Mechatronics最新文献_第7页

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 : 2025-10-01 Epub 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":"2025-10-01","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

Dynamics modeling and μ synthesis for a parallel - suspension type inertially stabilized platform 并联悬架型惯性稳定平台动力学建模与μ综合

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-10-01 Epub Date: 2025-06-16 DOI: 10.1016/j.mechatronics.2025.103363

Yin Sun, Feng Zhao, Zhenjing Guo, Xiaojun Yan

{"title":"Dynamics modeling and μ synthesis for a parallel - suspension type inertially stabilized platform","authors":"Yin Sun, Feng Zhao, Zhenjing Guo, Xiaojun Yan","doi":"10.1016/j.mechatronics.2025.103363","DOIUrl":"10.1016/j.mechatronics.2025.103363","url":null,"abstract":"<div><div>The parallel-suspension type inertially stabilized platform utilizes a unique flexible support structure and non-contact linear actuators to enable simultaneous high-efficiency vibration suppression control of optical payloads across multiple degrees of freedom. Compared to traditional series – gimbals type stabilized platforms, it offers a higher payload-to-weight ratio and rapid response characteristics. In this paper, a 6-degree-of-freedom dynamic model for the parallel-suspension inertially stabilized platform is established, a control method is designed, and an actual engineering prototype is constructed. Specifically, a flexible support element model that accounts for column instability phenomenon is developed. Based on the parallel mount configuration a complete 6-degree-of-freedom dynamic model of the entire platform is constructed. Furthermore, due the variable parameter characteristics of flexible elastic elements, a <em>μ</em> synthesis control method considering the uncertainty of model parameters is designed. The experimental results show that the <em>μ</em> controller can effectively reduce the external sinusoidal angular disturbance to less than 25 % and the linear vibration disturbance to less than 3 % of the original disturbance while maintaining the robustness. Both simulation and experimental results verify the correctness and effectiveness of the proposed model and method.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103363"},"PeriodicalIF":3.1,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144291496","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 : 2025-10-01 Epub 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":"2025-10-01","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

Construction of hierarchical health indicators for explainable monitoring in multi-component mechatronic systems 多部件机电系统可解释监测的分层健康指标构建

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-10-01 Epub Date: 2025-07-10 DOI: 10.1016/j.mechatronics.2025.103379

Duc-An Nguyen , Diego Dominguez , Khanh T.P. Nguyen , Marcos Orchard , Kamal Medjaher

{"title":"Construction of hierarchical health indicators for explainable monitoring in multi-component mechatronic systems","authors":"Duc-An Nguyen , Diego Dominguez , Khanh T.P. Nguyen , Marcos Orchard , Kamal Medjaher","doi":"10.1016/j.mechatronics.2025.103379","DOIUrl":"10.1016/j.mechatronics.2025.103379","url":null,"abstract":"<div><div>The development of explainable health indicators (HIs) for multi-component mechatronic systems is vital for monitoring their performance, ensuring their reliability, and optimizing their operational efficiency across a wide range of industries. These indicators play a pivotal role in detecting and diagnosing faults, assessing system health, and guiding maintenance decisions. However, achieving explainability in HIs poses significant challenges, including the selection of the most relevant sensors, the accurate modeling of degradation trends influenced by maintenance activities, and the integration of component dynamics into a system-level representation. To address these challenges, we propose a novel methodology for constructing hierarchical HIs — a two-level structure where component-level degradation signals are first modeled individually, then systematically aggregated to form a comprehensive system-level health representation. The proposed approach, named TRSAE, incorporates an automated sensor selection process to identify the most important sensors, reducing redundancy while improving interpretability. Furthermore, maintenance and downtime effects are explicitly integrated into the modeling process to ensure a more realistic and reliable assessment of system health. By tackling these challenges, our methodology improves transparency in system behavior, strengthens diagnostic capabilities, and builds trust in predictive maintenance decisions. The proposed methodology is validated through a case study in an iron mining system, an environment characterized by extreme operating conditions and continuous heavy loads that accelerate the degradation of critical components. The case study demonstrates how hierarchical HIs can capture complex degradation dynamics, optimize sensor usage, and improve remaining useful life (RUL) predictions, offering actionable insights for proactive maintenance planning and reliable system operation.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103379"},"PeriodicalIF":3.1,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144588653","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 low-cost 3D printed electromagnetic gripper for robotic arms 一种用于机械臂的低成本3D打印电磁夹具

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-10-01 Epub Date: 2025-06-24 DOI: 10.1016/j.mechatronics.2025.103374

Andrea Ruo, Luca Bernardi, Ludovico Campanelli, Mattia Grespan, Danila Trane, Roberto Sedoni, Diego Angeli, Lorenzo Sabattini, Valeria Villani

引用次数: 0

Modeling and feedforward control of hysteresis in piezoelectric actuators considering its rotation and expansion 考虑旋转和膨胀的压电作动器迟滞建模及前馈控制

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-10-01 Epub Date: 2025-06-04 DOI: 10.1016/j.mechatronics.2025.103354

Yunzhi Zhang , Jie Ling , Micky Rakotondrabe , Yuchuan Zhu , Dan Wang

{"title":"Modeling and feedforward control of hysteresis in piezoelectric actuators considering its rotation and expansion","authors":"Yunzhi Zhang , Jie Ling , Micky Rakotondrabe , Yuchuan Zhu , Dan Wang","doi":"10.1016/j.mechatronics.2025.103354","DOIUrl":"10.1016/j.mechatronics.2025.103354","url":null,"abstract":"<div><div>Piezoelectric actuators (PEAs) play a key role in precision engineering, but their strong rate-dependent hysteresis affects accuracy. Existing hysteresis models fail to capture the simultaneous rotation and expansion of hysteresis at high rates. This paper proposes a modified Prandtl–Ishlinskii model in a Hammerstein-like architecture (HAMPI) aiming to model the rotation and expansion of the hysteresis at different input rates. Simulations and experiments are conducted to validate the HAMPI model across a wide range of input rates (50–500 Hz) and amplitudes (0–140 V), revealing that the proposed model has the root-mean-square error (resp. relative root-mean-square error) of 0.47 <span><math><mi>μ</mi></math></span>m (resp. 3.07%), which is lower than the results of existing hysteresis model. Additionally, a HAMPI-based feedforward controller with the inverse multiplicative structure shows that the tracking performance RMS error (resp. NRMS error) can be kept within 0.09 <span><math><mi>μ</mi></math></span>m (resp. 2.25%) when the operating frequency is below 150 Hz. Meanwhile, the displacement attenuation issue in feedforward control caused by the rate-dependent rotation of hysteresis loops is also successfully addressed by the proposed HAMPI model.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103354"},"PeriodicalIF":3.1,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144203724","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 : 2025-10-01 Epub 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":"2025-10-01","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

Corrigendum to “A real-time lane change trajectory planning approach for autonomous vehicles utilizing tire force prediction” [Mechatronics 109 (2025) 103351] “基于轮胎力预测的自动驾驶车辆实时变道轨迹规划方法”[机电一体化]109(2025)103351]更正

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-10-01 Epub Date: 2025-07-12 DOI: 10.1016/j.mechatronics.2025.103383

Lin Li , Serdar Coskun , Youming Fan , Caiguang Yu , Fengqi Zhang

引用次数: 0

Kinematic optimal design and rehabilitation performance evaluation of an upper-limb bilateral end-effector mechanism 上肢双侧末端执行器机构运动学优化设计及康复性能评价

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-10-01 Epub Date: 2025-07-08 DOI: 10.1016/j.mechatronics.2025.103380

Mingjie Dong , Shuaibang Wang , Shiping Zuo , Zugan Du , Wenjie Liu , Jianfeng Li

{"title":"Kinematic optimal design and rehabilitation performance evaluation of an upper-limb bilateral end-effector mechanism","authors":"Mingjie Dong , Shuaibang Wang , Shiping Zuo , Zugan Du , Wenjie Liu , Jianfeng Li","doi":"10.1016/j.mechatronics.2025.103380","DOIUrl":"10.1016/j.mechatronics.2025.103380","url":null,"abstract":"<div><div>Limb disabilities caused by stroke can severely impact activities of daily living (ADLs), and upper limb rehabilitation training plays a crucial role in promoting the recovery of motor functions. Currently, the studies of upper limb rehabilitation robots have several drawbacks, such as bulkiness, high costs, and the lack of integrated rehabilitation performance evaluation. This study, building on the previously proposed upper limb end-effector bilateral rehabilitation robotic system (EBReRS), derives its forward and inverse kinematics, calculates the Jacobian matrix, plots singularity analysis and performance atlases, and optimizes link dimensions to enhance operational performance, enabling it to carry out rehabilitation tasks more effectively. Based on surface electromyography (sEMG) signals, muscle activation levels were obtained. Utilizing the evaluation data, customized muscle training was introduced by establishing a mapping between muscles and training modes. Experimental results indicate that correct mode mapping during training can enhance muscle activation levels by a factor of 1 to 5. In the future, EBReRS is expected to be utilized for more widespread home rehabilitation, and the proposed rehabilitation evaluation strategy has the potential to be applied to other rehabilitation robots.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103380"},"PeriodicalIF":3.1,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144571234","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 : 2025-10-01 Epub 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":"2025-10-01","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