A5021474172- Robotic Mechanisms and Dynamics
- Piezoelectric Actuators and Control
- Prosthetics and Rehabilitation Robotics
- Iterative Learning Control Systems
- Soft Robotics and Applications
- Modular Robots and Swarm Intelligence
- Muscle activation and electromyography studies
- Manufacturing Process and Optimization
- Dynamics and Control of Mechanical Systems
- Robotic Locomotion and Control
- Advanced Surface Polishing Techniques
- Mechanics and Biomechanics Studies
- Medical Imaging and Analysis
- Spine and Intervertebral Disc Pathology
- Mechanical Engineering and Vibrations Research
- Advanced Theoretical and Applied Studies in Material Sciences and Geometry
- Control and Dynamics of Mobile Robots
- Stroke Rehabilitation and Recovery
- Spinal Fractures and Fixation Techniques
- Advanced Neural Network Applications
- Advanced Numerical Analysis Techniques
- Control Systems in Engineering
- Structural Analysis and Optimization
- Mechatronics Education and Applications
- Advanced Materials and Mechanics
Dongguan University of Technology
2019-2025
Yanshan University
2015-2025
First Hospital of Qinhuangdao
2023
Robotics Research (United States)
2008
Recent years have witnessed a growing interest in the use of U-Net and its improvement. It is one classic semantic segmentation networks with an encoder-decoder architecture widely used medical image segmentation. In series versions U-Net, U-Net++ has been developed as improved by designing nested dense skip connections, 3+ taking advantage full-scale connections deep supervision on aggregated feature maps. Each network own advantages encoder decoder. this paper, we propose efficient...
Rubik's Cube is a widely popular mechanical puzzle that has attracted attention around the world because of its unique characteristics. As classic brain-training toy well known to public, was used for scientific research and technology development by many scholars. This paper provides basic understanding shows art from aspects origin development, characteristics, status especially engineering design, as making vision application in mechanism. First, invention are presented, then special...
In response to the problems of mismatched human-robot motion and poor coupling (HRC) performance in ankle rehabilitation robots, this study proposes a cable-driven flexible robot (FARR) based on biomimetic design analyzes its HRC performance. Firstly, characteristics physiological structure joint, an equivalent model joint is proposed solve workspace joint. Secondly, configuration FARR with axis proposed, designed. The robot's kinematics dynamics are analyzed workspace. By comparing...
Ankle injury and dysfunction are always accompanied by abnormal peripheral tissues. In order to achieve a more comprehensive rehabilitation training, this article firstly studies the movement characteristics of surrounding muscles ankle-foot. The human musculoskeletal model in OpenSim is used for exercise experiment. And relationship between different around ankle-foot direction measured respectively, so as formulate static/dynamic strategies related auxiliary training muscle. implement...
In the series of improved versions U-Net, while segmentation accuracy continues to improve, number parameters does not change, which makes hardware required for training expensive, thus affecting speed convergence.
The chaos phenomenon often exists in the dynamics system of mechanism with clearance and friction, which has obvious effect on stability mechanism, then it is worthy attention for identifying relationship between friction coefficient mechanism. Two rotational degrees freedom decoupled parallel RU-RPR taken as research object. Considering existing revolute pair, Lankarani–Nikravesh contact force model used to calculate normal force, Coulomb tangential force. established using Newton–Euler...
SUMMARY A novel 3-R(RRR)R+R (R as revolute joint) hybrid antenna mechanism (HAM) is proposed for noncircular polarized antenna. First, its mobility characteristic analyzed. Besides, kinematics deduced, and the velocity acceleration are obtained. Afterward, dynamic model established. The actuation torques of each joint Its verified by mathematical analysis simulation. Furthermore, workspace also presented. Finally, motion characteristics experimental results show that HAM can carry out...
Abstract The current parallel ankle rehabilitation robot (ARR) suffers from the problem of difficult real-time alignment human-robot joint center rotation, which may lead to secondary injuries patient. This study investigates type synthesis a self-alignment (PSAARR) based on kinematic characteristics rotation drift perspective introducing "suitable passive degrees freedom (DOF)" with suitable number and form. First, principle ARR was proposed by deriving conditions for transforming closed...
In this paper, a 3-DOF 3-PRUR parallel mechanism (PM) is chosen for performance analysis and optimal design. First, the mobility of PM analyzed by using screw theory. Then, kinematics studied based on geometrical characteristics Jacobian matrix derived. Furthermore, we research some indices with respect to over whole workspace nondimensional parameters when input given, their atlases are obtained different inputs. Finally, design determined according atlases, examples presented.
Dynamic modeling serves as the fundamental basis for dynamic performance analysis and is an essential aspect of control scheme design parallel manipulators. This report presents a concise efficient solution to dynamics Stewart manipulators based on screw theory. The initial pose these described. Then matrix each link mechanism obtained using inverse kinematics exponential product formula. Considering constraint relationship between joints, manipulator deduced. In addition, Jacobian twist are...
摘要: 对踝关节功能损伤的患者,尤其是中风患者来讲,踝关节的康复是一项非常困难的问题。针对此提出一种新型并联式解耦踝关节康复机构,并基于中医康复疗法引入踝关节康复机构需要注重牵引功能的设计思路。所提出的机构能够同时实现单独转动康复(背屈、跖屈,外展、内收)和在牵引下转动的康复过程;利用螺旋理论分析机构在任意位姿下的自由度性质;推导出机构位置正反解,求解速度雅可比矩阵,并对机构进行奇异性分析;通过输出参数对解耦机构杆件尺寸进行优化,基于遗传算法给出数值算例,验证了机构工作空间满足踝关节康复运动的要求。