Intelligent techniques foster the dissemination of new discoveries and novel technologies that advance the ability of robots to assist and support humans. The human-centered intelligent robot has become an important r...Intelligent techniques foster the dissemination of new discoveries and novel technologies that advance the ability of robots to assist and support humans. The human-centered intelligent robot has become an important research field that spans all of the robot capabilities including navigation, intelligent control, pattern recognition and human-robot interaction. This paper focuses on the recent achievements and presents a survey of existing works on human-centered robots. Furthermore, we provide a comprehensive survey of the recent development of the human-centered intelligent robot and discuss the issues and challenges in the field.展开更多
In this research,a comparative analysis was conducted on the performance and efficiency of the dual-anchor soft robot(DASR)and the extension-contraction soft robot(ECSR).These robots were constructed by imitating the ...In this research,a comparative analysis was conducted on the performance and efficiency of the dual-anchor soft robot(DASR)and the extension-contraction soft robot(ECSR).These robots were constructed by imitating the locomotion of razor clams.The penetration force for extension actuators and the anchorage force for expansion actuators in dry sand with distinct relative densities were tested by differentiating input air pressure and length-to-diameter ratios(λ).On the basis of the findings,a DASR and an ECSR were developed.DASR comprised two expansion actuators as the head and the tail segments at two ends,and one extension actuator as the middle segment.ECSR was composed of an extension actuator.A method based on the force equilibrium was introduced to ascertain and adjust the geometric parameters(length of each segment)of DASR.The burrowing-out performance and efficiency of DASR and ECSR in sands with distinct relative densities were explored.The results revealed that DASR exhibited high efficiency in dense sand in terms of lower time of burrowing-out,slip-to-advancement ratio,and cost of transport.ECSR might perform better in looser sand in terms of higher average burrowing-out velocity,higher advancement in each cycle,and lower energy consumption.However,it had larger slips than DASR.DASR could realize steady advancement and net displacement in each cycle and effectively decrease slips.These findings demonstrate the benefits and usability of the dual-anchor motion and offer new insights into the application of the dual-anchor mechanism in the burrowing of robots.展开更多
The capability of whole-body proprioception,e.g.,pose estimation,is important for the control and interaction of continuum robots.However,existing pose estimation methods are often simplified through geometric assumpt...The capability of whole-body proprioception,e.g.,pose estimation,is important for the control and interaction of continuum robots.However,existing pose estimation methods are often simplified through geometric assumptions,primarily due to constraints such as computational and sensor deployment costs.We propose an explicit posture estimation method through a neural network,and implement it using an embedded camera for vision-based proprioception.We design a continuous location encoding neural network(LENN)by encoding continuous locational information.The LENN can capture deformation from changes in internal texture observed by an integrated camera,and output pose information—both position and orientation—for any point along the robot backbone,rather than only discrete points.Compared with interpolation-based estimation using a reduced model,our method reduces single-point estimation error by 33.6%.Furthermore,a systematic evaluation of hardware configurations demonstrates that our prototype achieves sub-millimetre accuracy in shape estimation(0.383 mm)while maintaining real-time inference speeds below 12 ms per frame.By combining a learning-based approach with a simple mechanical design,our method leverages internal visual information to estimate the whole-body pose,providing an effective solution for accurate shape estimation in continuum robots.展开更多
Wing design is a critical factor in the aerodynamic performance of flapping-wing(FW)robots.Inspired by the natural wing structures of insects,bats,and birds,we explored how bio-mimetic wing vein morphologies,combined ...Wing design is a critical factor in the aerodynamic performance of flapping-wing(FW)robots.Inspired by the natural wing structures of insects,bats,and birds,we explored how bio-mimetic wing vein morphologies,combined with a bio-inspired double wing clap-and-fling mechanism,affect thrust generation.This study focused on increasing vertical force and payload capacity.Through systematic experimentation with various vein configurations and structural designs,we developed innovative wings optimized for thrust production.Comprehensive tests were conducted to measure aerodynamic forces,power consumption,and wing kinematics across a range of flapping frequencies.Additionally,wings with different aspect ratios,a key factor in wing design,were fabricated and extensively evaluated.The study also examined the role of bio-inspired vein layouts on wing flexibility,a critical component in improving flight efficiency.Our findings demonstrate that the newly developed wing design led to a 20%increase in thrust,achieving up to 30 g-force(gf).This research sheds light on the clap-and-fling effect and establishes a promising framework for bio-inspired wing design,offering significant improvements in both performance and payload capacity for FW robots.展开更多
Microrobotic systems are emerging as transformative technology for minimally invasive medicine,driven by innovations in actuation mechanisms,advanced fabrication paradigms,and multifunctional system integration.This c...Microrobotic systems are emerging as transformative technology for minimally invasive medicine,driven by innovations in actuation mechanisms,advanced fabrication paradigms,and multifunctional system integration.This comprehensive review analyzes the evolution of microrobotic technologies through three critical dimensions:(1)actuation modalities,including magnetic,optical,acoustic,chemical,and biological actuation,with a focus on the synergistic advantages of hybrid actuation strategies in complex internal physiological environments;(2)Fabrication methods cover technolo-gies such as photolithography,microinjection molding,self-assembly,and 3D printing,emphasizing innovative strategies involving multi-technology integration and collaborative manufacturing of bio/non-bio hybrid materials;(3)Internal phys-iological applications involve disease diagnosis,targeted drug delivery,minimally invasive surgery,tissue engineering,and cell manipulation,highlighting the broad prospects of microrobots in precision medicine.Despite remarkable progress,critical challenges remain,including low actuation efficiency,as seen in acoustic systems,limited biocompatibility,exem-plified by the toxicity of hydrogen peroxide in chemical actuation,delayed clinical translation,and other related challenges that must be addressed to advance the field.展开更多
Strategically coupling nanoparticle hybrids and internal thermosensitive molecular switches establishes an innovative paradigm for constructing micro/nanoscale-reconfigurable robots,facilitating energyefficient CO_(2)...Strategically coupling nanoparticle hybrids and internal thermosensitive molecular switches establishes an innovative paradigm for constructing micro/nanoscale-reconfigurable robots,facilitating energyefficient CO_(2) management in life-support systems of confined space.Here,a micro/nano-reconfigurable robot is constructed from the CO_(2) molecular hunters,temperature-sensitive molecular switch,solar photothermal conversion,and magnetically-driven function engines.The molecular hunters within the molecular extension state can capture 6.19 mmol g^(−1) of CO_(2) to form carbamic acid and ammonium bicarbonate.Interestingly,the molecular switch of the robot activates a molecular curling state that facilitates CO_(2) release through nano-reconfiguration,which is mediated by the temperature-sensitive curling of Pluronic F127 molecular chains during the photothermal desorption.Nano-reconfiguration of robot alters the amino microenvironment,including increasing surface electrostatic potential of the amino group and decreasing overall lowest unoccupied molecular orbital energy level.This weakened the nucleophilic attack ability of the amino group toward the adsorption product derivatives,thereby inhibiting the side reactions that generate hard-to-decompose urea structures,achieving the lowest regeneration temperature of 55℃ reported to date.The engine of the robot possesses non-contact magnetically-driven micro-reconfiguration capability to achieve efficient photothermal regeneration while avoiding local overheating.Notably,the robot successfully prolonged the survival time of mice in the sealed container by up to 54.61%,effectively addressing the issue of carbon suffocation in confined spaces.This work significantly enhances life-support systems for deep-space exploration,while stimulating innovations in sustainable carbon management technologies for terrestrial extreme environments.展开更多
Mobile service robots(MSRs)in hospital environments require precise and robust trajectory tracking to ensure reliable operation under dynamic conditions,including model uncertainties and external disturbances.This stu...Mobile service robots(MSRs)in hospital environments require precise and robust trajectory tracking to ensure reliable operation under dynamic conditions,including model uncertainties and external disturbances.This study presents a cognitive control strategy that integrates a Numerical Feedforward Inverse Dynamic Controller(NFIDC)with a Feedback Radial Basis Function Neural Network(FRBFNN).The robot’s mechanical structure was designed in SolidWorks 2022 SP2.0 and validated under operational loads using finite element analysis in ANSYS 2022 R1.The NFIDC-FRBFNN framework merges proactive inverse dynamic compensation with adaptive neural learning to achieve smooth torque responses and accurate motion control.A two-stage simulation evaluation was conducted.In the first stage,the controller was tested in a simulated hospital environment under both ideal and non-ideal conditions.In the second,it was benchmarked against four established controllers-Neural Network Model Reference Adaptive(NNMRA),Z-number Fuzzy Logic(Z-FL),Adaptive Dynamic Controller(ADC),and Fuzzy Logic-PID(FL-PID)—using circular and lemniscate trajectories.Across ten runs,the proposed controller achieved the lowest tracking errors under all conditions.Under ideal conditions,it achieved average improvements of 55.24%,75.75%,and 55.20%in integral absolute error(IAE),integral squared error(ISE),and mean absolute error(MAE),respectively,with coefficient of variation(CV)reductions above 55%.Under non-ideal conditions,average improvements exceeded 64%in IAE,77%in ISE,and 66%in MAE,while maintaining CV reductions above 57%.These results confirm that the NFIDC-FRBFNN controller offers superior accuracy,robustness,and consistency for real-time path tracking in healthcare robotics.展开更多
Most existing path planning approaches rely on discrete expansions or localized heuristics that can lead to extended re-planning,inefficient detours,and limited adaptability to complex obstacle distributions.These iss...Most existing path planning approaches rely on discrete expansions or localized heuristics that can lead to extended re-planning,inefficient detours,and limited adaptability to complex obstacle distributions.These issues are particularly pronounced when navigating cluttered or large-scale environments that demand both global coverage and smooth trajectory generation.To address these challenges,this paper proposes a Wave Water Simulator(WWS)algorithm,leveraging a physically motivated wave equation to achieve inherently smooth,globally consistent path planning.In WWS,wavefront expansions naturally identify safe corridors while seamlessly avoiding local minima,and selective corridor focusing reduces computational overhead in large or dense maps.Comprehensive simulations and real-world validations-encompassing both indoor and outdoor scenarios-demonstrate that WWS reduces path length by 2%-13%compared to conventional methods,while preserving gentle curvature and robust obstacle clearance.Furthermore,WWS requires minimal parameter tuning across diverse domains,underscoring its broad applicability to warehouse robotics,field operations,and autonomous service vehicles.These findings confirm that the proposed wave-based framework not only bridges the gap between local heuristics and global coverage but also sets a promising direction for future extensions toward dynamic obstacle scenarios and multi-agent coordination.展开更多
The special issue aims to address a broad spectrum of topics ranging from human-centered intelligent robots acting as a servant,secretary,or companion to intelligent robotic functions.The special issue publishes origi...The special issue aims to address a broad spectrum of topics ranging from human-centered intelligent robots acting as a servant,secretary,or companion to intelligent robotic functions.The special issue publishes original papers of innovative ideas and concepts,new discoveries,and novel applications and business models relevant to the field of human-centered intelligent robots.In this special issue,modeling,intelligent control,展开更多
As embodied intelligence(EI),large language models(LLMs),and cloud computing continue to advance,Industry5.0 facilitates the development of industrial artificial intelligence(Ind AI)through cyber-physical-social syste...As embodied intelligence(EI),large language models(LLMs),and cloud computing continue to advance,Industry5.0 facilitates the development of industrial artificial intelligence(Ind AI)through cyber-physical-social systems(CPSSs)with a human-centric focus.These technologies are organized by the system-wide approach of Industry 5.0,in order to empower the manufacturing industry to achieve broader societal goals of job creation,economic growth,and green production.This survey first provides a general framework of smart manufacturing in the context of Industry 5.0.Wherein,the embodied agents,like robots,sensors,and actuators,are the carriers for Ind AI,facilitating the development of the self-learning intelligence in individual entities,the collaborative intelligence in production lines and factories(smart systems),and the swarm intelligence within industrial clusters(systems of smart systems).Through the framework of CPSSs,the key technologies and their possible applications for supporting the single-agent,multi-agent and swarm-agent embodied Ind AI have been reviewed,such as the embodied perception,interaction,scheduling,multi-mode large language models,and collaborative training.Finally,to stimulate future research in this area,the open challenges and opportunities of applying Industry 5.0 to smart manufacturing are identified and discussed.The perspective of Industry 5.0-driven manufacturing industry aims to enhance operational productivity and efficiency by seamlessly integrating the virtual and physical worlds in a human-centered manner,thereby fostering an intelligent,sustainable,and resilient industrial landscape.展开更多
Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,w...Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,with their multifaceted and intricate designs,some robots often grapple with motion and functionality issues when confronted with tight spaces characterized by small cross-sectional dimensions.In this study,drawing inspiration from the high aspect ratio and undulating swimming patterns of snakes,a millimeter-scale,snake-like robot was designed and fabricated via a combination of extrusion-based four-dimensional(4D)printing and magnetic-responsive intelligent functional inks.A sophisticated motion control strategy was also developed,which enables the robots to perform various dynamic movements,such as undulating swimming,precise turns,graceful circular motions,and coordinated cluster movements,under diverse magnetic field variations.As a potential application,the snake robot can navigate and release drugs in a model coronary intervention vessel with tortuous channels and fluid filling.The novel design and promising applications of this snake robot are invaluable tools in future medical surgeries and interventions.展开更多
OBJECTIVE:To propose an automatic acupuncture robot system for performing acupuncture operations.METHODS:The acupuncture robot system consists of three components:automatic acupoint localization,acupuncture manipulati...OBJECTIVE:To propose an automatic acupuncture robot system for performing acupuncture operations.METHODS:The acupuncture robot system consists of three components:automatic acupoint localization,acupuncture manipulations,and De Qi sensation detection.The OptiTrack motion capture system is used to locate acupoints,which are then translated into coordinates in the robot control system.A flexible collaborative robot with an intelligent gripper is then used to perform acupuncture manipulations with high precision.In addition,a De Qi sensation detection system is proposed to evaluate the effect of acupuncture.To verify the stability of the designed acupuncture robot,acupoints'coordinates localized by the acupuncture robot are compared with the Gold Standard labeled by a professional acupuncturist using significant level tests.RESULTS:Through repeated experiments for eight acupoints,the acupuncture robot achieved a positioning error within 3.3 mm,which is within the allowable range of needle extraction and acupoint insertion.During needle insertion,the robot arm followed the prescribed trajectory with a mean deviation distance of 0.02 mm and a deviation angle of less than 0.15°.The results of the lifting thrusting operation in the Xingzhen process show that the mean acupuncture depth error of the designed acupuncture robot is approximately 2 mm,which is within the recommended depth range for the Xingzhen operation.In addition,the average detection accuracy of the De Qi keywords is 94.52%,which meets the requirements of acupuncture effect testing for different dialects.CONCLUSION:The proposed acupuncture robot system streamlines the acupuncture process,increases efficiency,and reduces practitioner fatigue,while also allowing for the quantification of acupuncture manipulations and evaluation of therapeutic effects.The development of an acupuncture robot system has the potential to revolutionize low back pain treatment and improve patient outcomes.展开更多
The advent of parametric design has resulted in a marked increase in the complexity of building.Unfortunately,traditional construction methods make it difficult to meet the needs.Therefore,construction robots have bec...The advent of parametric design has resulted in a marked increase in the complexity of building.Unfortunately,traditional construction methods make it difficult to meet the needs.Therefore,construction robots have become a pivotal production tool in this context.Since the arm span of a single robot usually does not exceed 3 meters,it is not competent for producing large-scale building components.Accordingly,the extension of the robot,s working range is often achieved by external axes.Nevertheless,the coupling control of external axes and robots and their kinematic solution have become key challenges.The primary technical difficulties include customized construction robots,automatic solutions for external axes,fixed axis joints,and specific motion mode control.This paper proposes solutions to these difficulties,introduces the relevant basic concepts and algorithms in detail,and encapsulates these robotics principles and algorithm processes into the Grasshopper plug-in commonly used by architects to form the FURobot software platform.This platform effectively solves the above problems,lowers the threshold for architects,and improves production efficiency.The effectiveness of the algorithm and software in this paper is verified through simulation experiments.展开更多
This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterp...This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.展开更多
The proliferation of robot accounts on social media platforms has posed a significant negative impact,necessitating robust measures to counter network anomalies and safeguard content integrity.Social robot detection h...The proliferation of robot accounts on social media platforms has posed a significant negative impact,necessitating robust measures to counter network anomalies and safeguard content integrity.Social robot detection has emerged as a pivotal yet intricate task,aimed at mitigating the dissemination of misleading information.While graphbased approaches have attained remarkable performance in this realm,they grapple with a fundamental limitation:the homogeneity assumption in graph convolution allows social robots to stealthily evade detection by mingling with genuine human profiles.To unravel this challenge and thwart the camouflage tactics,this work proposed an innovative social robot detection framework based on enhanced HOmogeneity and Random Forest(HORFBot).At the core of HORFBot lies a homogeneous graph enhancement strategy,intricately woven with edge-removal techniques,tometiculously dissect the graph intomultiple revealing subgraphs.Subsequently,leveraging the power of contrastive learning,the proposed methodology meticulously trains multiple graph convolutional networks,each honed to discern nuances within these tailored subgraphs.The culminating stage involves the fusion of these feature-rich base classifiers,harmoniously aggregating their insights to produce a comprehensive detection outcome.Extensive experiments on three social robot detection datasets have shown that this method effectively improves the accuracy of social robot detection and outperforms comparative methods.展开更多
基金supported in part by the National Natural Science Foundation of China(61573147,91520201,61625303,61522302,61761130080)Guangzhou Research Collaborative Innovation Projects(2014Y2-00507)+2 种基金Guangdong Science and Technology Research Collaborative Innovation Projects(20138010102010,20148090901056,20158020214003)Guangdong Science and Technology Plan Project(Application Technology Research Foundation)(2015B020233006)National High-Tech Research and De-velopment Program of China(863 Program)(2015AA042303)
文摘Intelligent techniques foster the dissemination of new discoveries and novel technologies that advance the ability of robots to assist and support humans. The human-centered intelligent robot has become an important research field that spans all of the robot capabilities including navigation, intelligent control, pattern recognition and human-robot interaction. This paper focuses on the recent achievements and presents a survey of existing works on human-centered robots. Furthermore, we provide a comprehensive survey of the recent development of the human-centered intelligent robot and discuss the issues and challenges in the field.
基金financially supported by the Natural Science Foundation of Jiangsu Province,China(No.BK 20221502)the National Natural Science Foundation of China(No.42477147)。
文摘In this research,a comparative analysis was conducted on the performance and efficiency of the dual-anchor soft robot(DASR)and the extension-contraction soft robot(ECSR).These robots were constructed by imitating the locomotion of razor clams.The penetration force for extension actuators and the anchorage force for expansion actuators in dry sand with distinct relative densities were tested by differentiating input air pressure and length-to-diameter ratios(λ).On the basis of the findings,a DASR and an ECSR were developed.DASR comprised two expansion actuators as the head and the tail segments at two ends,and one extension actuator as the middle segment.ECSR was composed of an extension actuator.A method based on the force equilibrium was introduced to ascertain and adjust the geometric parameters(length of each segment)of DASR.The burrowing-out performance and efficiency of DASR and ECSR in sands with distinct relative densities were explored.The results revealed that DASR exhibited high efficiency in dense sand in terms of lower time of burrowing-out,slip-to-advancement ratio,and cost of transport.ECSR might perform better in looser sand in terms of higher average burrowing-out velocity,higher advancement in each cycle,and lower energy consumption.However,it had larger slips than DASR.DASR could realize steady advancement and net displacement in each cycle and effectively decrease slips.These findings demonstrate the benefits and usability of the dual-anchor motion and offer new insights into the application of the dual-anchor mechanism in the burrowing of robots.
基金supported by the National Natural Science Foundation of China(Grant Nos.52188102,52505008)the National Key Research and Development Program of China(Grant No.2024YFB4707902)。
文摘The capability of whole-body proprioception,e.g.,pose estimation,is important for the control and interaction of continuum robots.However,existing pose estimation methods are often simplified through geometric assumptions,primarily due to constraints such as computational and sensor deployment costs.We propose an explicit posture estimation method through a neural network,and implement it using an embedded camera for vision-based proprioception.We design a continuous location encoding neural network(LENN)by encoding continuous locational information.The LENN can capture deformation from changes in internal texture observed by an integrated camera,and output pose information—both position and orientation—for any point along the robot backbone,rather than only discrete points.Compared with interpolation-based estimation using a reduced model,our method reduces single-point estimation error by 33.6%.Furthermore,a systematic evaluation of hardware configurations demonstrates that our prototype achieves sub-millimetre accuracy in shape estimation(0.383 mm)while maintaining real-time inference speeds below 12 ms per frame.By combining a learning-based approach with a simple mechanical design,our method leverages internal visual information to estimate the whole-body pose,providing an effective solution for accurate shape estimation in continuum robots.
基金Nguyen Tat Thanh University,Ho Chi Minh City,Vietnam for supporting this study。
文摘Wing design is a critical factor in the aerodynamic performance of flapping-wing(FW)robots.Inspired by the natural wing structures of insects,bats,and birds,we explored how bio-mimetic wing vein morphologies,combined with a bio-inspired double wing clap-and-fling mechanism,affect thrust generation.This study focused on increasing vertical force and payload capacity.Through systematic experimentation with various vein configurations and structural designs,we developed innovative wings optimized for thrust production.Comprehensive tests were conducted to measure aerodynamic forces,power consumption,and wing kinematics across a range of flapping frequencies.Additionally,wings with different aspect ratios,a key factor in wing design,were fabricated and extensively evaluated.The study also examined the role of bio-inspired vein layouts on wing flexibility,a critical component in improving flight efficiency.Our findings demonstrate that the newly developed wing design led to a 20%increase in thrust,achieving up to 30 g-force(gf).This research sheds light on the clap-and-fling effect and establishes a promising framework for bio-inspired wing design,offering significant improvements in both performance and payload capacity for FW robots.
基金National Natural Science Foundation of China(Grant No.61903157)the Foundation of State Key Laboratory of Robotics(Grand No.2024-O08).
文摘Microrobotic systems are emerging as transformative technology for minimally invasive medicine,driven by innovations in actuation mechanisms,advanced fabrication paradigms,and multifunctional system integration.This comprehensive review analyzes the evolution of microrobotic technologies through three critical dimensions:(1)actuation modalities,including magnetic,optical,acoustic,chemical,and biological actuation,with a focus on the synergistic advantages of hybrid actuation strategies in complex internal physiological environments;(2)Fabrication methods cover technolo-gies such as photolithography,microinjection molding,self-assembly,and 3D printing,emphasizing innovative strategies involving multi-technology integration and collaborative manufacturing of bio/non-bio hybrid materials;(3)Internal phys-iological applications involve disease diagnosis,targeted drug delivery,minimally invasive surgery,tissue engineering,and cell manipulation,highlighting the broad prospects of microrobots in precision medicine.Despite remarkable progress,critical challenges remain,including low actuation efficiency,as seen in acoustic systems,limited biocompatibility,exem-plified by the toxicity of hydrogen peroxide in chemical actuation,delayed clinical translation,and other related challenges that must be addressed to advance the field.
基金supported by the National Natural Science Foundation of China(22168008,22378085)the Guangxi Natural Science Foundation(2024GXNSFDA010053)+1 种基金the Technology Development Project of Guangxi Bossco Environmental Protection Technology Co.,Ltd(202100039)Innovation Project of Guangxi Graduate Education(YCBZ2024065).
文摘Strategically coupling nanoparticle hybrids and internal thermosensitive molecular switches establishes an innovative paradigm for constructing micro/nanoscale-reconfigurable robots,facilitating energyefficient CO_(2) management in life-support systems of confined space.Here,a micro/nano-reconfigurable robot is constructed from the CO_(2) molecular hunters,temperature-sensitive molecular switch,solar photothermal conversion,and magnetically-driven function engines.The molecular hunters within the molecular extension state can capture 6.19 mmol g^(−1) of CO_(2) to form carbamic acid and ammonium bicarbonate.Interestingly,the molecular switch of the robot activates a molecular curling state that facilitates CO_(2) release through nano-reconfiguration,which is mediated by the temperature-sensitive curling of Pluronic F127 molecular chains during the photothermal desorption.Nano-reconfiguration of robot alters the amino microenvironment,including increasing surface electrostatic potential of the amino group and decreasing overall lowest unoccupied molecular orbital energy level.This weakened the nucleophilic attack ability of the amino group toward the adsorption product derivatives,thereby inhibiting the side reactions that generate hard-to-decompose urea structures,achieving the lowest regeneration temperature of 55℃ reported to date.The engine of the robot possesses non-contact magnetically-driven micro-reconfiguration capability to achieve efficient photothermal regeneration while avoiding local overheating.Notably,the robot successfully prolonged the survival time of mice in the sealed container by up to 54.61%,effectively addressing the issue of carbon suffocation in confined spaces.This work significantly enhances life-support systems for deep-space exploration,while stimulating innovations in sustainable carbon management technologies for terrestrial extreme environments.
基金supported by the Malaysia Ministry of Higher Education under Fundamental Research Grant Scheme with Project Code:FRGS/1/2024/TK07/USM/02/3.
文摘Mobile service robots(MSRs)in hospital environments require precise and robust trajectory tracking to ensure reliable operation under dynamic conditions,including model uncertainties and external disturbances.This study presents a cognitive control strategy that integrates a Numerical Feedforward Inverse Dynamic Controller(NFIDC)with a Feedback Radial Basis Function Neural Network(FRBFNN).The robot’s mechanical structure was designed in SolidWorks 2022 SP2.0 and validated under operational loads using finite element analysis in ANSYS 2022 R1.The NFIDC-FRBFNN framework merges proactive inverse dynamic compensation with adaptive neural learning to achieve smooth torque responses and accurate motion control.A two-stage simulation evaluation was conducted.In the first stage,the controller was tested in a simulated hospital environment under both ideal and non-ideal conditions.In the second,it was benchmarked against four established controllers-Neural Network Model Reference Adaptive(NNMRA),Z-number Fuzzy Logic(Z-FL),Adaptive Dynamic Controller(ADC),and Fuzzy Logic-PID(FL-PID)—using circular and lemniscate trajectories.Across ten runs,the proposed controller achieved the lowest tracking errors under all conditions.Under ideal conditions,it achieved average improvements of 55.24%,75.75%,and 55.20%in integral absolute error(IAE),integral squared error(ISE),and mean absolute error(MAE),respectively,with coefficient of variation(CV)reductions above 55%.Under non-ideal conditions,average improvements exceeded 64%in IAE,77%in ISE,and 66%in MAE,while maintaining CV reductions above 57%.These results confirm that the NFIDC-FRBFNN controller offers superior accuracy,robustness,and consistency for real-time path tracking in healthcare robotics.
文摘Most existing path planning approaches rely on discrete expansions or localized heuristics that can lead to extended re-planning,inefficient detours,and limited adaptability to complex obstacle distributions.These issues are particularly pronounced when navigating cluttered or large-scale environments that demand both global coverage and smooth trajectory generation.To address these challenges,this paper proposes a Wave Water Simulator(WWS)algorithm,leveraging a physically motivated wave equation to achieve inherently smooth,globally consistent path planning.In WWS,wavefront expansions naturally identify safe corridors while seamlessly avoiding local minima,and selective corridor focusing reduces computational overhead in large or dense maps.Comprehensive simulations and real-world validations-encompassing both indoor and outdoor scenarios-demonstrate that WWS reduces path length by 2%-13%compared to conventional methods,while preserving gentle curvature and robust obstacle clearance.Furthermore,WWS requires minimal parameter tuning across diverse domains,underscoring its broad applicability to warehouse robotics,field operations,and autonomous service vehicles.These findings confirm that the proposed wave-based framework not only bridges the gap between local heuristics and global coverage but also sets a promising direction for future extensions toward dynamic obstacle scenarios and multi-agent coordination.
文摘The special issue aims to address a broad spectrum of topics ranging from human-centered intelligent robots acting as a servant,secretary,or companion to intelligent robotic functions.The special issue publishes original papers of innovative ideas and concepts,new discoveries,and novel applications and business models relevant to the field of human-centered intelligent robots.In this special issue,modeling,intelligent control,
基金supported by the National Key Research and Development Program of China(2021YFB1714300)the National Natural Science Foundation of China(62233005,U2441245,62173141)+3 种基金CNPC Innovation Found(2024DQ02-0507)Shanghai Natural Science(24ZR1416400)Shanghai Baiyu Lan Talent Program Pujiang Project(24PJD020)the Programme of Introducing Talents of Discipline to Universities(the 111 Project)(B17017)
文摘As embodied intelligence(EI),large language models(LLMs),and cloud computing continue to advance,Industry5.0 facilitates the development of industrial artificial intelligence(Ind AI)through cyber-physical-social systems(CPSSs)with a human-centric focus.These technologies are organized by the system-wide approach of Industry 5.0,in order to empower the manufacturing industry to achieve broader societal goals of job creation,economic growth,and green production.This survey first provides a general framework of smart manufacturing in the context of Industry 5.0.Wherein,the embodied agents,like robots,sensors,and actuators,are the carriers for Ind AI,facilitating the development of the self-learning intelligence in individual entities,the collaborative intelligence in production lines and factories(smart systems),and the swarm intelligence within industrial clusters(systems of smart systems).Through the framework of CPSSs,the key technologies and their possible applications for supporting the single-agent,multi-agent and swarm-agent embodied Ind AI have been reviewed,such as the embodied perception,interaction,scheduling,multi-mode large language models,and collaborative training.Finally,to stimulate future research in this area,the open challenges and opportunities of applying Industry 5.0 to smart manufacturing are identified and discussed.The perspective of Industry 5.0-driven manufacturing industry aims to enhance operational productivity and efficiency by seamlessly integrating the virtual and physical worlds in a human-centered manner,thereby fostering an intelligent,sustainable,and resilient industrial landscape.
基金the National Natural Science Foundation of China(Nos.52105421 and 52373050)the Guangdong Provincial Natural Science Foundation,China(No.2022A1515011621)+1 种基金the Science and Technology Projects in Guangzhou,China(Nos.202102080330 and 2024A04J6446)the Fundamental Research Funds for the Central Universities,Sun Yat-sen University(No.22qntd0101).
文摘Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,with their multifaceted and intricate designs,some robots often grapple with motion and functionality issues when confronted with tight spaces characterized by small cross-sectional dimensions.In this study,drawing inspiration from the high aspect ratio and undulating swimming patterns of snakes,a millimeter-scale,snake-like robot was designed and fabricated via a combination of extrusion-based four-dimensional(4D)printing and magnetic-responsive intelligent functional inks.A sophisticated motion control strategy was also developed,which enables the robots to perform various dynamic movements,such as undulating swimming,precise turns,graceful circular motions,and coordinated cluster movements,under diverse magnetic field variations.As a potential application,the snake robot can navigate and release drugs in a model coronary intervention vessel with tortuous channels and fluid filling.The novel design and promising applications of this snake robot are invaluable tools in future medical surgeries and interventions.
基金Modernization of Traditional Chinese Medicine Project of National Key R&D Program of China:The construction of the theoretical system of Traditional Chinese Medicine nonpharmacological therapy based on body surface stimulation(2023YFC3502704)Sichuan Provincial Science and Technology Program Project:Research and Development of Chinese Medicine Intelligent Tongue Diagnosis Equipment for Digestive System Chinese Medicine Advantageous Diseases(2023YFS0327)+2 种基金Research and Development of Chinese Medicine Intelligent Detection System for Intestinal Functions(2024YFFK0044)Research and Application of Chinese Medicine Diagnosis and Treatment Program for Herpes Zoster Treated by Shu Pai Fire Acupuncture(2024YFFK0089)Major Research and Development Project of The China Academy of Chinese Medical Sciences Innovation:Construction and application of the theoretical research mode of Traditional Chinese Medicine diagnosis and treatment of modern diseases(CI2021A00104)。
文摘OBJECTIVE:To propose an automatic acupuncture robot system for performing acupuncture operations.METHODS:The acupuncture robot system consists of three components:automatic acupoint localization,acupuncture manipulations,and De Qi sensation detection.The OptiTrack motion capture system is used to locate acupoints,which are then translated into coordinates in the robot control system.A flexible collaborative robot with an intelligent gripper is then used to perform acupuncture manipulations with high precision.In addition,a De Qi sensation detection system is proposed to evaluate the effect of acupuncture.To verify the stability of the designed acupuncture robot,acupoints'coordinates localized by the acupuncture robot are compared with the Gold Standard labeled by a professional acupuncturist using significant level tests.RESULTS:Through repeated experiments for eight acupoints,the acupuncture robot achieved a positioning error within 3.3 mm,which is within the allowable range of needle extraction and acupoint insertion.During needle insertion,the robot arm followed the prescribed trajectory with a mean deviation distance of 0.02 mm and a deviation angle of less than 0.15°.The results of the lifting thrusting operation in the Xingzhen process show that the mean acupuncture depth error of the designed acupuncture robot is approximately 2 mm,which is within the recommended depth range for the Xingzhen operation.In addition,the average detection accuracy of the De Qi keywords is 94.52%,which meets the requirements of acupuncture effect testing for different dialects.CONCLUSION:The proposed acupuncture robot system streamlines the acupuncture process,increases efficiency,and reduces practitioner fatigue,while also allowing for the quantification of acupuncture manipulations and evaluation of therapeutic effects.The development of an acupuncture robot system has the potential to revolutionize low back pain treatment and improve patient outcomes.
基金National Key R&D Program of China(Nos.2023YFC3806900,2022YFE0141400)。
文摘The advent of parametric design has resulted in a marked increase in the complexity of building.Unfortunately,traditional construction methods make it difficult to meet the needs.Therefore,construction robots have become a pivotal production tool in this context.Since the arm span of a single robot usually does not exceed 3 meters,it is not competent for producing large-scale building components.Accordingly,the extension of the robot,s working range is often achieved by external axes.Nevertheless,the coupling control of external axes and robots and their kinematic solution have become key challenges.The primary technical difficulties include customized construction robots,automatic solutions for external axes,fixed axis joints,and specific motion mode control.This paper proposes solutions to these difficulties,introduces the relevant basic concepts and algorithms in detail,and encapsulates these robotics principles and algorithm processes into the Grasshopper plug-in commonly used by architects to form the FURobot software platform.This platform effectively solves the above problems,lowers the threshold for architects,and improves production efficiency.The effectiveness of the algorithm and software in this paper is verified through simulation experiments.
基金Fundamental Research Funds for the Central Universities(No.2024JBMC011)Aeronautical Science Foundation of China(No.2024Z0560M5001).
文摘This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.
基金Funds for the Central Universities(grant number CUC24SG018).
文摘The proliferation of robot accounts on social media platforms has posed a significant negative impact,necessitating robust measures to counter network anomalies and safeguard content integrity.Social robot detection has emerged as a pivotal yet intricate task,aimed at mitigating the dissemination of misleading information.While graphbased approaches have attained remarkable performance in this realm,they grapple with a fundamental limitation:the homogeneity assumption in graph convolution allows social robots to stealthily evade detection by mingling with genuine human profiles.To unravel this challenge and thwart the camouflage tactics,this work proposed an innovative social robot detection framework based on enhanced HOmogeneity and Random Forest(HORFBot).At the core of HORFBot lies a homogeneous graph enhancement strategy,intricately woven with edge-removal techniques,tometiculously dissect the graph intomultiple revealing subgraphs.Subsequently,leveraging the power of contrastive learning,the proposed methodology meticulously trains multiple graph convolutional networks,each honed to discern nuances within these tailored subgraphs.The culminating stage involves the fusion of these feature-rich base classifiers,harmoniously aggregating their insights to produce a comprehensive detection outcome.Extensive experiments on three social robot detection datasets have shown that this method effectively improves the accuracy of social robot detection and outperforms comparative methods.
