Journal of Mechanisms and Robotics最新文献

Development and Analysis of a Novel Bio-syncretic Parallel Hip Exoskeleton Based on Torque Requirements 基于扭矩要求的新型生物同步平行髋关节外骨骼的开发与分析

Journal of Mechanisms and Robotics Pub Date : 2024-07-23 DOI: 10.1115/1.4066039

Jilong Xu, Yunzhan Niu, Fucai Liu

{"title":"Development and Analysis of a Novel Bio-syncretic Parallel Hip Exoskeleton Based on Torque Requirements","authors":"Jilong Xu, Yunzhan Niu, Fucai Liu","doi":"10.1115/1.4066039","DOIUrl":"https://doi.org/10.1115/1.4066039","url":null,"abstract":"\u0000 This paper presents a novel bio-syncretic parallel hip exoskeleton (BsPH-Exo) to address the rehabilitation exercise needs of individuals with lower limb motor dysfunction. BsPH-Exo has six degrees of freedom and can generate all three kinds of rotations that the hip joint can naturally realize. BsPH-Exo effectively solves the problem of misalignment between human and exoskeleton joints, eliminating the need for patients to perform any alignment operations. Considering the varying maximum torque requirements for hip joint rehabilitation in different directions, the limbs of BsPH-Exo are specially arranged to ensure that the maximum torque provided by BsPH-Exo in each direction follows the same law as that of the required torque. As a result, BsPH-Exo exhibits excellent output torque performance, specifically in the flexion/extension direction. Moreover, BsPH-Exo demonstrates weak coupling characteristics in the flexion/extension direction and decoupling characteristics in the adduction/abduction direction, which reduces the difficulty in its control. Compared to currently available parallel hip exoskeletons, BsPH-Exo has several distinct advantages that make it particularly well-suited for rehabilitation applications.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141813147","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 Novel Head-following Algorithm for Multi-Joint Articulated Driven Continuum Robots 多关节驱动连续机器人的新型头部跟随算法

Journal of Mechanisms and Robotics Pub Date : 2024-07-16 DOI: 10.1115/1.4066000

Jianyu Yang, Xuanting Li, Zhongqi Sheng, Xiaofeng Ma, Hui Shi, Hualong Xie

{"title":"A Novel Head-following Algorithm for Multi-Joint Articulated Driven Continuum Robots","authors":"Jianyu Yang, Xuanting Li, Zhongqi Sheng, Xiaofeng Ma, Hui Shi, Hualong Xie","doi":"10.1115/1.4066000","DOIUrl":"https://doi.org/10.1115/1.4066000","url":null,"abstract":"\u0000 Head-following (tracking) issue is a challenge in developing multi-joint continuum robots. However various approaches have been developed in head-following algorithm for articulated-driven mechanism (ADM) continuum robots, problems still exist such as low end-accuracy, large trajectory deviation, and low computational efficiency. This paper presents a novel head-following algorithm(NHF) with high precision, small trajectory deviation, and high computational efficiency for multi-joint ADM continuum robots. The proposed algorithm first uses the follow-the-leader (FTL) method to search for planning points. Secondly, the end-effector errors are calculated, split, and adjusted. Thirdly, the error judgment set is assigned based on the error rate of the end-effector, and also the joints that need to be adjusted are determined. Finally, the joint angles are iteratively adjusted. In this paper, the NHF algorithm is simulated on ADM continuum robots with saparately 10, 20 and 31 joints. The result shows that, compareing with other FTL algorithms, NHF algorithm has the highest end accuracy, and the smallest trajectory deviation.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141640494","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

Development of a 6 degrees- of-freedom hybrid interface intended for teleoperated robotic cervical spine surgery 开发用于远程机器人颈椎手术的 6 自由度混合界面

Journal of Mechanisms and Robotics Pub Date : 2024-07-10 DOI: 10.1115/1.4065917

Alizée Koszulinski, Juan Sebastian Sandoval Arevalo, M. Arsicault, M. Laribi

{"title":"Development of a 6 degrees- of-freedom hybrid interface intended for teleoperated robotic cervical spine surgery","authors":"Alizée Koszulinski, Juan Sebastian Sandoval Arevalo, M. Arsicault, M. Laribi","doi":"10.1115/1.4065917","DOIUrl":"https://doi.org/10.1115/1.4065917","url":null,"abstract":"\u0000 This paper deals with the development of a 6-degrees-of-freedom (DoF) hybrid interface for a teleoperated robotic platform intended to assist surgeons in cervical spine surgery. The targeted task is the drilling of cervical vertebrae for the attachment of spinal implants. Given the complex anatomy of the cervical region, with the proximity of the spinal cord and vertebral arteries, high accuracy in the drilling procedure is required to avoid complications for the patient. In this context, the proposed hybrid interface has been designed to meet the requirements of the drilling task, in terms of degrees of freedom, workspace and force feedback, which have been identified through a literature review. It consists of an association of two parallel mechanisms and a centrally located serial mechanism. Direct and inverse kinematic modelling of each mechanism as well as the one of the complete interface were carried out. A study of the dexterity distribution of the parallel mechanisms was carried out in order to select the suitable interface working mode that would keep the singularities away from the prescribed workspace. In addition, the force feedback was implemented in static mode, neglecting in a first time the weight of the system. The interface design parameters were then optimized to avoid singularities within the prescribed workspace, to minimize motor torques, and to reduce the size of the interface. These development stages led to the design of a motorized prototype of the hybrid interface.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141661592","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

Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing 提高闭链支腿的地形适应性和顺应性：设计、控制和测试

Journal of Mechanisms and Robotics Pub Date : 2024-07-03 DOI: 10.1115/1.4065891

Chengleng Han, Xu Lin, Mohamed A. A. Abdelkareem, Jia Mi

{"title":"Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing","authors":"Chengleng Han, Xu Lin, Mohamed A. A. Abdelkareem, Jia Mi","doi":"10.1115/1.4065891","DOIUrl":"https://doi.org/10.1115/1.4065891","url":null,"abstract":"\u0000 This study investigates a novel design of a reconfigurable closed-chain leg for hexapod robot with enhanced terrain adaptability. A length adjustable hydraulic cylinder is incorporated into the Theo Jansen linkage in the proposed reconfigurable closed-chain leg, allowing for flexible trajectory by adjusting the length of the hydraulic cylinder. Kinematic model and system dynamics are analyzed considering the multi-body dynamics of the proposed system. To actively adapt to different terrains with flexible footprints, a variable-domain sliding mode control strategy to adjust the length of hydraulic cylinder is investigated and compared with other control strategies. Meanwhile, an active compliant control strategy of the driving motor is analyzed and deployed to improve the stability and compliance during walking. A prototype was fabricated and tested under various configurations. Results demonstrate that the variable-domain sliding mode control algorithm exhibits fast convergence, robustness, and smooth signals for hydraulic cylinder. In addition, the proposed active compliant control strategy of the driving motor can reduce the impact force and ensure stable equilibrium during walking. Therefore, the proposed reconfigurable closed-chain leg can enhance the terrain adaptability and enrich the applications of closed-chain legged robots.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141837842","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

Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots 增强手术机器人技术：线缆驱动连续机器人的动态模型和优化控制策略

Journal of Mechanisms and Robotics Pub Date : 2024-06-10 DOI: 10.1115/1.4065698

Abdelhamid Ghoul, S. Djeffal, Hao Wang, Kamel Kara, M. Hadjili

{"title":"Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots","authors":"Abdelhamid Ghoul, S. Djeffal, Hao Wang, Kamel Kara, M. Hadjili","doi":"10.1115/1.4065698","DOIUrl":"https://doi.org/10.1115/1.4065698","url":null,"abstract":"\u0000 This paper tackles the challenges encountered in surgical continuum robotics by introducing a dynamic model tailored for a cable-driven continuum robot. The intricacies of dynamic modeling and control frequently lead to suboptimal outcomes. Prior studies have often lacked comprehensive descriptions of individual robot component movements, thereby impeding control processes, especially in the presence of external disturbances. Although machine learning-based models show promise across different domains, they face hurdles in continuum robotics due to the complexity of the systems involved. Traditional mathematical models, in contrast, offer explicit equations, providing better interpretability, unlike machine learning models that may struggle with generalization, especially in highly nonlinear systems like continuum robots. The developed model adeptly captures the kinematic and dynamic constraints of various robot segments, serving as the foundation for a robust optimized control strategy. This strategy, which integrates computed torque control and particle swarm optimization (PSO-CTC), enables real-time computation of joint torques based on feedback, ensuring precise and stable task execution even amidst external perturbations. Comparative analysis with an optimized proportional integral derivative (OPID) controller unequivocally demonstrates the superiority of the optimized computed torque controller (OCTC) in settling time, overshoot, and robustness against disturbances. This advancement represents a noteworthy contribution to robotics, with the potential to significantly enhance continuum robot performance in surgical and inspection applications, thereby fostering innovative advancements across various fields.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141361987","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

Towing an Object With a Rover 用漫游车拖拽物体

Journal of Mechanisms and Robotics Pub Date : 2024-06-10 DOI: 10.1115/1.4065697

Matteo Caruso, Nicholas Sesto Gorella, P. Gallina, S. Seriani

引用次数: 0

Errata: Static Stability of Planar Contacting Systems: Analytical Treatment in Euclidean Space. ASME J. Mech. Rob., 16(8): p. 081009; DOI:10.1115/1.4064065 勘误表：平面接触系统的静态稳定性：欧几里得空间的分析处理.ASME J. Mech.Rob., 16(8): p. 081009; DOI:10.1115/1.4064065

Journal of Mechanisms and Robotics Pub Date : 2024-06-10 DOI: 10.1115/1.4065699

A. Dan, Rama Krishna K, Subir Kumar Saha

引用次数: 0

Reconfiguration and Performance Evaluation of TBot Cable-Driven Parallel Robot TBot 线缆驱动并行机器人的重新配置和性能评估

Journal of Mechanisms and Robotics Pub Date : 2024-06-05 DOI: 10.1115/1.4065680

Jinhao Duan, Hanqing Liu, Zhaokun Zhang, Zhufeng Shao, Xiangjun Meng, Jingang Lv, Minjian Huang

引用次数: 0

Design and analysis of a new non-parasitic parallel mechanism for 2T1R motion 设计和分析用于 2T1R 运动的新型非寄生并联机构

Journal of Mechanisms and Robotics Pub Date : 2024-06-04 DOI: 10.1115/1.4065678

Huiping Shen, Yao Tang, Marco Ceccarelli, Ju Li, Tao Li, Hongbo He

引用次数: 0

An Actuation Acceleration based Kinematic Modeling and Parameter Identification Approach for a six-DOF 6-PSU Parallel Robot with Joint Clearances 一种基于执行加速度的运动学建模和参数识别方法，适用于具有关节间隙的 6-DOF 6-PSU 并联机器人

Journal of Mechanisms and Robotics Pub Date : 2024-06-04 DOI: 10.1115/1.4065679

Xin Liu, Chenkun Qi, Jianfeng Lin, Dongjin Li, Feng Gao

引用次数: 0