一种新的康复与代步外骨骼机器人研究

针对老年人及下肢障碍者康复训练与代步问题,本文提出一种新的康复与代步外骨骼机器人.本文首先详细介绍了机器人各部分组成及机构设计方案,通过下肢外骨骼与轮椅的有机结合,有效保持或恢复老年人、脑卒中患者下肢运动能力的同时,为患者提供一种方便的代步工具;运用脚蹬车运动制订康复训练策略,可保持下肢康复训练轨迹固定,保证患者安全;提出主从式操作方法及多模态康复训练控制流程提高使用者参与感.最后通过仿真与实验验证了所提康复系统的可行性与设计的正确性.

Message of the President elected for the term 2016-2019

It is a great privilege and honour for me to serve again as President of IFToMM for the term 2026- 2029. I thank the delegates and the Chairs of Member Organizations （MOs） for having voted my candidature and for promising support of my actions for future development of IFToMM.

Celebrations for the 50-years anniversary of IFToMM

During the 15th IFToMM World Congress on Mechanism and Machine Science(MMS)in Krakow,Poland on 30 June-4 July 2019,a special opening session has been organized to celebrate the 50-years anniversary o f IFToMM with unveiling of a bronze commemorative plaque,Fig.1.

Force Analysis and Curve Design for Laying Pipe in Loop Laying Head of Wire Rod Mills

Laying head is a high-precision engineering device in hot-rolled high speed wire rod production line. Previously research works are focused on the laying pipe wear-resisting. Laying pipe curve design method based on wire rod kinematics and dynamics analyses are not reported before. In order to design and manufacture the laying pipe, the motion and force process of the wire rod in the laying pipe should be studied. In this paper, a novel approach is proposed to investigate the force modeling for hot-rolled wire rod in laying pipe. An idea of limited element method is used to analysis and calculates the forces between laying pipe inner surface and wire rod. The design requirements of laying pipe curve for manufacturing are discussed. The kinematics and dynamics modeling for numerical calculation are built. A laying pipe curve equation is proposed by discussing design boundary conditions. Numerical results with di erent laying pipe curves design parameters are plotted and compared. The proposed approach performs good result which can be applied for laying pipe curve design and analysis for engineering application.

Message from the IFToMM President

The year 2010 is the third year of this Presidency term that has been spent with many challenges for IFToMM also as due to the international situations occurring as consequence of the worldwide economical crisis. In many countries reforming processes and funding restrictions have been started or accelerated with a significant influence also on the activities that are related to IFToMM. Nevertheless, IFToMM community has been successful in its mission of promoting MMS for the benefit of the Society with increasing activities in conferences, meetings, editorial works, and international collaborations.

A Method of Human-Like Compliant Assembly Based on Variable Admittance Control for Space Maintenance

On-orbit assembly has become a crucial aspect of space operations,where the manipulator frequently and directly interacts with objects in a complex assembly process.The traditional manipulator control has limitations in adapting to diverse assembly tasks and is vulnerable to vibration,leading to assembly failure.To address this issue,we propose a human-like variable admittance control method based on the variable damping characteristics of the human arm.By collecting the velocity and contact force of human arm operations in assembly,we analyze the damping change of human arm and establish the active compliance model based on S-type damping variation rule in assembly.Furthermore,3 passive contact models are proposed between the end of the human arm and the environment:one-sided bevel contact,both sides bevel contact,and pin-hole contact.On the basis of these active and passive models,a typical space assembly task for a robot is designed,and a human-like variable admittance controller is established and simulated.Finally,we build a ground verification platform and complete different assembly tasks,thereby successfully verifying the safety,robustness,and adaptability of the human-like variable admittance control method.

An Experimental Analysis of Overcoming Obstacle in Human Walking

In this paper, an experimental analysis of overcoming obstacle in human walking is carried out by means of a motion capture system. In the experiment, the lower body of an adult human is divided into seven segments, and three markers are pasted to each segment with the aim to obtain moving trajectory and to calculate joint variation during walking. Moreover, kinematic data in terms of displacement, velocity and acceleration are acquired as well. In addition, ground reaction forces are measured using force sensors. Based on the experimental results, features of overcoming obstacle in human walking are ana- lyzed. Experimental results show that the reason which leads to smooth walking can be identified as that the human has slight movement in the vertical direction during walking; the reason that human locomotion uses gravity effectively can be identified as that feet rotate around the toe joints during toe-off phase aiming at using gravitational potential energy to provide propulsion for swing phase. Furthermore, both normal walking gait and obstacle overcoming gait are characterized in a form that can provide necessary knowledge and useful databases for the implementation of motion planning and gait planning towards overcoming obstacle for humanoid robots.

A Unified Dynamic Control Method for a Redundant Dual Arm Robot

Compared to single arm robot system, dual arm robot has the ability of performing human-like dexterity and cooperation. Dual arm cooperative operation has attracted more and more attention in industrial applications, such as in assembly of complex parts, manufacturing tasks and handling objects. A unified dynamic control method, which is divided into three modes, namely, independent mode, dependent mode, and half dependent mode, is proposed for a redundant dual arm robot with focus on the movement and force of the desired task being operated. Attention is devoted to develop a unified formulation of the above three modes. In addition, a closed form of inverse kinematic solution instead of numerical integration approach is proposed with the aim to guarantee position accuracy. Different from traditional dynamic controllers, where the independent redundancy resolution is obtained based on particular velocity or acceleration levels, here the two dynamic controllers are improved by combining a closed form of inverse kinematic solution with velocity and acceleration levels. Furthermore, the theoretical results of the proposed control method are validated by simulations and experiments.

Design issues for human-machine platform interface in cable-based parallel manipulators for physiotherapy applications

We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy applications.From an engineering perspective,we discuss the design constraints related to acceptance by patients and physiotherapist users.To date,most designs have focused on mobile platforms that are designed to be operated as an end-effector connected to human limbs for direct patient interaction.Some specific examples are illustrated from the authors' experience with prototypes available at Laboratory of Robotics and Mechatronics (LARM),Italy.

Design,Modeling and Experimentation of a Biomimetic Wall-climbing Robot for Multiple Surfaces

Wall-climbing robots can work on steep terrain and obtain environment information in three dimensions for human in real time,which can improve operation efficiency.However,traditional single-mode robots cannot ensure the stable attachment on complex wall surfaces.Inspired by the structure characteristics of flies and clingfishes,three bionic structures including the flexible spine wheel,the adhesive material and the adsorption system are proposed.Aiming at task requirements on multiple walls and based on the above three bionic structures,a wall-climbing robot with the composed mode of“grabbing+adhesion+adsorption”is presented v/a the law of mechanism configuration synthesis.Using static analysis,the safe attachment conditions for the robot on smooth and rough walls are that the adsorption force is 30 N or more.Based on Newton's Euler and Lagrange formulas,the dynamic equations of the robot on vertical walls are established to deduce that the maximum theoretical torque of the driving motor is 1.43 N·m at a uniform speed.Finally,the prototype of the wall-climbing robot is manufactured and tested on the vertical lime wall,coarse sandpaper wall and acrylic ceiling wall.Meanwhile,experiment results imply that the average maximum moving speed and the corresponding load are 7.19 cm·s-1 and 0.8 kg on the vertical lime wall,7.78 cm·s-1 and 0.6 kg on the coarse sandpaper wall,and 5.93 cm·s-1 and 0.2 kg on the acrylic ceiling wall respectively.These findings could provide practical reference for the robot’s application on walls.

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A three- dimensional model is elaborated in SolidWorks environ- ment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in MSC.ADAMS environment with the aims of characterizing and evaluat- ing the dynamic walking design. Simulation results performance of the proposed show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on fiat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.

Progress and Development Trend of Space Intelligent Robot Technology

Since space intelligent robots are not restricted by physiological conditions,it is an attractive choice for the development of automation technology to use them for space exploration and utilization.It is currently the key development direction of the major space powers over the world.This paper first investigates the robotic manipulators and humanoid robot systems for space station applications and reviews theories and methods for robots to achieve large-range stable motion and intelligent dexterous manipulation.Then,the intelligent robot systems for on-orbit satellite maintenance are reviewed,and the related technologies of multirobot collaboration are analyzed.Finally,we investigate the intelligent robot systems for on-orbit assembly of large-scale spatial structures and summarize the technologies of modular assembly and on-orbit manufacture.Overall,this paper reviews the technological progress and development trends of space robots,which provides a good reference for further technical research in this field.

Experimental Validation of Light Cable-Driven Elbow-Assisting Device L-CADEL Design

This paper presents a new design of CADEL,a cable-driven elbow-assisting device,with light weighting and control improvements.The new device design is appropriate to be more portable and user-oriented solution,presenting additional facilities with respect to the original design.One of potential benefits of improved portability can be envisaged in the possibility of house and hospital usage keeping social distancing while allowing rehabilitation treatments even during a pandemic spread.Specific attention has been devoted to design main mechatronic components by developing specific kinematics models.The design process includes an implementation of specific control hardware and software.The kinematic model of the new design is formulated and features are evaluated through numerical simulations and experimental tests.An evaluation from original design highlights the proposed improvements mainly in terms of comfort,portability and user-oriented operation.

Design and simulation of a cable-pulley-based transmission for artificial ankle joints

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

LARM PKM solutions for torso design in humanoid robots

Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics （LARM） in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.

Preface

Medical and Service Robotics are getting a growing market and an increasing interest from both research and applications viewpoints. Indeed, the aging of population and shortage of resources is widening the need of novel robotic solutions and devices in a wide range of novel applications. For example, assistance devices for medical treatments and rehabilitation are attracting significant interest with several laboratory and even commercial solutions. Human-Robot interactions and performance evaluations attract growing interest to validate the effectiveness and acceptability of the proposed solutions.

ntroduction to the special issue on the 2015 Workshop on History of Mechanism and Machine Science

The works on History of Mechanical Engineering, particularly on Mechanism and Machine Science （MMS）, not only record and recognize past achievements and personalities but also inspires innovations for the development of mechanical engineering.