Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which res...Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot′s hand and does not change the number of the path′s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots.展开更多
Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method res...Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method resulted in the heavier on line computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real time accurate hand path tracking and joint trajectory planning method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and a cosinoidal function to the joint displacement equation of each segment, this method can raise the path tracking accuracy of robot′s hand greatly but does not increase the computational burden of robot controller markedly.展开更多
经颅磁刺激(transcranial magnetic stimulation, TMS)是一种神经调制方法,临床中凭借医生经验手动确定TMS线圈摆放位姿,导致线圈摆放位置和姿态不准确且重复定位精度差。针对上述问题,提出一种TMS线圈机器人辅助定位系统,使用RGB相机...经颅磁刺激(transcranial magnetic stimulation, TMS)是一种神经调制方法,临床中凭借医生经验手动确定TMS线圈摆放位姿,导致线圈摆放位置和姿态不准确且重复定位精度差。针对上述问题,提出一种TMS线圈机器人辅助定位系统,使用RGB相机替代导航系统中双目红外相机,采用一种基于神经网络的无标志物TMS线圈机器人辅助定位方法。搭建神经网络实现相机空间线圈姿态到操作臂空间关节角度的映射,并通过仿真数据训练验证了该神经网络架构适用于TMS线圈位姿摆放问题。随后,通过实验验证了该方法的可行性,同时表明训练的神经网络针对TMS线圈定位任务具有良好的泛化能力。最后,在笛卡儿空间的位姿验证结果显示TMS线圈三维位置平均误差为2.16 mm,总体姿态误差为0.055 rad,使用RGB相机的TMS线圈机器人辅助定位系统在精度上达到了与其他使用双目红外相机的科研或商用系统相同的水平,满足TMS临床治疗要求,具备临床应用的可行性。展开更多
目的观察“补阳通络”电针法结合手部康复机器人对缺血性脑卒中偏瘫患者的影响。方法研究将60例缺血性脑卒中偏瘫患者(2020年1月—2022年12月收治)以随机数字表法分为两组,分别为对照组与治疗组,各组30例,给予对照组患者缺血性脑卒中偏...目的观察“补阳通络”电针法结合手部康复机器人对缺血性脑卒中偏瘫患者的影响。方法研究将60例缺血性脑卒中偏瘫患者(2020年1月—2022年12月收治)以随机数字表法分为两组,分别为对照组与治疗组,各组30例,给予对照组患者缺血性脑卒中偏瘫常规治疗及手部康复机器人康复干预,治疗组患者在对照组治疗基础上结合“补阳通络”电针法治疗,比较各组患者治疗的数据情况:疗效、治疗前后中医症状总积分与美国国立卫生研究院卒中(National institute of Health Stroke Scale,NIHSS)量表评分变化、Fugl-Meyer评测法(Fugl-Meyer assessment,FMA)与简易上肢功能检查(simple test for evaluating hand function,STEF)评分变化、最大屈曲角度、最大伸展角度及手指主动活动范围(active range of motion,AROM)等手部功能指标变化、Berg平衡量表(Berg balance scale,BBS)评分与Barthel指数(modified Barthel index,MBI)评分变化、大脑中动脉血流速度(Middle Cerebral Artery,MCA)、大脑后动脉血流速度(Pos teriorCerebral Artery,PCA)与大脑前动脉血流速度(Anterior Cerebral Artery,ACA)等脑部循环指标变化。结果治疗组患者疗效优于对照组患者,P<0.05;各组患者治疗前中医症状总积分、NIHSS评分、FMA评分与STEF评分、手部功能指标(最大屈曲角度、最大伸展角度、AROM)、BBS评分与MBI评分、脑部循环指标(MCA、PCA、ACA)等比较,P>0.05,治疗后各组患者中医症状总积分、NIHSS评分、FMA评分与STEF评分、手部功能指标(最大屈曲角度、最大伸展角度、AROM)、BBS评分与MBI评分、MCA、PCA、ACA等均改善,治疗组患者治疗后中医症状总积分、NIHSS评分、FMA评分与STEF评分、手部功能指标(最大屈曲角度、最大伸展角度、AROM)、BBS评分与MBI评分、MCA、PCA、ACA等均优于对照组,P<0.05。结论“补阳通络”电针法结合手部康复机器人可促进缺血性脑卒中偏瘫患者康复,患者治疗效果提升,症状改善,患者肢体功能恢复较好,值得应用。展开更多
Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless...Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.展开更多
This paper discusses the coordination process for a robot gripper to approach a movingobject with feedback from an uncalibrated visual system. The dynamic of the whole system, includingtarget's random motion and t...This paper discusses the coordination process for a robot gripper to approach a movingobject with feedback from an uncalibrated visual system. The dynamic of the whole system, includingtarget's random motion and the gripper's tracking motion, is bounded to a 2-D working plane. Acamera, whose relations with the robot system and the 2-D working plane are unknown to the robotcontroller, is fixed aside to observe the object and gripper positions continually. Thus the movementsof the robot gripper can be decided on the positions of the object observed in each visual samplingmoment. The coordination of the vision and robot system is to be shown independently from therelations between the robot and the vision system, which should always be calibrated a prior forthe control of traditional robot/vision coordination system. Simulations are provided to show theproperty of the proposed method.展开更多
基金Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No: RL200002)
文摘Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot′s hand and does not change the number of the path′s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots.
基金FoundationoftheRoboticsLaboratoryChineseAcademyofSciences (No :RL2 0 0 0 0 2 )
文摘Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method resulted in the heavier on line computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real time accurate hand path tracking and joint trajectory planning method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and a cosinoidal function to the joint displacement equation of each segment, this method can raise the path tracking accuracy of robot′s hand greatly but does not increase the computational burden of robot controller markedly.
文摘目的观察“补阳通络”电针法结合手部康复机器人对缺血性脑卒中偏瘫患者的影响。方法研究将60例缺血性脑卒中偏瘫患者(2020年1月—2022年12月收治)以随机数字表法分为两组,分别为对照组与治疗组,各组30例,给予对照组患者缺血性脑卒中偏瘫常规治疗及手部康复机器人康复干预,治疗组患者在对照组治疗基础上结合“补阳通络”电针法治疗,比较各组患者治疗的数据情况:疗效、治疗前后中医症状总积分与美国国立卫生研究院卒中(National institute of Health Stroke Scale,NIHSS)量表评分变化、Fugl-Meyer评测法(Fugl-Meyer assessment,FMA)与简易上肢功能检查(simple test for evaluating hand function,STEF)评分变化、最大屈曲角度、最大伸展角度及手指主动活动范围(active range of motion,AROM)等手部功能指标变化、Berg平衡量表(Berg balance scale,BBS)评分与Barthel指数(modified Barthel index,MBI)评分变化、大脑中动脉血流速度(Middle Cerebral Artery,MCA)、大脑后动脉血流速度(Pos teriorCerebral Artery,PCA)与大脑前动脉血流速度(Anterior Cerebral Artery,ACA)等脑部循环指标变化。结果治疗组患者疗效优于对照组患者,P<0.05;各组患者治疗前中医症状总积分、NIHSS评分、FMA评分与STEF评分、手部功能指标(最大屈曲角度、最大伸展角度、AROM)、BBS评分与MBI评分、脑部循环指标(MCA、PCA、ACA)等比较,P>0.05,治疗后各组患者中医症状总积分、NIHSS评分、FMA评分与STEF评分、手部功能指标(最大屈曲角度、最大伸展角度、AROM)、BBS评分与MBI评分、MCA、PCA、ACA等均改善,治疗组患者治疗后中医症状总积分、NIHSS评分、FMA评分与STEF评分、手部功能指标(最大屈曲角度、最大伸展角度、AROM)、BBS评分与MBI评分、MCA、PCA、ACA等均优于对照组,P<0.05。结论“补阳通络”电针法结合手部康复机器人可促进缺血性脑卒中偏瘫患者康复,患者治疗效果提升,症状改善,患者肢体功能恢复较好,值得应用。
基金Project(2009AA04Z209) supported by the National High Technology Research and Development Program of ChinaProject(R1090674) supported by the Natural Science Foundation of Zhejiang Province,ChinaProject(51075363) supported by the National Natural Science Foundation of China
文摘Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.
文摘This paper discusses the coordination process for a robot gripper to approach a movingobject with feedback from an uncalibrated visual system. The dynamic of the whole system, includingtarget's random motion and the gripper's tracking motion, is bounded to a 2-D working plane. Acamera, whose relations with the robot system and the 2-D working plane are unknown to the robotcontroller, is fixed aside to observe the object and gripper positions continually. Thus the movementsof the robot gripper can be decided on the positions of the object observed in each visual samplingmoment. The coordination of the vision and robot system is to be shown independently from therelations between the robot and the vision system, which should always be calibrated a prior forthe control of traditional robot/vision coordination system. Simulations are provided to show theproperty of the proposed method.
