Dynamically adapt to uneven ground locomotion is a crucial ability for humanoid robots utilized in human environments.However,because of the effect of current pattern generation method,adapting to unknown rough ground...Dynamically adapt to uneven ground locomotion is a crucial ability for humanoid robots utilized in human environments.However,because of the effect of current pattern generation method,adapting to unknown rough ground is limited.Moreover,to maintain large support region by four-point contact during the landing phase is usually a key problem.In order to solve these problems,a landing phase control and online pattern generation in three dimensional environments is proposed.On the basis of robot-environment non-planar interactive modes,a method of landing control based on optimal support region is put forward to realize stable four-point contact by flexible foot,and a controller is employed to adapt to the changes of ground without using prior knowledge.Furthermore,an adaptable foothold planning is put forward to the online pattern generation considering walking speed,uneven terrain,and the effect of lateral movement to the locomotion stability.Finally,the effectiveness of landing control and online pattern generation is demonstrated by dynamic simulations and real robot walking experiments on outdoor uneven ground.The results indicate that the robot kept its balance even though the ground is unknown and irregular.The proposed methods lay a foundation for studies of humanoid robots performing tasks in complex environments.展开更多
OBJECTIVE: To assess the effectiveness of a comprehensive rehabilitation approach combining Traditional Chinese Medicine Daoyin with lower limb robotics during the recovery phase of stroke patients.METHODS: Stroke pat...OBJECTIVE: To assess the effectiveness of a comprehensive rehabilitation approach combining Traditional Chinese Medicine Daoyin with lower limb robotics during the recovery phase of stroke patients.METHODS: Stroke patients meeting the specified criteria were randomly assigned to one of four groups using a random number table: Control group, Daoyin group, lower limb robot group(LLR group), and Daoyin and lower limb robot group(DLLR group). Each group received distinct treatments based on conventional rehabilitation training.The treatment duration spanned two weeks with two days of rest per week. Pre-and post-intervention assessments included various scales: Fugl-Meyer Assessment(FMA),Berg balance scale(BBS), Barthel index(BI), Fatigue Scale-14(FS-14), Pittsburgh sleep quality index(PSQI),Hamilton Anxiety Scale(HAMA), and Hamilton Depression Scale(HAMD).RESULTS: Statistically significant differences were observed in the lower limb function measured by FAM between the Control group(15 ± 5) and the DLLR group(18 ± 5)(P = 0.049). In the Barthel index, a statistically significant difference was noted between the Control group(54 ± 18) and the DLLR group(64 ± 11)(P = 0.041).Additionally, significant differences were found in the Berg balance scale between the Control group(21 ± 10)and the DLLR group(27 ± 8)(P = 0.024), as well as between the Control group(21 ± 10) and the LLR group(26 ± 10)(P = 0.048).CONCLUSION: The findings of this study suggest that the combined use of Daoyin and robotics not only enhances motor function in stroke patients but also has a positive impact on fatigue, sleep quality, and mood. This approach may offer a more effective rehabilitation strategy for stroke patients.展开更多
Humanoid robots can walk stably on flat ground, regular slopes, and stairs. However, because of their rigid and flat soles, adapting to unknown rough terrains is limited, moreover, to maintain large scale four-point c...Humanoid robots can walk stably on flat ground, regular slopes, and stairs. However, because of their rigid and flat soles, adapting to unknown rough terrains is limited, moreover, to maintain large scale four-point contact for foot structures to keep balance is usually a key technical problem. In order to solve these problems, the control strategy and foot structures should be improved. In this paper, a novel flexible foot system is proposed. This system occupies 8 degrees of freedom （DOF）, and can obtain larger support region to keep in four-point contact with uneven terrains; Novel cable transmission technology is put forward to reduce complexity of traditional mechanism and control strategy, and variation of each DOF is mapped to cable displacement. Furthermore, kinematics of this new system and a global dynamic model based on contact-force feedback are analyzed. According to stability criterion and feedback sensor information, a method calculating the optimal attitude matrix of contact points and joint variables is introduced. Virtual prototyping models of a 30-DOF humanoid robot and rough terrain are established to simulate humanoid robot walking on uneven ground, and feasibility of this system adapted to uneven terrain and validity of its control strategy are verified. The proposed research enhances the capability of humanoid robots to adapt to large scale uneven ground, expands the application field of humanoid robots, and thus lays a foundation for studies of humanoid robots performing tasks in complex environments in place of humans.展开更多
基金supported by National Natural Science Foundation of China (Grant No. 50775008)the PhD Programs Foundation of Ministry of Education of China (Grant No. 200800061019)Hubei provincial Digital Manufacturing Key Laboratory Foundation of China (Grant No.SZ0602)
文摘Dynamically adapt to uneven ground locomotion is a crucial ability for humanoid robots utilized in human environments.However,because of the effect of current pattern generation method,adapting to unknown rough ground is limited.Moreover,to maintain large support region by four-point contact during the landing phase is usually a key problem.In order to solve these problems,a landing phase control and online pattern generation in three dimensional environments is proposed.On the basis of robot-environment non-planar interactive modes,a method of landing control based on optimal support region is put forward to realize stable four-point contact by flexible foot,and a controller is employed to adapt to the changes of ground without using prior knowledge.Furthermore,an adaptable foothold planning is put forward to the online pattern generation considering walking speed,uneven terrain,and the effect of lateral movement to the locomotion stability.Finally,the effectiveness of landing control and online pattern generation is demonstrated by dynamic simulations and real robot walking experiments on outdoor uneven ground.The results indicate that the robot kept its balance even though the ground is unknown and irregular.The proposed methods lay a foundation for studies of humanoid robots performing tasks in complex environments.
基金Scientific and Technological Innovation Project of China Academy of Chinese Medical Sciences:Study on the Scheme of Combining Brain Regulation and Training Techniques with Traditional Chinese Medicine Acupuncture Treatment for Hand Dysfunction After Stroke (CI2021A03010)The 13th Five-Year Project of China Academy of Chinese Medical Sciences:Studying on the Innovative Treatment of Limb Dysfunction after Stroke-Traditional Chinese Medicine Daoyin Combined with Lower Limb Robot Technology (ZZ10-015)。
文摘OBJECTIVE: To assess the effectiveness of a comprehensive rehabilitation approach combining Traditional Chinese Medicine Daoyin with lower limb robotics during the recovery phase of stroke patients.METHODS: Stroke patients meeting the specified criteria were randomly assigned to one of four groups using a random number table: Control group, Daoyin group, lower limb robot group(LLR group), and Daoyin and lower limb robot group(DLLR group). Each group received distinct treatments based on conventional rehabilitation training.The treatment duration spanned two weeks with two days of rest per week. Pre-and post-intervention assessments included various scales: Fugl-Meyer Assessment(FMA),Berg balance scale(BBS), Barthel index(BI), Fatigue Scale-14(FS-14), Pittsburgh sleep quality index(PSQI),Hamilton Anxiety Scale(HAMA), and Hamilton Depression Scale(HAMD).RESULTS: Statistically significant differences were observed in the lower limb function measured by FAM between the Control group(15 ± 5) and the DLLR group(18 ± 5)(P = 0.049). In the Barthel index, a statistically significant difference was noted between the Control group(54 ± 18) and the DLLR group(64 ± 11)(P = 0.041).Additionally, significant differences were found in the Berg balance scale between the Control group(21 ± 10)and the DLLR group(27 ± 8)(P = 0.024), as well as between the Control group(21 ± 10) and the LLR group(26 ± 10)(P = 0.048).CONCLUSION: The findings of this study suggest that the combined use of Daoyin and robotics not only enhances motor function in stroke patients but also has a positive impact on fatigue, sleep quality, and mood. This approach may offer a more effective rehabilitation strategy for stroke patients.
基金supported by National Natural Science Foundation of China (Grant No. 50775008)PhD Programs Foundation of Ministry of Education of China (Grant No. 200800061019)Hubei Provincial Digital Manufacturing Key Laboratory Foundation of China (Grant No. SZ0602)
文摘Humanoid robots can walk stably on flat ground, regular slopes, and stairs. However, because of their rigid and flat soles, adapting to unknown rough terrains is limited, moreover, to maintain large scale four-point contact for foot structures to keep balance is usually a key technical problem. In order to solve these problems, the control strategy and foot structures should be improved. In this paper, a novel flexible foot system is proposed. This system occupies 8 degrees of freedom （DOF）, and can obtain larger support region to keep in four-point contact with uneven terrains; Novel cable transmission technology is put forward to reduce complexity of traditional mechanism and control strategy, and variation of each DOF is mapped to cable displacement. Furthermore, kinematics of this new system and a global dynamic model based on contact-force feedback are analyzed. According to stability criterion and feedback sensor information, a method calculating the optimal attitude matrix of contact points and joint variables is introduced. Virtual prototyping models of a 30-DOF humanoid robot and rough terrain are established to simulate humanoid robot walking on uneven ground, and feasibility of this system adapted to uneven terrain and validity of its control strategy are verified. The proposed research enhances the capability of humanoid robots to adapt to large scale uneven ground, expands the application field of humanoid robots, and thus lays a foundation for studies of humanoid robots performing tasks in complex environments in place of humans.
