Mechatronics最新文献_第2页

Trajectory tracking through Multiple Weight Control with slackness avoidance for modular parallel tendon-driven joints 基于多重重量控制的模块化平行肌腱驱动关节轨迹跟踪

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2026-04-01 Epub Date: 2026-01-16 DOI: 10.1016/j.mechatronics.2026.103463

Josef Neto , Yiwei Wang , Shunta Togo , Hiroshi Yokoi , Yinlai Jiang

{"title":"Trajectory tracking through Multiple Weight Control with slackness avoidance for modular parallel tendon-driven joints","authors":"Josef Neto , Yiwei Wang , Shunta Togo , Hiroshi Yokoi , Yinlai Jiang","doi":"10.1016/j.mechatronics.2026.103463","DOIUrl":"10.1016/j.mechatronics.2026.103463","url":null,"abstract":"<div><div>This study proposes a novel Multiple Weighted Control (MWC) framework that integrates a Neuro-Adaptive Sliding Mode Controller (NASMC) with a double-reaching switching power law and a Neuro-Adaptive Backstepping (NAB) controller incorporating a robust differentiator for a tendon-driven mechanism (TDM). To mitigate tendon slackness, a trajectory modification algorithm is developed to maintain appropriate tension throughout motion. The proposed framework addresses key challenges in real-time control implementation and offers practical solutions verified through both simulations and hardware experiments on a single-degree-of-freedom TDM. Comparative analyses demonstrate that the proposed controller achieves superior tracking accuracy relative to other control methods. Moreover, the slackness prevention algorithm effectively avoids motion obstruction due to excessive tension. System performance, evaluated using metrics such as Mean Squared Error (MSE) and Mean Absolute Error (MAE), confirms high precision in both position tracking and tension estimation.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"115 ","pages":"Article 103463"},"PeriodicalIF":3.1,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145979994","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

Super-twisting impedance control of redundant robots 冗余机器人的超扭转阻抗控制

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2026-03-01 Epub Date: 2025-12-12 DOI: 10.1016/j.mechatronics.2025.103448

Jan Inge Dyrhaug, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl

引用次数: 0

Design and control of a novel XY compliant micro-positioning stage with low geometric nonlinearity and large workspace 一种低几何非线性、大工作空间的新型XY柔性微定位台的设计与控制

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2026-03-01 Epub Date: 2025-11-27 DOI: 10.1016/j.mechatronics.2025.103437

Linkang Wang , Bai Chen , Tianzuo Chang , Jiafeng Yao , Hongtao Wu , Shuo Ding

{"title":"Design and control of a novel XY compliant micro-positioning stage with low geometric nonlinearity and large workspace","authors":"Linkang Wang , Bai Chen , Tianzuo Chang , Jiafeng Yao , Hongtao Wu , Shuo Ding","doi":"10.1016/j.mechatronics.2025.103437","DOIUrl":"10.1016/j.mechatronics.2025.103437","url":null,"abstract":"<div><div>Piezoelectric-driven XY compliant micro-positioning stages (XY-CMPSs) are widely employed in nanopositioning applications. However, existing designs face significant challenges in simultaneously achieving low geometric nonlinearity and a large workspace. This paper presents a novel XY-CMPS designed to overcome these limitations through a planar arrangement of multi-stage parallelogram mechanisms. To analyze the performance characteristics of the proposed stage, an amplification ratio model that accounts for both driving load and external equivalent load was established using the chain-based compliance matrix method (CCMM). On this basis, kinetostatic and dynamic analysis models were developed. The design parameters were optimized via a multi-objective optimization approach. Finite element analysis (FEA) results indicate that the proposed design reduces geometric nonlinearity by 62.35 % while achieving a larger workspace. Experimental evaluations on an XY-CMPS prototype demonstrated a workspace of 214.84 × 218.65 μm². The measured force-displacement relationship remains linear with a relative error below 3.17 %, confirming low geometric nonlinearity. The parasitic displacement was measured to be <2.5 μm (1.20 %). Furthermore, a motion tracking accuracy of up to 98.92 % was attained, which is attributed to the high natural frequency of approximately 210 Hz.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"114 ","pages":"Article 103437"},"PeriodicalIF":3.1,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145600396","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

Hazard-constrained global-local path planning for fault-tolerant hexapod robots on unstructured terrain 非结构化地形上容错六足机器人的风险约束全局局部路径规划

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2026-03-01 Epub Date: 2025-12-02 DOI: 10.1016/j.mechatronics.2025.103438

Bo You , Haiyu She , Jiayu Li , Chen Chen

{"title":"Hazard-constrained global-local path planning for fault-tolerant hexapod robots on unstructured terrain","authors":"Bo You , Haiyu She , Jiayu Li , Chen Chen","doi":"10.1016/j.mechatronics.2025.103438","DOIUrl":"10.1016/j.mechatronics.2025.103438","url":null,"abstract":"<div><div>This study proposes an integrated path-planning framework for fault-tolerant hexapod robots navigating unstructured environments, addressing challenges posed by leg joint failures. The framework combines an enhanced A* algorithm with an adaptive Dynamic Window Approach (DWA) to improve navigation robustness. The A* algorithm incorporates a hazard-based model assessing terrain features like slopes, obstacles, and trenches, optimizing global paths by refining heuristic functions and minimizing path complexity to ensure safety and efficiency. The adaptive DWA dynamically adjusts local trajectories, balancing goal alignment, obstacle avoidance, stability, and energy efficiency through fault-specific evaluations, with weights tuned for optimal performance. Simulations and physical experiments demonstrate that the approach outperforms conventional methods, producing smoother, safer paths and enhancing stability across diverse terrains, even under fault conditions. This framework provides innovative solutions for reliable navigation in complex environments, offering significant potential for applications in search and rescue operations and extraterrestrial exploration, where adaptability and fault tolerance are critical for mission success.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"114 ","pages":"Article 103438"},"PeriodicalIF":3.1,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145685366","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

Hippotherapy simulators in physical rehabilitation: A systematic review 物理康复中的海马疗法模拟器：系统综述

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2026-03-01 Epub Date: 2025-12-13 DOI: 10.1016/j.mechatronics.2025.103449

Lissia L. Barbosa , Joseph P. Dutkowsky , Sunil K. Agrawal

{"title":"Hippotherapy simulators in physical rehabilitation: A systematic review","authors":"Lissia L. Barbosa , Joseph P. Dutkowsky , Sunil K. Agrawal","doi":"10.1016/j.mechatronics.2025.103449","DOIUrl":"10.1016/j.mechatronics.2025.103449","url":null,"abstract":"<div><h3>Purpose</h3><div>To evaluate the current evidence on Horse-Riding Simulators (HRS) as therapeutic alternatives to traditional hippotherapy and identify gaps in design and application.</div></div><div><h3>Materials and Methods</h3><div>A systematic review was conducted on studies involving HRS interventions. A total of 1754 English-language articles were screened, with 45 meeting the inclusion criteria for analysis.</div></div><div><h3>Results</h3><div>Forty-five studies were analyzed, mostly using commercial simulators and some custom-built devices. Intervention durations ranged from single sessions to 20 weeks across various populations. Randomized controlled trials represented 53.3 %, but overall evidence quality was low, with 37.8 % rated high risk of bias. Despite this, 93.3 % reported positive effects on balance, posture, and motor function, though comparisons with traditional hippotherapy remain inconclusive.</div></div><div><h3>Conclusions</h3><div>HRS present a promising therapeutic option where access to hippotherapy is limited, but current designs remain limited in their ability to fully simulate equine movement and sensory input. Future developments should focus on incorporating realistic and variable seat motion, multisensory feedback, and immersive virtual environments to maximize therapeutic outcomes.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"114 ","pages":"Article 103449"},"PeriodicalIF":3.1,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145737133","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

Velocity field assist-as-needed controller for upper limb rehabilitation with sEMG-based spasticity detection 基于表面肌电痉挛检测的上肢康复速度场辅助控制器

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2026-03-01 Epub Date: 2025-12-12 DOI: 10.1016/j.mechatronics.2025.103450

Ye Li, Aiguo Song, Jianwei Lai, Ye Lu, Huijun Li

{"title":"Velocity field assist-as-needed controller for upper limb rehabilitation with sEMG-based spasticity detection","authors":"Ye Li, Aiguo Song, Jianwei Lai, Ye Lu, Huijun Li","doi":"10.1016/j.mechatronics.2025.103450","DOIUrl":"10.1016/j.mechatronics.2025.103450","url":null,"abstract":"<div><div>Robot-assisted training has demonstrated significant potential in facilitating motor function recovery for stroke patients with hemiplegia. Among various rehabilitation strategies, the assist-as-needed (AAN) strategy, which promotes user participation while minimizing robotic intervention based on task performance or physiological states, has been widely adopted in rehabilitation robotics. This paper presents a novel variable admittance velocity field AAN controller integrated with spasticity detection capability. The primary objective was to develop a control strategy that enables upper limb trajectory tracking while ensuring training safety. First, we designed an admittance-controlled velocity field controller that achieves the AAN property through adaptive adjustment of admittance parameters. The velocity field design ensures precise trajectory tracking while maintaining temporal flexibility. Second, we propose an sEMG-based spasticity detection method that utilizes a Long Short-Term Memory (LSTM) network to model elbow spasticity patterns. In addition, a smooth velocity-switching function is designed to implement slow stretching of the affected limb during the spasticity phase. The performance of the controller was experimentally validated on both healthy subjects and post-stroke patients using a planar upper-limb rehabilitation robotic system. The results demonstrated that the proposed controller achieved better trajectory tracking accuracy and enhanced AAN performance compared to traditional force-field controller and impedance-based controller, and was capable of adjusting velocity upon the detection of subject spasticity.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"114 ","pages":"Article 103450"},"PeriodicalIF":3.1,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145737235","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

RCBode plot-based controller design for dual-stage actuators in HDDs 基于rbode绘图的双级驱动器控制器设计

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2026-03-01 Epub Date: 2025-12-10 DOI: 10.1016/j.mechatronics.2025.103447

Ryutaro Tokuyama, Takenori Atsumi

引用次数: 0

A machine learning approach to predict wrist posture in telerehabilitation with haptic devices 一种机器学习方法在触觉设备远程康复中预测手腕姿势

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2026-01-01 Epub Date: 2025-11-08 DOI: 10.1016/j.mechatronics.2025.103423

Roni Barak Ventura , Angelo Catalano , Joo H. Kim , Maurizio Porfiri

{"title":"A machine learning approach to predict wrist posture in telerehabilitation with haptic devices","authors":"Roni Barak Ventura , Angelo Catalano , Joo H. Kim , Maurizio Porfiri","doi":"10.1016/j.mechatronics.2025.103423","DOIUrl":"10.1016/j.mechatronics.2025.103423","url":null,"abstract":"<div><div>Stroke survivors often experience fine motor impairments that prevent them from participating in activities of daily living, adversely impacting their quality of life. Telerehabilitation with haptic devices has the potential to engage survivors in sensorimotor therapy of their hand and wrist, while also collecting pertinent information about their movement towards remote assessment by a medical professional. Nonetheless, it remains challenging to measure patients’ joint angles during interaction with haptic devices, which undermines their prospective use in telerehabilitation. We propose a simple set-up where patients wear a smartphone on their forearm while manipulating the haptic device. In this setting, data from inertial sensors embedded in the smartphone would be integrated with data from the haptic device via a machine learning algorithm to predict the patients’ wrist angle. We demonstrate the feasibility of this approach in experiments with 19 healthy subjects. We measure their wrist angle as they perform a motor task with a Novint Falcon haptic device while wearing sensors on their limb, and train a linear regression model that predicts the wrist angle. The model predicts wrist angles with an accuracy of 88.8%. This effort constitutes a significant step toward automatic assessment of joint movements in fine motor telerehabilitation.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"113 ","pages":"Article 103423"},"PeriodicalIF":3.1,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145467935","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

An electromagnetically actuated large-range nanopositioner with integrated magnetic preloading 一种集成磁预压的电磁驱动大范围纳米逆变器

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2026-01-01 Epub Date: 2025-11-12 DOI: 10.1016/j.mechatronics.2025.103425

R. Krishna , G.R. Jayanth

{"title":"An electromagnetically actuated large-range nanopositioner with integrated magnetic preloading","authors":"R. Krishna , G.R. Jayanth","doi":"10.1016/j.mechatronics.2025.103425","DOIUrl":"10.1016/j.mechatronics.2025.103425","url":null,"abstract":"<div><div>Voice coil motors are excellent for actuating nanopositioners owing to their simplicity and stability, but possess large footprint relative to their range, and also require trading off between their range and speed. This paper reports a compact, large range voice-coil motor based nanopositioner which avoids trading off between range and speed. The large range is achieved by means of an optimally designed magnetic preloading system that loads the mechanical suspension close to its first buckling mode and thereby greatly reduces its mechanical stiffness. A planar electromagnetic actuator is proposed, and is shown to enable independent control of electromagnetic force and local stiffness, which together also trading off between range and speed. Analytical models are proposed for both these systems, validated using numerical simulations, and subsequently experimentally realized. The actuation range of over 3 mm is experimentally achieved, representing a 5.76 fold improvement compared to a conventional compliant suspension. A 3.4 times speed improvement is demonstrated owing to the high magnetic trapping stiffness as compared to the case without it. Feedback control of the stage has also been performed and demonstrated to enable accurately tracking diverse waveforms. A large range-to-footprint ratio of 1:10 is achieved. The positioner is demonstrated to follow 40 nm step increments with a noise of 2.34 nm RMS.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"113 ","pages":"Article 103425"},"PeriodicalIF":3.1,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145529173","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

Driver perspective inspired pure pursuit path tracking control method for autonomous ground vehicles 基于驾驶员视角的自动驾驶地面车辆纯追踪路径跟踪控制方法

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2026-01-01 Epub Date: 2025-11-20 DOI: 10.1016/j.mechatronics.2025.103424

Haojie Zhang , Rongmin Liang , Feng Jiang , Qing Li

{"title":"Driver perspective inspired pure pursuit path tracking control method for autonomous ground vehicles","authors":"Haojie Zhang , Rongmin Liang , Feng Jiang , Qing Li","doi":"10.1016/j.mechatronics.2025.103424","DOIUrl":"10.1016/j.mechatronics.2025.103424","url":null,"abstract":"<div><div>The autonomous ground vehicles (AGVs) are expected to reliably track a planned path with high-accuracy in a wide variety of industry and civilian applications. Pure pursuit is widely used to solve this problem. However, most of the existing pure pursuit methods have the cutting-corner problem which results in poor path tracking performance when there are sharp turns. In this article, we learn from how the human drivers look ahead when they drive the vehicle to follow a road and propose the concept of path projected area for the first time which is similar to the driver perspective. An adaptive pure pursuit path tracking control method based on projected area is developed for AGVs, named PA-PP. First, a look-ahead distance is selected based on the predefined threshold of the path projected area in the method. Then, the velocity allocation method is introduced which also takes into account the path projected area. The optimal control command is generated through an adaptive controller. We verify the effectiveness of the PA-PP method in simulation and vehicle tests by comparing the performance of it with other three pure pursuit methods. The results show that the PA-PP method can not only improve the tracking robustness while the vehicle enters a turn, but also can result in a reduction of cumulative path tracking errors by nearly 31.09% in simulation test and 21.02% in vehicle experiment comparing to those of the classic pure pursuit algorithms.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"113 ","pages":"Article 103424"},"PeriodicalIF":3.1,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145579365","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