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- 实验方案
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Life Cycle Analysis of Double-Arm Type Robotic Tools for LCD Panel Handling
摘要： This study includes a life cycle assessment of double-arm type robotic tools made with three different materials. The robotic arms are used for Liquid Crystal Display (LCD) panel handling. The environmental impacts generated during all the life stages of the robots have been investigated. The study shows that composite materials have less environmental impact compared with metallic materials. It is also found that the most significant impact category generated by the robotic tools is carcinogen, while the use stage of the robotic tool's life cycle has the greatest environmental impact.
关键词： environmental impact,robotic tool,green manufacturing,life cycle assessment
更新于2025-09-23 15:23:52
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Sheath-Core Fiber Strain Sensors Driven by In-Situ Crack and Elastic Effects in Graphite Nanoplate Composites
摘要： The flexible and stretchable electronics, e.g., graphite nanoplatelets (GNPs) based nanocomposite devices, have attracted great interest due to their potential application in healthcare, robotics, and mechatronics technology. However, the deficient sensors with manipulation of low sensitivity, sluggish responsivity, sophisticated fabrication process and poor repeatability notoriously limit their industrial applications. To enhance the spontaneous sensitivity, flexibility and wearability in GNPs based strain sensors, in this report, the synergistic crack and elastic effects engineering is employed and in turn significantly enhances the sensitivity with the gauge factor of 20 at the strain of 30% and the stability in our developed sheath-core fiber (SCF) strain sensors. Upon reliable devices integration, it is demonstrated that the developed SCF strain sensor could detect the movement of human joint effectively with generating a resistance change rate ΔR/R0 up to 600%. Furthermore, a controlling devices system based on SCF strain sensor has been manufactured in circuit level to realize the real-time control of a robot hand, such as copying gestures and playing piano.
关键词： Graphite nanoplatelets (GNPs),Robotic mechatronics,Sheath–core structure,Strain sensors,Crack and elastic effects
更新于2025-09-23 15:23:52
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Design and development of a mobile robotic CT system for intraoperative use
摘要： This paper presents the design of a mobile robotic computed tomography (CT) system for intraoperative use. In particular, this paper presents a novel gantry mechanism and a novel mechanism generating isocentric motions. The developed system mechanically consists of: (1) a gantry and (2) a mobile robotic body. The gantry contains the X-ray modules and has an opening mechanism that enables full 360 degree rotation. The robotic body is capable of one vertical and two isocentric rotational motions used to position the gantry. Unlike existing C-arms and mobile CT scanners, each isocentric motion is achieved using a single-DOF mechanism. With these robotic motions, the mobile robotic CT system can be used intraoperatively in both CT and fluoroscopic imaging modes. The mobile platform enables installation and removal of the device from a surgical bed. The performance of the proposed system was investigated using a laser tracking system. Experimental results show that no significant vibrations or position deviations of the X-ray modules were observed during CT scanning motion.
关键词： Isocentric motion,Robotic CT,Full-Scan,CT,X-ray,Opening Gantry
更新于2025-09-23 15:22:29
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[IEEE 2018 IEEE 10th Sensor Array and Multichannel Signal Processing Workshop (SAM) - Sheffield (2018.7.8-2018.7.11)] 2018 IEEE 10th Sensor Array and Multichannel Signal Processing Workshop (SAM) - Adaptive Near-Field Imaging with Robotic Arrays
摘要： In this paper, we are interested in phased-array imaging of an unknown area using narrowband RF signals and arrays synthesized by an unmanned vehicle. Typical phased array imaging approaches use fixed or pre-determined array configurations for imaging, which are not usually informative for the whole area. In this paper, we then propose an iterative adaptive imaging approach where we identify the uncertain regions in an initial image that need to be sensed better, find the optimal array location and orientation for such a sensing task and finally combine the new image with the initial image to obtain a better overall imaging quality. Such an approach is easily enabled by using robots to synthesize arrays. We validate our proposed approach with numerical simulations and show that an adaptive approach improves the imaging quality as compared to imaging with fixed arrays.
关键词： Near-field beamforming,Adaptive imaging,Robotic arrays
更新于2025-09-23 15:22:29
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Treating cerebrovascular diseases in hybrid operating room equipped with a robotic angiographic fluoroscopy system: level of necessity and 5-year experiences
摘要： Background A hybrid operating room (OR) equipped with robotic angiographic fluoroscopy system has become prevalent in neurosurgery. The level of necessity of the hybrid OR in treating cerebrovascular diseases (CVD) is rarely discussed. Objective The authors proposed a scoring and classification system to evaluate the cerebrovascular procedures according to the level of treatment necessity for CVD in a hybrid OR and shared our 5-year experiences. Methods From December 2009 to January 2016, the registry of cerebrovascular procedures performed in the hybrid OR was retrieved. A scoring system was used to evaluate the importance of the surgical and interventional components of a cerebrovascular procedure performed in the hybrid OR. The score of either component ranged from 1, 1.5, to 2 (1 = no role, 1.5 = supplementary or informative, 2 = important or therapeutic). The total score of a procedure was by multiplying two individual scores. Levels of necessity were classified into level A (important), level B (beneficial), and level C (replaceable). Results A total of 1027 cerebrovascular procedures were performed during this period: diagnostic angiography in 328, carotid artery stenting in 286, aneurysm coiling in 128, intra-operative DSA in 101, aspiration of ICH under image guidance in 79, intra-arterial thrombolysis/thrombectomy in 51, intracranial angioplasty/stenting in 30, hybrid surgery/serial procedures in 19, and rescue surgery during embolization in 5. According to the scoring system, hybrid surgery and serial procedures scored the highest points (2 × 2). The percentages distributed at each level: levels A (2.3%), B (17.5%), and C (80.2%). Conclusion This study conveys a concept of what a hybrid OR equipped with robotic angiographic fluoroscopy system is capable of and its potential. For cerebrovascular diseases, hybrid OR exerts its value via hybrid surgery or avoiding patient transportation in serial procedures (level A), via providing real-time high-quality angiography and image guidance (level B), which constituted about 20% of the cases. The subspecialty of the group using the hybrid OR directly reflects on the number of procedures categorized in each level. In a hybrid OR, innovative treatment strategies for difficult-to-treat CVD can be developed.
关键词： Cone-beam computed tomography,Endovascular,Hybrid surgery,Robotic angiographic fluoroscopy system,Cerebrovascular disease,Hybrid operating room,Digital subtraction angiography
更新于2025-09-23 15:22:29
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Training of Hand Rehabilitation Using Low Cost Exoskeleton and Vision-Based Game Interface
摘要： Motivating game-based training have the potential to improve therapy for people with neurological impairments. In recent years, the serious games have become extremely useful tools in rehabilitation field. They aim to stimulate the mobility of the body through an immersive experience that puts the user in interactive virtual environment. This paper is concerned about developing a customized augmented reality system for stroke rehabilitation. This will be done through integrating an interactive serious game interface with a hand exoskeleton device. This game-based rehabilitation system allows users to carry out physical rehabilitation therapies using a natural user interface based on Kinect’s skeletal tracking features and the electromyography (EMG) sensor. During game playing, the interactive user interface provides useful real-time feedback information such as the time required to grasp a desired dynamic virtual object, and the assigned score and thus the ability of the proposed system to provide a compensatory action regarding the dynamic behavior of the virtual target. The main goal of the developed virtual environment is to create positive influences on the rehabilitation process. Patient movement information and signals obtained from the developed exoskeleton device are used together to monitor the rehabilitation progress. The developed exoskeleton hand is a 3D printed low cost device suitable for grasping tasks that can be used even for domestic stroke patients. The developed exoskeleton device is not only a mechanical system able to perform the rehabilitation act but also it presents an effective tracking and traceability software solution. The EMG signals measured during hand motion are used to detect the intention of hand opening or closing which in turn will actuate the mechanical structure to accomplish the desired task. Parameters and results of patients’ exercises are stored and analyzed when needed to evaluate patients’ progress. The developed system is tested experimentally and it is able to restore the functions of the upper limb and mainly give patients more motivation to undergo the rehabilitation exercises.
关键词： Robotic exoskeleton,EMG control,Kinect sensor,3D printing,Stroke rehabilitation
更新于2025-09-23 15:22:29
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[IEEE 2017 Far East NDT New Technology & Application Forum (FENDT) - Xi'an, China (2017.6.22-2017.6.24)] 2017 Far East NDT New Technology & Application Forum (FENDT) - Robotic NDT for Turbine Blades Based on the Transverse Waves
摘要： The defects located on the curved surface are difficult to be distinguished by the traditional reflected echo waves, in this paper, the transverse wave is applied to test those micro-cracks, which near to the test surface. A high recurrence positional accurate robotic manipulator is used for manipulating the test object so that the positional accuracy of robotic scanning trajectory can be guaranteed, as well as the incident angle and ultrasonic propagation length. Signal to noise ratio of ultrasonic A-scan waves is improved when the constraint parameters are correct, moreover, ultrasonic C-scan image is offered to the inspector to gain the non-destructive evaluation conclusion. Experimental results indicate the crack with minimize width of 0.15 mm that can be identified by the proposed robotic NDT system, when the oblique incident test method is used, the transverse waves can be excited so that the characteristic of defects can be displayed in the C-scan image.
关键词： transverse wave,blades,robotic automatic testing,oblique incident
更新于2025-09-23 15:22:29
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[IEEE 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) - Nanjing, China (2018.8.27-2018.8.31)] 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) - User Behavior Evaluation in Robot-Assisted Retinal Surgery
摘要： Retinal microsurgery is technically demanding and requires high surgical skill with very little room for manipulation error. The introduction of robotic assistance has the potential to enhance and expand a surgeon’s manipulation capabilities during retinal surgery, i.e., improve precision, cancel physiological hand tremor, and provide sensing information. However, surgeon performance may also be negatively impacted by robotic assistance due to robot structural stiffness and nonintuitive controls. In complying with robotic constraints, the surgeon loses the dexterity of the human hand. In this paper, we present a preliminary experimental study to evaluate user behavior when affected by robotic assistance during mock retinal surgery. In these experiments user behavior is characterized by measuring the forces applied by the user to the sclera, the tool insertion/retraction speed, the tool insertion depth relative to the scleral entry point, and the duration of surgery. The users’ behavior data is collected during three mock retinal surgery tasks with four users. Each task is conducted using both freehand and robot-assisted techniques. The univariate user behavior and the correlations of multiple parameters of user behavior are analyzed. The results show that robot assistance prolongs the duration of the surgery and increases the manipulation forces applied to sclera, but re?nes the insertion velocity and eliminates hand tremor.
关键词： duration,robotic assistance,insertion velocity,Retinal microsurgery,scleral force,user behavior,insertion depth
更新于2025-09-23 15:21:21
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Passively mode-locked 2.7 and 3.2 ??m GaSb-based cascade diode lasers
摘要： This paper presents an online image-based visual servoing (IBVS) controller for a 6-degrees-of-freedom (DOF) robotic system based on the robust model predictive control (RMPC) method. The controller is designed considering the robotic visual servoing system’s input and output constraints, such as robot physical limitations and visibility constraints. The proposed IBVS controller avoids the inverse of the image Jacobian matrix and hence can solve the intractable problems for the classical IBVS controller, such as large displacements between the initial and the desired positions of the camera. To verify the effectiveness of the proposed algorithm, real-time experimental results on a 6-DOF robot manipulator with eye-in-hand configuration are presented and discussed.
关键词： visual servoing,Image-based visual servoing (IBVS),robotic,model predictive controller (MPC)
更新于2025-09-23 15:21:01
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Lens-less PSD measurement of flexible link deflection
摘要： Accurate measurement of change in tip position and orientation of flexible links is of substantial importance for flexible robot control applications. In this paper, a measurement system is proposed to measure the change in position and orientation at the tip of a link subjected to bending and torsion with the use of PSD (Position Sensitive Detector) sensors for space applications. Contrary to existing methods on measuring the spatial deflection of a flexible robot, the proposed method eliminates the requirement of a fragile lens or prism to obtain the angular displacement when PSD sensors are used. Experimental results for measuring five variables are presented for a cantilever flexible link when subjected to bending and torsion under a static load, thereby demonstrating the effectiveness of the proposed method.
关键词： Optical Measurement,Position Sensitive Detector,Flexible Robotic Link,Laser Diode
更新于2025-09-23 15:21:01