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学者姓名：陈炳兴
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Abstract ：
A bionic robotic fish based on compliant structure can excite the natural modes of vibration, thereby mimicking the body waves of real fish to generate thrust and realize undulate propulsion. The fish body wave is a result of the fish body's mechanical characteristics interacting with the surrounding fluid. Thoroughly analyzing the complex modal characteristics in such robotic fish contributes to a better understanding of the locomotion behavior, consequently enhancing the swimming performance. Therefore, the complex orthogonal decomposition (COD) method is used in this article. The traveling index is used to quantitatively describe the difference between the real and imaginary modes of the fish body wave. It is defined as the reciprocal of the condition number between the real and imaginary components. After introducing the BCF (body and/or caudal fin) the fish's body wave curves and the COD method, the structural design and parameter configuration of the tensegrity robotic fish are introduced. The complex modal characteristics of the tensegrity robotic fish and real fish are analyzed. The results show that their traveling indexes are close, with two similar complex mode shapes. Subsequently, the relationship between the traveling index and swimming performance is expressed using indicators reflecting linear correlation (correlation coefficient (Rc) and p value). Based on this correlation, a preliminary optimization strategy for the traveling index is proposed, with the potential to improve the swimming performance of the robotic fish.
Keyword ：
fish body wave fish body wave tensegrity robotic fish tensegrity robotic fish tensegrity structure tensegrity structure the complex orthogonal decomposition method the complex orthogonal decomposition method traveling index traveling index
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| GB/T 7714 | Chen, Bingxing , Zhang, Jie , Meng, Qiuxu et al. Complex Modal Characteristic Analysis of a Tensegrity Robotic Fish's Body Waves [J]. | BIOMIMETICS , 2024 , 9 (1) . |
| MLA | Chen, Bingxing et al. "Complex Modal Characteristic Analysis of a Tensegrity Robotic Fish's Body Waves" . | BIOMIMETICS 9 . 1 (2024) . |
| APA | Chen, Bingxing , Zhang, Jie , Meng, Qiuxu , Dong, Hui , Jiang, Hongzhou . Complex Modal Characteristic Analysis of a Tensegrity Robotic Fish's Body Waves . | BIOMIMETICS , 2024 , 9 (1) . |
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Nowadays, self-charging devices using clean energy have raised the potential of portable and wearable power generators. Herein, a novel moisture-induced self-powered device based on metal-air redox reaction has been designed which can work under normal humidity conditions. Through bridging two asymmetric electrodes including a carbon nanotube/polyaniline composite electrode and a metal electrode by filter paper with CaCl2, the 1D planar device can be simply fabricated. A single device can provide an open-circuit voltage of over 1.3 V under normal humidity (40%) within 5 min (the maximum can be up to 1.42 V at 80% humidity) and the harvesting energy can be stored effectively. The device possesses great circularity and stability which can maintain steady and consistent output over at least 6 months. Due to the microelectrolyte, this device can prevent harmful leakage or deformation of the electrolyte completely. What is more, the device shows good extendibility. Three single devices in series using common electrodes can light up two light-emitting diodes. Besides its application potential in self-powered portable and wearable electronics, this device can provide a reference for utilization in medical devices due to the response signals under breath with different frequencies. A novel moisture-induced self-powered device can generate an open-circuit voltage exceeding 1.4 V within 5 min. It has simple 1D planar centimeter-sized structure. Larger open-circuit voltage can be achieved by integrating more devices in series. It can show the response signals at different respiratory frequencies and patterns from human breath.image (c) 2024 WILEY-VCH GmbH
Keyword ：
carbon nanotubes carbon nanotubes energy harvesting energy harvesting metal-air batteries metal-air batteries self-powered self-powered streaming potential streaming potential
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| GB/T 7714 | Gao, Dan , Zhang, Zhiyu , Luo, Zhiling et al. Fast Self-Charging Flexible Device Based on Metal-Air Redox Reaction under Normal Humidity [J]. | ENERGY TECHNOLOGY , 2024 , 12 (4) . |
| MLA | Gao, Dan et al. "Fast Self-Charging Flexible Device Based on Metal-Air Redox Reaction under Normal Humidity" . | ENERGY TECHNOLOGY 12 . 4 (2024) . |
| APA | Gao, Dan , Zhang, Zhiyu , Luo, Zhiling , Chen, Bingxing , Liu, Changhong . Fast Self-Charging Flexible Device Based on Metal-Air Redox Reaction under Normal Humidity . | ENERGY TECHNOLOGY , 2024 , 12 (4) . |
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The inverse kinematics problem plays a crucial role in robotic manipulator planning, autonomous control, and object grasping. This problem can be solved in simple environments based on existing studies. However, it is still challenging to quickly find a feasible inverse kinematic solution when obstacle avoidance is required. In this paper, we present a nonconvex composite programming method to solve the inverse kinematics problem with overhead obstacle-avoidance requirements. Our method enables efficient obstacle avoidance by directly calculating the minimum distance between the manipulator and the overhead environment. We construct end-effector error functions based on the Product of Exponentials model and explicitly provide their gradient formula. We derive the minimum distance based on the geometry parametric equation and directly utilize it to construct the obstacle avoidance function. We propose an enhanced version of adaptive moment estimation based on short-time gradient information to improve optimization performance. Finally, we conduct simulations and experiments in overhead line environments. Comparative results with other optimization methods demonstrate that our proposed method achieves a high success rate with a low solution time. © 2024 Karabuk University
Keyword ：
Inverse kinematics Inverse kinematics Nonconvex programming Nonconvex programming Obstacle avoidance Obstacle avoidance Robotic manipulator Robotic manipulator
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| GB/T 7714 | Yang, P. , Shen, F. , Xu, D. et al. An obstacle-avoidance inverse kinematics method for robotic manipulator in overhead multi-line environment [J]. | Engineering Science and Technology, an International Journal , 2024 , 53 . |
| MLA | Yang, P. et al. "An obstacle-avoidance inverse kinematics method for robotic manipulator in overhead multi-line environment" . | Engineering Science and Technology, an International Journal 53 (2024) . |
| APA | Yang, P. , Shen, F. , Xu, D. , Chen, B. , Liu, R. , Wang, H. . An obstacle-avoidance inverse kinematics method for robotic manipulator in overhead multi-line environment . | Engineering Science and Technology, an International Journal , 2024 , 53 . |
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Soft robots, inspired by living organisms in nature, are primarily made of soft materials, and can be used to perform delicate tasks due to their high flexibility, such as grasping and locomotion. However, it is a challenge to efficiently manufacture soft robots with complex functions. In recent years, 3D printing technology has greatly improved the efficiency and flexibility of manufacturing soft robots. Unlike traditional subtractive manufacturing technologies, 3D printing, as an additive manufacturing method, can directly produce parts of high quality and complex geometry for soft robots without manual errors or costly post-processing. In this review, we investigate the basic concepts and working principles of current 3D printing technologies, including stereolithography, selective laser sintering, material extrusion, and material jetting. The advantages and disadvantages of fabricating soft robots are discussed. Various 3D printing materials for soft robots are introduced, including elastomers, shape memory polymers, hydrogels, composites, and other materials. Their functions and limitations in soft robots are illustrated. The existing 3D-printed soft robots, including soft grippers, soft locomotion robots, and wearable soft robots, are demonstrated. Their application in industrial, manufacturing, service, and assistive medical fields is discussed. We summarize the challenges of 3D printing at the technical level, material level, and application level. The prospects of 3D printing technology in the field of soft robots are explored.
Keyword ：
3D printing 3D printing additive manufacturing additive manufacturing soft materials soft materials soft robots soft robots
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| GB/T 7714 | Dong, Hui , Weng, Tao , Zheng, Kexin et al. Review: Application of 3D Printing Technology in Soft Robots [J]. | 3D PRINTING AND ADDITIVE MANUFACTURING , 2024 , 11 (3) : 954-976 . |
| MLA | Dong, Hui et al. "Review: Application of 3D Printing Technology in Soft Robots" . | 3D PRINTING AND ADDITIVE MANUFACTURING 11 . 3 (2024) : 954-976 . |
| APA | Dong, Hui , Weng, Tao , Zheng, Kexin , Sun, Hao , Chen, Bingxing . Review: Application of 3D Printing Technology in Soft Robots . | 3D PRINTING AND ADDITIVE MANUFACTURING , 2024 , 11 (3) , 954-976 . |
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To meet the demand for reusable connection and separation technology in the aerospace field, a space reusable rod-cone-claw type connection and separation mechanism with the advantages of lightweight, limited tolerance, high load-bearing, and high stiffness was proposed in this paper. The static simulation of the space reusable connection and separation mechanism based on ANSYS Workbench was implemented to check its high bearing capacity. The kinematic simulation of the mechanism was conducted by ADAMS software to verify the motion feasibility. Based on the equivalent spring contact model, the display expression of the connection stiffness of the space reusable rod-cone-claw type connection and separation mechanism was established. The stiffness values of the reusable connection and separation mechanisms under the condition of no preload and only under the condition of preload were analyzed using ANSYS Workbench software, and the first-order polynomial function was fitted to the stiffness. Combined with the linear programming method, the preload value was optimized to maximize both stiffness and load-bearing capacity. Finally, the principal prototype of space reusable rod-cone-claw type connection and separation mechanism was developed, and 10 repeated connection and separation experiments were carried out to prove the effectiveness of the design. The design of the space reusable rod-cone-claw type connection and separation mechanism provides theoretical and technical support for its application in engineering applications such as aircraft rendezvous and docking, satellite on-orbit service, antenna repeated deployment, and large-scale aerospace structure on-orbit construction. © 2023 Beijing Institute of Technology. All rights reserved.
Keyword ：
connection and separation mechanisms connection and separation mechanisms kinematic simulation kinematic simulation static analysis static analysis stiffness model stiffness model
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| GB/T 7714 | Jian, B. , Zhao, C. , Wang, K. et al. Design and Analysis of Space Reusable Rod-Cone-Claw Type Connection and Separation Mechanism; [空间重复锥杆卡爪式连接分离机构设计与分析] [J]. | Transaction of Beijing Institute of Technology , 2023 , 43 (3) : 267-273 . |
| MLA | Jian, B. et al. "Design and Analysis of Space Reusable Rod-Cone-Claw Type Connection and Separation Mechanism; [空间重复锥杆卡爪式连接分离机构设计与分析]" . | Transaction of Beijing Institute of Technology 43 . 3 (2023) : 267-273 . |
| APA | Jian, B. , Zhao, C. , Wang, K. , Zhao, H. , Chen, B. , Rong, J. . Design and Analysis of Space Reusable Rod-Cone-Claw Type Connection and Separation Mechanism; [空间重复锥杆卡爪式连接分离机构设计与分析] . | Transaction of Beijing Institute of Technology , 2023 , 43 (3) , 267-273 . |
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The gesture recognition (GR) technology as one of the human-machine interfaces can conveniently and effectively express the intention of human and has become the hot research hot spot in recent years. Force level is a key factor while GR for more dexterous and natural prosthetic control. To provide researchers with a systematic and quick overview of the relevant and future developments in GR and force assessment (FA) techniques, this review synthesizes current commonly used sensor interfaces, data processing methods, and methods that have improved recognition performance. The experimental design and related results of GR and FA with various types of sensors are analyzed and compared to understand the scope of application and recognition performance of different sensors. This review summarizes the challenges and future work in the five areas of hardware, use environment, broad applicability, physiological factors, and comfort of use in practical applications. Finally, the conclusion prospects that future research may need to focus on improving model generalization and robustness to environmental, physiological factors, and so on by building large datasets and developing flexible, long-lasting, lightweight, and senseless, high-performance interfaces.
Keyword ：
Feature extraction Feature extraction Force Force Force assessment (FA) Force assessment (FA) Gesture recognition Gesture recognition gesture recognition (GR) gesture recognition (GR) human-machine interaction (HMI) human-machine interaction (HMI) Image segmentation Image segmentation Nails Nails sensors sensors Sensors Sensors signal acquisition signal acquisition Support vector machines Support vector machines
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| GB/T 7714 | Lu Zongxing , He Baizheng , Cai Yingjie et al. Human-Machine Interaction Technology for Simultaneous Gesture Recognition and Force Assessment: A Review [J]. | IEEE SENSORS JOURNAL , 2023 , 23 (22) : 26981-26996 . |
| MLA | Lu Zongxing et al. "Human-Machine Interaction Technology for Simultaneous Gesture Recognition and Force Assessment: A Review" . | IEEE SENSORS JOURNAL 23 . 22 (2023) : 26981-26996 . |
| APA | Lu Zongxing , He Baizheng , Cai Yingjie , Chen Bingxing , Yao Ligang , Huang Haibin et al. Human-Machine Interaction Technology for Simultaneous Gesture Recognition and Force Assessment: A Review . | IEEE SENSORS JOURNAL , 2023 , 23 (22) , 26981-26996 . |
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Abstract ：
The gesture recognition (GR) technology as one of the human-machine interfaces can conveniently and effectively express the intention of human and has become the hot research hot spot in recent years. Force level is a key factor while GR for more dexterous and natural prosthetic control. To provide researchers with a systematic and quick overview of the relevant and future developments in GR and force assessment (FA) techniques, this review synthesizes current commonly used sensor interfaces, data processing methods, and methods that have improved recognition performance. The experimental design and related results of GR and FA with various types of sensors are analyzed and compared to understand the scope of application and recognition performance of different sensors. This review summarizes the challenges and future work in the five areas of hardware, use environment, broad applicability, physiological factors, and comfort of use in practical applications. Finally, the conclusion prospects that future research may need to focus on improving model generalization and robustness to environmental, physiological factors, and so on by building large datasets and developing flexible, long-lasting, lightweight, and senseless, high-performance interfaces.
Keyword ：
Force assessment (FA) Force assessment (FA) gesture recognition (GR) gesture recognition (GR) human-machine interaction (HMI) human-machine interaction (HMI) sensors sensors signal acquisition signal acquisition
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| GB/T 7714 | Lu, Zongxing , He, Baizheng , Cai, Yingjie et al. Human-Machine Interaction Technology for Simultaneous Gesture Recognition and Force Assessment: A Review [J]. | IEEE SENSORS JOURNAL , 2023 , 23 (22) : 26981-26996 . |
| MLA | Lu, Zongxing et al. "Human-Machine Interaction Technology for Simultaneous Gesture Recognition and Force Assessment: A Review" . | IEEE SENSORS JOURNAL 23 . 22 (2023) : 26981-26996 . |
| APA | Lu, Zongxing , He, Baizheng , Cai, Yingjie , Chen, Bingxing , Yao, Ligang , Huang, Haibin et al. Human-Machine Interaction Technology for Simultaneous Gesture Recognition and Force Assessment: A Review . | IEEE SENSORS JOURNAL , 2023 , 23 (22) , 26981-26996 . |
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In this paper, we propose a pneumatic double-joint soft actuator based on fiber winding and build a dexterous hand with 11 degrees of freedom. Firstly, soft actuator structural design is carried out according to the actuator driving principle and gives the specific manufacturing process. Then, an experimental analysis of the bending performance of a single soft actuator, including bending angle, speed, and force magnitude, is carried out by building a pneumatic control experimental platform. Finally, a series of dexterous robotic hand-grasping experiments is conducted. Different grasping methods are used to catch the objects and measure the objects' change in height, length, and rotation angle during the experiment. The results show that the proposed soft actuator is more consistent with the bending rule of human fingers, and that the gestures of the dexterous hand are more imaginable and flexible when grasping objects. The soft actuator can carry out horizontal and vertical movements, and rotation of the object in the dexterous hand, thus achieving better human-computer interaction.
Keyword ：
bend performance bend performance dexterous robotic hand dexterous robotic hand double-joint soft actuator double-joint soft actuator
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| GB/T 7714 | Chen, Bingxing , Meng, Qiuxu , Wang, Junjie et al. Experimental Study on Double-Joint Soft Actuator and Its Dexterous Hand [J]. | MICROMACHINES , 2023 , 14 (10) . |
| MLA | Chen, Bingxing et al. "Experimental Study on Double-Joint Soft Actuator and Its Dexterous Hand" . | MICROMACHINES 14 . 10 (2023) . |
| APA | Chen, Bingxing , Meng, Qiuxu , Wang, Junjie , Lu, Zongxing , Cai, Yingjie . Experimental Study on Double-Joint Soft Actuator and Its Dexterous Hand . | MICROMACHINES , 2023 , 14 (10) . |
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A-mode ultrasound has the advantages of high resolution, easy calculation and low cost in predicting dexterous gestures. In order to accelerate the popularization of A-mode ultrasound gesture recognition technology, we designed a human-machine interface that can interact with the user in real-time. Data processing includes Gaussian filtering, feature extraction and PCA dimensionality reduction. The NB, LDA and SVM algorithms were selected to train machine learning models. The whole process was written in C++ to classify gestures in real-time. This paper conducts offline and real-time experiments based on HMI-A (Human-machine interface based on A-mode ultrasound), including ten subjects and ten common gestures. To demonstrate the effectiveness of HMI-A and avoid accidental interference, the offline experiment collected ten rounds of gestures for each subject for ten-fold cross-validation. The results show that the offline recognition accuracy is 96.92% +/- 1.92%. The real-time experiment was evaluated by four online performance metrics: action selection time, action completion time, action completion rate and real-time recognition accuracy. The results show that the action completion rate is 96.0% +/- 3.6%, and the real-time recognition accuracy is 83.8% +/- 6.9%. This study verifies the great potential of wearable A-mode ultrasound technology, and provides a wider range of application scenarios for gesture recognition.
Keyword ：
A-mode ultrasound A-mode ultrasound Feature extraction Feature extraction Filtering Filtering gesture recognition gesture recognition Gesture recognition Gesture recognition human-machine interface (HMI) human-machine interface (HMI) Muscles Muscles real-time real-time Real-time systems Real-time systems Transducers Transducers Ultrasonic imaging Ultrasonic imaging
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| GB/T 7714 | Lu, Zongxing , Cai, Shaoxiong , Chen, Bingxing et al. Wearable Real-Time Gesture Recognition Scheme Based on A-Mode Ultrasound [J]. | IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING , 2022 , 30 : 2623-2629 . |
| MLA | Lu, Zongxing et al. "Wearable Real-Time Gesture Recognition Scheme Based on A-Mode Ultrasound" . | IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING 30 (2022) : 2623-2629 . |
| APA | Lu, Zongxing , Cai, Shaoxiong , Chen, Bingxing , Liu, Zhoujie , Guo, Lin , Yao, Ligang . Wearable Real-Time Gesture Recognition Scheme Based on A-Mode Ultrasound . | IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING , 2022 , 30 , 2623-2629 . |
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Large deployable networks, usually composed of spatial overconstrained linkages, are widely used in engineering for high expansion to package ratio. However, the existing networks always need some deployable membranes, which should be additionally designed and fabricated to form desired 3D shapes due to their rod-shaped components. In this paper, identical triangular panels are considered as components and a deployable network is proposed based on a special twofold-symmetric Bricard 6R linkage. The proposed network could form prism-like structures without membranes. According to the compatibility of the network, the geometric conditions of the panels are determined, and the folding performance of the network is evaluated by a kinematic study and two physical prototypes. Since rigid panels and only R-joints are utilized, the proposed network exhibits greater rigidity than that with membranes, facilitating mass production in future applications.
Keyword ：
Alternative form Alternative form Bricard linkage Bricard linkage Large deployable networks Large deployable networks Original form Original form Polygon panels Polygon panels
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| GB/T 7714 | Gao, Yuan , Yang, Fufu , Chen, Bingxing et al. A deployable network with identical triangular panels based on a special twofold-symmetric Bricard 6R linkage [J]. | MECHANISM AND MACHINE THEORY , 2022 , 178 . |
| MLA | Gao, Yuan et al. "A deployable network with identical triangular panels based on a special twofold-symmetric Bricard 6R linkage" . | MECHANISM AND MACHINE THEORY 178 (2022) . |
| APA | Gao, Yuan , Yang, Fufu , Chen, Bingxing , Zhang, Jun . A deployable network with identical triangular panels based on a special twofold-symmetric Bricard 6R linkage . | MECHANISM AND MACHINE THEORY , 2022 , 178 . |
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