The Development Status and Trend of Commercial Bionic Robots

Zhao, Xinbo; Fei, Fei

doi:10.1145/3501409.3501653

Cited by 2 publications

(4 citation statements)

References 10 publications

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“…When conducting research, a two-channel electrode assembly was used, consisting of 6 electrodes located at distances of 7 mm from each other (Figure 5a). Thus, a single current channel and two independent measuring channels as part of one electrode assembly make it possible to simultaneously make 2 independent measurements using the electrode systems (Figure 5b) [3]. A conductive paste was applied to the surface of the electrode-system housing to improve electrode-skin contact.…”

Section: Laboratory Facilities Diagrammentioning

confidence: 99%

“…In the last two decades, upper limb exoskeletons used for maintenance and rehabilitation have received much attention from the biomedical and engineering sectors. Technology is becoming important for potential solutions for the physically weak or disabled [1], as well as for increasing the productivity of workers to perform difficult or harmful tasks [2,3].…”

Section: Introductionmentioning

confidence: 99%

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An Approach to Using Electrical Impedance Myography Signal Sensors to Assess Morphofunctional Changes in Tissue during Muscle Contraction

Kapravchuk,

Briko,

Kobelev

et al. 2024

Biosensors

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This present work is aimed at conducting fundamental and exploratory studies of the mechanisms of electrical impedance signal formation. This paper also considers morphofunctional changes in forearm tissues during the performance of basic hand actions. For this purpose, the existing research benches were modernized to conduct experiments of mapping forearm muscle activity by electrode systems on the basis of complexing the electrical impedance signals and electromyography signals and recording electrode systems’ pressing force using force transducers. Studies were carried out with the involvement of healthy volunteers in the implementation of vertical movement of the electrode system and ultrasound transducer when the subject’s upper limb was positioned in the bed of the stand while performing basic hand actions in order to identify the relationship between the morphofunctional activity of the upper limb muscles and the recorded parameters of the electro-impedance myography signal. On the basis of the results of the studies, including complex measurements of neuromuscular activity on healthy volunteers such as the signals of electro-impedance myography and pressing force, analyses of the morphofunctional changes in tissues during action performance on the basis of ultrasound and MRI studies and the factors influencing the recorded signals of electro-impedance myography are described. The results are of fundamental importance and will enable reproducible electro-impedance myography signals, which, in turn, allow improved anthropomorphic control.

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Section: Laboratory Facilities Diagrammentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An Approach to Using Electrical Impedance Myography Signal Sensors to Assess Morphofunctional Changes in Tissue during Muscle Contraction

Kapravchuk,

Briko,

Kobelev

et al. 2024

Biosensors

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show abstract

“…(1) Local Dynamic for Soft Joints: The local dynamic model of a soft joint is obtained by employing the Lagrangian analysis [38]. The equation of motion can be obtained by applying the Euler-Lagrange equation formulated in (14).…”

Section: Dynamic Formulationmentioning

confidence: 99%

“…Although some AUVs possess hovering capabilities and can perform stationary tasks, they are not particularly suitable for intervention operations. In recent years, modular underwater snake robots have developed rapidly, such as ACM [12], AmphiBot [13], and HUMRS [14]. Due to their slender and flexible body structure, they are superior in terms of accessibility and passability, so they can provide access to narrow areas that are difficult to access by other types of underwater vehicles.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of Underwater Snake Robot by Hybrid Rigid-Soft Actuation

Zhang

Chen

Liu

et al. 2022

JMSE

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For decades, underwater vehicles have been performing underwater operations, which are critical to the development and upgrading of underwater robots. With the advancement of technology, various types of robots have been developed. The underwater robotic snake is a bioinspired addition to the family of underwater robotic vehicles. In this paper, we propose an innovative underwater snake robot actuated by rigid propulsions and soft joints, which can improve the swimming efficiency and flexibility of the robot and reduce the probability of collision leading to damage. Existing math models of robotic snakes typically incorporate only planar motion, rarely considering spatial motion. So, we formulate a complete three-dimensional dynamic model for the robotic snake, which is extended by deriving expressions for the geometric Jacobians. This modeling approach is well suited since it provides compact matrix expressions and easy implementation. We use the constant curvature method to describe the configuration of the soft joint, use the Lagrangian method to obtain its dynamic characteristics, and focus on deriving the visco-hyperelastic mechanical energy of the soft material. Next, the local dynamics of soft members are extended as a nonholonomic constraint form for modeling the snake robot. Finally, the multi-modal swimming behavior of the robot has been verified by simulations, including forward and backward rectilinear motion, yaw turning, pitch motion, and spiral rising motion. The overall results demonstrate the effectiveness and the versatility of the developed dynamic model in the prediction of the robot trajectory, position, orientation, and velocity.

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The Development Status and Trend of Commercial Bionic Robots

Cited by 2 publications

References 10 publications

An Approach to Using Electrical Impedance Myography Signal Sensors to Assess Morphofunctional Changes in Tissue during Muscle Contraction

An Approach to Using Electrical Impedance Myography Signal Sensors to Assess Morphofunctional Changes in Tissue during Muscle Contraction

Dynamic Modeling of Underwater Snake Robot by Hybrid Rigid-Soft Actuation

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