url":null,"abstract":"<div><div>Navigating Autonomous Underwater Vehicles (AUVs) presents significant challenges due to the absence of traditional localization systems. Cycle navigation emerges as a promising paradigm, enabling reliable navigation using minimal exteroceptive measurements. This approach leverages predefined cyclic trajectories, which are stabilized based on environmental feedback, ensuring frugal and discreet operations without reliance on high computational power or extensive sensor systems. This work aims to prove the stability of the cycle navigation. As cycle navigation is a non-linear system governed by a discrete inclusion condition, conventional methods have trouble to prove its stability. For this reason, this paper focuses on set methods to prove the stability of cycle navigation. The stability is proven by exhibiting a positive invariant set, which is a set stable by application of the evolution function of the system. This ensures that the evolution function will not remove states from the positively invariant set. Then, the characterization of the capture basin is an asset when performing cycle navigation, as it represents the set of initial states for the system which leads to the positive invariant set. Once the system reaches either the capture basin or the positive invariant set, which are generalized as a capture set, it remains captured forever. This approach not only guarantees the stability of the system in the neighborhood of the equilibrium point, but also establishes that it exists an area in which the stability of the cycle navigation will lead to a stable behavior. This work offers a robust, computationally efficient alternative to traditional stability methods, particularly suited for resource-constrained AUVs, because the underwater environment lacks suitable, cheap and easy-to-use localization methods, which forces us finding alternative ways to navigate and explore this particular environment.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103385"},"PeriodicalIF":3.1,"publicationDate":"2025-07-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144739056","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Development of a type of cross-scale piezoelectric screw motor operating in quasi-static and resonant states 一种准静态和谐振型跨尺度压电螺杆电机的研制

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-07-26 DOI: 10.1016/j.mechatronics.2025.103391

Xiaolong Shu , Yifang Zhang , Jianfa Lin , Bingliang Guan , Min Qian , Qiaosheng Pan

{"title":"Development of a type of cross-scale piezoelectric screw motor operating in quasi-static and resonant states","authors":"Xiaolong Shu , Yifang Zhang , Jianfa Lin , Bingliang Guan , Min Qian , Qiaosheng Pan","doi":"10.1016/j.mechatronics.2025.103391","DOIUrl":"10.1016/j.mechatronics.2025.103391","url":null,"abstract":"<div><div>In this study, a cross-scale piezoelectric screw motor was proposed, designed, fabricated and tested. The proposed motor can operate in quasi-static and resonant states, and achieves cross-scale motion output through mode conversion. The motor is comprised of a stator and a rotor, with the same internal and external screws. The motor’s motion is achieved by friction between the stator and the rotor. Structure and working principle of the motor are introduced. The vibration modes of the stator in different modes were studied through finite element analysis. The motor's dynamic model was established. Finally, the prototype was fabricated, and the output performance was tested. Experimental results demonstrate a minimum resolution of 12.5 nm and a maximum load capacity of 12 N in quasi-static mode. When operating in resonant state, the motor achieves a maximum speed of 10.4mm/min (32.8 rpm), the maximum load capacity is 30 N and the maximum efficiency is 0.36 % when the prototype is rotated forward. When the motor is reversed, the maximum speed is 20.8 mm/min (65.5 rpm), the load capacity reaches 33 N, and the maximum efficiency is 0.46 %. The proposed piezoelectric motor promotes the development of cross-scale actuators.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103391"},"PeriodicalIF":3.1,"publicationDate":"2025-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144711347","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Efficient avoidance of ellipsoidal obstacles with model predictive control for mobile robots and vehicles 基于模型预测控制的移动机器人和车辆椭球体障碍物有效避障

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-07-21 DOI: 10.1016/j.mechatronics.2025.103386

Mario Rosenfelder , Hendrik Carius , Markus Herrmann-Wicklmayr , Peter Eberhard , Kathrin Flaßkamp , Henrik Ebel

{"title":"Efficient avoidance of ellipsoidal obstacles with model predictive control for mobile robots and vehicles","authors":"Mario Rosenfelder , Hendrik Carius , Markus Herrmann-Wicklmayr , Peter Eberhard , Kathrin Flaßkamp , Henrik Ebel","doi":"10.1016/j.mechatronics.2025.103386","DOIUrl":"10.1016/j.mechatronics.2025.103386","url":null,"abstract":"<div><div>In real-world applications of mobile robots, collision avoidance is of critical importance. Typically, global motion planning in constrained environments is addressed through high-level control schemes. However, additionally integrating local collision avoidance into robot motion control offers significant advantages. For instance, it reduces the reliance on heuristics, conservatism, and complexity from additional hyperparameters that can arise from a two-stage approach separating local collision avoidance and control. Moreover, using model predictive control (MPC), a robot’s full potential can be harnessed by considering jointly local collision avoidance, the robot’s dynamics including dynamic constraints (like nonholonomic constraints), and actuation constraints. In this context, the present paper focuses on local obstacle avoidance for wheeled mobile robots, where both the robot’s and obstacles’ occupied volumes are modeled as ellipsoids of arbitrary orientation. To this end, a computationally efficient overlap test, which works for arbitrary ellipsoids, is conducted and novelly integrated into the MPC framework. We propose a particularly efficient implementation tailored to robots moving in the plane. The functionality of the proposed obstacle-avoiding MPC is demonstrated for two exemplary types of kinematics by means of simulations. A hardware experiment using a real-world wheeled mobile robot shows transferability to reality and real-time applicability. Moreover, numerical experiments show that, due to the approach’s general nature, it can be directly applied to dynamic situations like moving obstacles. The general computational approach to ellipsoidal obstacle avoidance can also be applied to other robotic systems and vehicles as well as three-dimensional scenarios.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103386"},"PeriodicalIF":3.1,"publicationDate":"2025-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144672214","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Novel design of GFRP beam spring rocker-arm suspension for 6-wheeled mobile robots 6轮移动机器人GFRP梁弹簧摇臂悬架的新设计

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-07-16 DOI: 10.1016/j.mechatronics.2025.103388

Gunwoo An, Jaeyoung Kang

{"title":"Novel design of GFRP beam spring rocker-arm suspension for 6-wheeled mobile robots","authors":"Gunwoo An, Jaeyoung Kang","doi":"10.1016/j.mechatronics.2025.103388","DOIUrl":"10.1016/j.mechatronics.2025.103388","url":null,"abstract":"<div><div>Six-wheeled mobile robots (6-WMRs) equipped with rocker-bogie suspension systems are widely used for planetary exploration and search-and-rescue tasks due to their excellent terrain adaptability. However, conventional rocker-bogie-based systems present critical limitations, including tire slip caused by the absence of steering mechanisms, lack of camber control, and increased structural complexity from added components. To overcome these issues, this study introduces the GFRP Beam Spring Rocker-arm Suspension (GBSRS), which integrates a rocker-arm structure with a Glass Fiber Reinforced Polymer (GFRP) beam spring. An independent steering system based on Ackermann geometry is applied to minimize tire slip, while the torsional and vertical compliance of the GFRP beam enables passive camber variation and vibration damping without the use of additional actuators or complex linkages. A 7-degree-of-freedom (7-DOF) vibration model is developed to simulate dynamic behavior, and a bend-twist coupling analysis is conducted to calculate beam deformation and camber response. The design is further optimized by applying Derringer’s desirability function to key parameters such as beam thickness, damper position, and camber adjuster angle. Simulation and experimental results—including tests over single obstacles and rough terrain—demonstrate that the GBSRS reduces RMS acceleration by up to 16.3% and peak acceleration by up to 40.6% compared to conventional solid-arm systems. These results confirm that the GBSRS effectively improves vibration isolation and camber adaptability while maintaining structural simplicity, offering a practical suspension solution for 6-WMRs in challenging environments.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103388"},"PeriodicalIF":3.1,"publicationDate":"2025-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144634104","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0