关键词： 机械设计   站起康复训练   阻尼控制方法   轨迹控制方法   下肢动力学分析  

摘要： 提出了人体站起轨迹控制方法(TCM)和阻尼控制方法(ICM)。采用这两种控制方法可以实现对机器人系统的控制,使患者能安全、有效地进行下肢站起运动康复训练。在患者站起过程中,下肢各肢段旋转角、身体运动轨迹、地面反力(GRF)、压力中心(COP)和绳索张力等参数可由康复机器人系统中的相应传感器实时检测得出,并通过实时运算得出髋、膝、踝各关节力矩,用于反馈控制。试验结果表明,该方法可以保证患者实现安全、舒适、有效的站起训练,适用于站起康复训练机器人控制系统。

关键词： 青少年   科技教育   机器人竞赛   异化  

摘要： 青少年机器人竞赛的根本目的在于培养青少年创新意识及拓展青少年综合能力,竞赛的本质属性是培养人的一种活动。但机器人竞赛在观念、活动制度和教育方法等层面不同程度的表现出价值错位、评价异化、方法不当等不利于学生主体自由发展的情况,这也是导致机器人竞赛背离其根本属性走向异化的根本原因。

关键词： Dynamics  

摘要： For uncalibrated visual servoing for image-based dynamic control of robot manipulators, acquiring an image Jacobian matrix (interaction matrix) or its inverse matrix is necessary and difficult. In this paper, a new controller of uncalibrated visual sevro using pseudo inverse of image Jacobian matrix is presented, which based on dynamics of robot manipulators. In this method, camera's intrinsic and extrinsic parameters are not known;joints' speed of robot is non-essential. On the basis of the nonlinear robot dynamics, asymptotic convergence of the image errors to zero by the Lyapunov theory is proved. Simulations have been conducted to verify performances of the proposed controller. Results demonstrate the good convergence of image errors. ©, 2015, Binary Information Press. All right reserved.

关键词： IEEE   机器人   自动化  

摘要： 机器人与自动化技术正深刻地影响着当前与未来世界的社会与经济形态。时至今日，机器人可以邀游火星、探测深海、灾难救援、与人交互娱乐；可以制造汽车、收割庄稼甚至清洁地毯。

关键词： 爬壁机器人   轮足复合   动力学模型   吸附力  

摘要： 针对爬壁机器人不同状态下吸附力合理值的求解问题开展研究.首先分析了一种包含闭链约束的轮足复合型移动机构,基于运动等效原则将其拆成开链机构.利用牛顿-欧拉算法对分拆后的开链机构进行动力学建模.基于动力学模型,以运动失效的临界条件为约束函数,构建爬壁机器人在不同倾角壁面上的吸附力学模型,从而获得不同状态下吸附力的合理值.仿真和实验表明基于该模型获得的吸附力参数能够保证机器人的安全吸附.因此所构建的模型是合理的,可以为爬壁机器人在不同状态下合理控制吸附力大小提供理论依据.

关键词： Ontologies for robotics and automation   Ontology-based standards   Core ontology   Ontology engineering   Knowledge representation  

摘要： The working group Ontologies for Robotics and Automation, sponsored by the IEEE Robotics & Automation Society, recently proposed a Core Ontology for Robotics and Automation (CORA). This ontology was developed to provide an unambiguous definition of core notions of robotics and related topics. It is based on SUMO, a top-level ontology of general concepts, and on ISO 8373:2012 standard, developed by the ISO/TC184/SC2 Working Group, which defines in natural language important terms in the domain of Robotics and Automation (R&A). In this paper, we introduce a set of ontologies that complement CORA with notions such as industrial design and positioning. We also introduce updates to CORA in order to provide more ontologically sound representations of autonomy and of robot parts. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： Robotic surgery   microlaryngeal surgery   CO2 laser   laser guidance   learning curve  

摘要： Objectives/HypothesisTo evaluate the performance of human subjects, using a prototype robotic micromanipulator controller in a simulated, microlaryngeal operative setting. Study DesignObservational cross-sectional study. MethodsTwenty-two human subjects with varying degrees of laser experience performed CO2 laser surgical tasks within a simulated microlaryngeal operative setting using an industry standard manual micromanipulator (MMM) and a prototype robotic micromanipulator controller (RMC). Accuracy, repeatability, and ablation consistency measures were obtained for each human subject across both conditions and for the preprogrammed RMC device. ResultsUsing the standard MMM, surgeons with >10 previous laser cases performed superior to subjects with fewer cases on measures of error percentage and cumulative error (P=.045 and .03, respectively). No significant differences in performance were observed between subjects using the RMC device. In the programmed (P/A) mode, the RMC performed equivalently or superiorly to experienced human subjects on accuracy and repeatability measures, and nearly an order of magnitude better on measures of ablation consistency. The programmed RMC performed significantly better for repetition error when compared to human subjects with <100 previous laser cases (P=.04). ConclusionsExperienced laser surgeons perform better than novice surgeons on tasks of accuracy and repeatability using the MMM device but roughly equivalently using the novel RMC. Operated in the P/A mode, the RMC performs equivalently or superior to experienced laser surgeons using the industry standard MMM for all measured parameters, and delivers an ablation consistency nearly an order of magnitude better than human laser operators. Level of EvidenceNA Laryngoscope, 125:1393-1400, 2015

关键词： Rehabilitation robotics   Ontologies   Knowledge representation  

摘要： Representing the available information about rehabilitation robots in a structured form, as an ontology, facilitates access to various kinds of information about the existing robots, and thus it is important both from the point of view of rehabilitation robotics and from the point of view of physical medicine. Rehabilitation robotics researchers can learn various properties of the existing robots and access to the related publications to further improve the state-of-the-art. Physical medicine experts can find information about rehabilitation robots and related publications (possibly including results of clinical studies) to better identify the right robot for a particular therapy or patient population. Therefore, considering also the advantages of ontologies and ontological reasoning, such as interoperability of various heterogeneous knowledge resources (e.g., patient databases or disease ontologies), such an ontology provides the underlying mechanisms for translational physical medicine, from bench-to-bed and back, and personalized rehabilitation robotics. With these motivations, the first formal rehabilitation robotics ontology, called REHABROBO-ONTO, is designed and developed, collaborating with experts in robotics and in physical medicine. A web based software (called REHABROBO-QUERY) with an easy-to-use intelligent user-interface is also built. REHABROBO-QUERY allows robot designers to add/modify information about their rehabilitation robots to/from REHABROBO-ONTO. The ontology system consisting of REHABROBO-ONTO and REHABROBO-QUERY is made available on the cloud, utilizing Amazon Web services, to provide a reliable environment for access, development and maintenance of REHABROBO-ONTO by rehabilitation robot designers and physical medicine experts around the world. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： Space robot   Jourdain's velocity variation principle   Active control   Joint friction  

摘要： It is well known that friction is an inevitable phenomenon existing in almost all mechanical systems including robotic systems. It can affect dynamic characteristics of mechanical systems and even harm accuracy of manual control. In this paper, we have conducted comprehensive study in detail on dynamics and control of a space robot with joint friction. Dynamic equation of the system is established based on Jourdain's velocity variation principle and the single direction recursive construction method. The Coulomb friction model, the Stribeck friction model and the LuGre friction model are adopted to describe the joint friction. Meanwhile, the calculation method for joint friction is discussed in detail, and the relationship between ideal constraint force and Lagrange multipliers is derived. Moreover, an active controller is designed by the nonlinear decoupling method for the trajectory tracking for the system. The validity of the proposed dynamic model is verified by comparison of numerical simulation results and results obtained from the software ADAMS. And then we carry out a series of simulations in order to observe the influence of joint friction on operating a space robot with different friction models. We also study the interaction between the low-speed motion and joint friction in the process of trajectory tracking. (C) 2015 IAA. Published by Elsevier Ltd. All rights reserved.