To keep coal workers away from the hazardous area with frequent accidents such as the roof fall and rib spalling in an underground coalmine,we put forward the solution with robotized self-moving anchor-supporting unit...To keep coal workers away from the hazardous area with frequent accidents such as the roof fall and rib spalling in an underground coalmine,we put forward the solution with robotized self-moving anchor-supporting unit.The existing research shows that the surrounding rock of the roadway has self-stability,and the early or late support is not conducive to the safe and reliable support of the roadway,so there is a problem of support opportunity.In order to study the supporting effect and the optimal supporting time of the above solution,we established the mechanical coupling model of surrounding rock and advance support,and investigated the surrounding rock deformation and advance support pressure distribution under different reserved roof subsidence by using the numerical simulation software FLAC3D.The results show that the deformation of surrounding rock increases and finally tends to a stable level with the increase of pre settlement of roadway roof,and when the pre settlement of roof is between 8-15 mm,the vertical pressure of the top beam of advance support reaches the minimum value,about 0.58 MPa.Based on the above research,we put forward the optimum supporting time in roadway excavation,and summarized the evaluation method based on the mechanical coupling model of surrounding rock-advance support.展开更多
Large,3D curved electronics are a trend of the microelectronic industry due to their unique ability to conformally coexist with complex surfaces while retaining the electronic functions of 2D planar integrated circuit...Large,3D curved electronics are a trend of the microelectronic industry due to their unique ability to conformally coexist with complex surfaces while retaining the electronic functions of 2D planar integrated circuit technologies.However,these curved electronics present great challenges to the fabrication processes.Here,we propose a reconfigurable,mask-free,conformal fabrication strategy with a robot-like system,called robotized‘transfer-and-jet’printing,to assemble diverse electronic devices on complex surfaces.This novel method is a ground-breaking advance with the unique capability to integrate rigid chips,flexible electronics,and conformal circuits on complex surfaces.Critically,each process,including transfer printing,inkjet printing,and plasma treating,are mask-free,digitalized,and programmable.The robotization techniques,including measurement,surface reconstruction and localization,and path programming,break through the fundamental constraints of 2D planar microfabrication in the context of geometric shape and size.The transfer printing begins with the laser lift-off of rigid chips or flexible electronics from donor substrates,which are then transferred onto a curved surface via a dexterous robotic palm.Then the robotic electrohydrodynamic printing directly writes submicrometer structures on the curved surface.Their permutation and combination allow versatile conformal microfabrication.Finally,robotized hybrid printing is utilized to successfully fabricate a conformal heater and antenna on a spherical surface and a flexible smart sensing skin on a winged model,where the curved circuit,flexible capacitive and piezoelectric sensor arrays,and rigid digital–analog conversion chips are assembled.Robotized hybrid printing is an innovative printing technology,enabling additive,noncontact and digital microfabrication for 3D curved electronics.展开更多
In recent years,robots have been extensively applied in the establishment of intelligent manufacturing systems.Many robotized manufacturing equipment have been developed,some of which have gained successful applicatio...In recent years,robots have been extensively applied in the establishment of intelligent manufacturing systems.Many robotized manufacturing equipment have been developed,some of which have gained successful applications.A mechanism is the skeleton of a machine that transfers motion and energy.The topology of a mechanism is an important gene that determines the function and performance of a machine.Although several reviews have focused on robotized manufacturing,an up-to-date review of robotized manufacturing equipment from the perspective of mechanism topology is lacking.This motivated us to present a survey about existing robotics structures used in manufacturing equipment.Relevant studies are classified into three types:serial robot-based manufacturing equipment,parallel kinematic machines,and hybrid robot-based manufacturing equipment.The features and performance behaviour of these equipments,as determined by their mechanism topology,are analyzed.In particular,the influences of joint numbers,rotational axes of output motion,actuation schemes,and topological symmetry on equipment performance are discussed to provide insight into the new development of robotized manufacturing equipment,as well as future research directions on this topic.展开更多
Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion...Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.展开更多
The Chinese SME’s vision shows the bright side of humanoid robots:rather than replacing human workers,they are handling everyday mechanical tasks,leaving human staff to focus on improving service and emotional experi...The Chinese SME’s vision shows the bright side of humanoid robots:rather than replacing human workers,they are handling everyday mechanical tasks,leaving human staff to focus on improving service and emotional experiences.IN the Jinqiao Economic and Technological Development Zone in Pudong New Area,Shanghai,KEENON Robotics,a national-level“Little Giant”(innovative SME),is leading the transformation of the service robots industry.Amid the wave of embodied intelligence development,the humanoid service robots created by this company have become a focal point of the industry and businesses alike.展开更多
The intrinsic pressure framework,which treats self-propelling force as an external force,provides a convenient and consistent description of mechanical equilibrium in active matter.However,direct experimental evidence...The intrinsic pressure framework,which treats self-propelling force as an external force,provides a convenient and consistent description of mechanical equilibrium in active matter.However,direct experimental evidence is still lacking.To validate this framework,here we employ a programmable robotic platform,where a single light-controlled wheeled robot travels in an activity landscape.Our experiments quantitatively demonstrate that the intrinsic pressure difference across the activity interface is balanced by the emerged polarization force.This result unambiguously confirms the theoretical predictions,thus validating the intrinsic pressure framework and laying the experimental foundation for the intrinsic pressure-based mechanical description of dry active matter.展开更多
Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function....Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function.Despite their high-quality information content,these single-cell measuring techniques suffer from laborious manual processing by highly skilled workers and extremely low throughput(tens of cells per day).Recently,numerous researchers have automated the measurement of cell mechanical and electrical signals through robotic localization and control processes.While these efforts have demonstrated promising progress,critical challenges persist,including human dependency,learning complexity,in-situ measurement,and multidimensional signal acquisition.To identify key limitations and highlight emerging opportunities for innovation,in this review,we comprehensively summarize the key steps of robotic technologies in single-cell biomechanics and electrophysiology.We also discussed the prospects and challenges of robotics and automation in biological research.By bridging gaps between engineering,biology,and data science,this work aims to stimulate interdisciplinary research and accelerate the translation of robotic single-cell technologies into practical applications in the life sciences and medical fields.展开更多
Since the first design of tactile sensors was proposed by Harmon in 1982,tactile sensors have evolved through four key phases:industrial applications(1980s,basic pressure detection),miniaturization via MEMS(1990s),fle...Since the first design of tactile sensors was proposed by Harmon in 1982,tactile sensors have evolved through four key phases:industrial applications(1980s,basic pressure detection),miniaturization via MEMS(1990s),flexible electronics(2010s,stretchable materials),and intelligent systems(2020s-present,AI-driven multimodal sensing).With the innovation of material,processing techniques,and multimodal fusion of stimuli,the application of tactile sensors has been continuously expanding to a diversity of areas,including but not limited to medical care,aerospace,sports and intelligent robots.Currently,researchers are dedicated to develop tactile sensors with emerging mechanisms and structures,pursuing high-sensitivity,high-resolution,and multimodal characteristics and further constructing tactile systems which imitate and approach the performance of human organs.However,challenges in the combination between the theoretical research and the practical applications are still significant.There is a lack of comprehensive understanding in the state of the art of such knowledge transferring from academic work to technical products.Scaled-up production of laboratory materials faces fatal challenges like high costs,small scale,and inconsistent quality.Ambient factors,such as temperature,humidity,and electromagnetic interference,also impair signal reliability.Moreover,tactile sensors must operate across a wide pressure range(0.1 k Pa to several or even dozens of MPa)to meet diverse application needs.Meanwhile,the existing algorithms,data models and sensing systems commonly reveal insufficient precision as well as undesired robustness in data processing,and there is a realistic gap between the designed and the demanded system response speed.In this review,oriented by the design requirements of intelligent tactile sensing systems,we summarize the common sensing mechanisms,inspired structures,key performance,and optimizing strategies,followed by a brief overview of the recent advances in the perspectives of system integration and algorithm implementation,and the possible roadmap of future development of tactile sensors,providing a forward-looking as well as critical discussions in the future industrial applications of flexible tactile sensors.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
Robust teleoperation in image-guided interventions faces critical challenges from latency,deformation,and the quasi-periodic nature of physiological motion.This paper presents a fully integrated,latency-aware visual s...Robust teleoperation in image-guided interventions faces critical challenges from latency,deformation,and the quasi-periodic nature of physiological motion.This paper presents a fully integrated,latency-aware visual servoing system leveraging stereo vision,hand–eye calibration,and learning-based prediction for motion-compensated teleoperation.The system combines a calibrated binocular camera setup,dual robotic arms,and a predictive control loop incorporating Long Short-Term Memory(LSTM)and Temporal Convolutional Network(TCN)models.Through experiments using both in vivo and phantom datasets,we quantitatively assess the prediction accuracy and motion-compensation performance of both models.Results show that TCNs deliver more stable and precise tracking,especially on regular trajectories,while LSTMs exhibit robustness under quasi-periodic dynamics.By matching prediction horizons to system latency,the approach significantly reduces peak and steady-state tracking errors,demonstrating practical feasibility for deploying prediction-augmented servoing in teleoperated surgical.展开更多
Objective:Robotic colorectal surgery(RCS)provides a stable,magnifiedthree-dimensional visual field and enhanced ergonomics enabling precise dissection and tremor suppression.We postulate that this technique is associa...Objective:Robotic colorectal surgery(RCS)provides a stable,magnifiedthree-dimensional visual field and enhanced ergonomics enabling precise dissection and tremor suppression.We postulate that this technique is associated with less tissue trauma and improved postoperative outcomes than laparoscopic colorectal surgery(LCS).This study aimed to explore the inflammatoryresponse following RCS by measuring postoperative C-reactive protein(CRP)levels and compare them with LCS data reported in the literature.Methods:This single centre retrospective study included consecutive elective robotic colon and rectum resections via the da Vinci®Xi platform for benign and malignant colorectal tumours,performed by a single surgeon between January 2017 and December 2023 at the Sydney Adventist Hospital,Sydney.CRP values were measured on post-operative days(PODs)3 and 5.A narrative review of the literature was performed via EMBASE,MEDLINE via PubMed and Google Scholar from inception to December 2024 for comparative CRP values following LCS.Descriptive statistical comparisons were performed between the RCS and LCS.Results:One hundred ninety-three patients were identifiedin the RCS cohort.The median age was 73 y(range:62–83 y).Most colectomies were performed for adenocarcinoma(90.2%),with right hemicolectomy being the most common type of procedure(49.3%).The median CRP levels on PODs 3 and 5 were 83.10 mg/L(IQR:49.80–124.12 mg/L)and 26.20 mg/L(IQR:17.70–80.00 mg/L),respectively.The reported CRP after LCS was heterogeneous,with mean POD 3 values ranging from 69 mg/L to 99.5 mg/L,and mean POD 4–5 values ranging from 62.4 mg/L to 72.85 mg/L.Conclusions:There were similar,if not lower,POD 3 and 5 CRP values,suggesting that RCS was probably non-inferior to LCS regarding postoperative tissue trauma.In particular,there appeared to be a quicker recovery of the inflammatory response with RCS.展开更多
This paper presents an intelligent patrol and security robot integrating 2D LiDAR and RGB-D vision sensors to achieve semantic simultaneous localization and mapping(SLAM),real-time object recognition,and dynamic obsta...This paper presents an intelligent patrol and security robot integrating 2D LiDAR and RGB-D vision sensors to achieve semantic simultaneous localization and mapping(SLAM),real-time object recognition,and dynamic obstacle avoidance.The system employs the YOLOv7 deep-learning framework for semantic detection and SLAM for localization and mapping,fusing geometric and visual data to build a high-fidelity 2D semantic map.This map enables the robot to identify and project object information for improved situational awareness.Experimental results show that object recognition reached 95.4%mAP@0.5.Semantic completeness increased from 68.7%(single view)to 94.1%(multi-view)with an average position error of 3.1 cm.During navigation,the robot achieved 98.0%reliability,avoided moving obstacles in 90.0%of encounters,and replanned paths in 0.42 s on average.The integration of LiDAR-based SLAMwith deep-learning–driven semantic perception establishes a robust foundation for intelligent,adaptive,and safe robotic navigation in dynamic environments.展开更多
Protective hardware is essential for mitigating damage caused by unavoidable falls in humanoid robots.Despite notable progress in fall protection hardware,the theoretical foundation for modeling and the feasibility of...Protective hardware is essential for mitigating damage caused by unavoidable falls in humanoid robots.Despite notable progress in fall protection hardware,the theoretical foundation for modeling and the feasibility of conducting full-scale fall experiments on robots or their surrogates remain somewhat limited.This paper proposes a method for optimizing the thickness of Expandable Polyethylene(EPE),which is used as back protection for the Chubao humanoid robot,based on small-scale impact test data to predict full-scale behavior.The optimal thickness is defined as a balance between compact design and protective effectiveness.An equivalent impact model characterized by four parameters:contact area S,mass m,fall height h,and cushioning material thickness d is introduced to describe impact conditions.The relationship between the peak impact acceleration ap and material thickness d,which forms the core of the method and gives rise to the name AP-D,is analyzed through their plotted curves.After introducing three characteristic parameters and two correction fac-tors,the relationship among the aforementioned variables is derived.Subsequently,both the optimal thickness do and its corresponding peak impact acceleration aop are predicted via nonlinear and linear regression models.Finally,the accuracy and effectiveness of the theoretically derived optimal thickness are validated on both a dummy and the actual robot.With the cushioning material applied,the peak chest acceleration is reduced to 41.57g for the dummy and 32.08g for the robot.展开更多
Soft-tissue motion introduces significant challenges in robotic teleoperation,especially in medical scenarios where precise target tracking is critical.Latency across sensing,computation,and actuation chains leads to ...Soft-tissue motion introduces significant challenges in robotic teleoperation,especially in medical scenarios where precise target tracking is critical.Latency across sensing,computation,and actuation chains leads to degraded tracking performance,particularly around high-acceleration segments and trajectory inflection points.This study investigates machine learning-based predictive compensation for latency mitigation in soft-tissue tracking.Three models—autoregressive(AR),long short-term memory(LSTM),and temporal convolutional network(TCN)—were implemented and evaluated on both synthetic and real datasets.By aligning the prediction horizon with the end-to-end system delay,we demonstrate that prediction-based compensation significantly reduces tracking errors.Among the models,TCN achieved superior robustness and accuracy on complex motion patterns,particularly in multi-step prediction tasks,and exhibited better latency–horizon compatibility.The results suggest that TCN is a promising candidate for real-time latency compensation in teleoperated robotic systems involving dynamic soft-tissue interaction.展开更多
Embodied intelligence is redefining policing On the first day of 2026 chunyun,a period of high mobility associated with the Chinese New Year,the city of Jingzhou in Hubei Province welcomed new participants in road saf...Embodied intelligence is redefining policing On the first day of 2026 chunyun,a period of high mobility associated with the Chinese New Year,the city of Jingzhou in Hubei Province welcomed new participants in road safety:police robots capable of moving autonomously and interacting with passengers.Deployed on a trial basis on 2 February,these robots quickly demonstrated their usefulness in various urban settings.展开更多
The main cable is the primary load-bearing component of a suspension bridge,continuously exposed to harsh environmental conditions,such as wind and rain,throughout the year.These adverse conditions contribute to varyi...The main cable is the primary load-bearing component of a suspension bridge,continuously exposed to harsh environmental conditions,such as wind and rain,throughout the year.These adverse conditions contribute to varying degrees of degradation and damage to the main cable,necessitating regular inspections to prevent catastrophic failures.Traditional manual inspection methods not only suffer from low efficiency but also pose significant safety risks to personnel.To address these challenges and ensure the safe and effective inspection of suspension bridge main cables,this study introduces a novel cooperative climbing robot,designated as Main Cable Robot Version II(CCRobot-M-II),inspired by the locomotion of the inchworm.The robot employs an alternating opening and closing mechanism of four gripper sets,mimicking the inchworm's movement to achieve efficient crawling along the suspension bridge handrails.This paper provides a comprehensive analysis of the structural design,key components,and motion mechanisms of CCRobot-M-II.A detailed force analysis of the robot's crawling process is also presented,followed by the design of the control system and the development of an efficient motion control algorithm.Laboratory experiments demonstrate that the robot achieves a positional error of 00.64%during crawling,with a maximum average crawling speed of 7.6 m/min.Furthermore,the biomimetic design enables the robot to overcome obstacles up to 30 mm in height and possess the capability to handle suspension bridge cables with spans ranging from 740 to 1100 mm.Finally,CCRobot-M-II successfully conducted an inspection of the main cable on a suspension bridge,marking the world's first successful deployment of a climbing robot for main cable inspection on a suspension bridge.展开更多
Robotic inguinal hernia repair remains in the early stages of implementation,and its potential advantages over the laparoscopic approach are still a matter of debate.This narrative review aims to summarize the finding...Robotic inguinal hernia repair remains in the early stages of implementation,and its potential advantages over the laparoscopic approach are still a matter of debate.This narrative review aims to summarize the findingsof major systematic reviews and randomized controlled trials and explore variables not adequately addressed in those studies.The literature review indicates that robotic inguinal hernia repair is associated with longer operative times but has improved ergonomics compared with laparoscopy.It is a safe procedure that results in a reduced inflammatory response,similar complication rates,and no significantdifference in acute postoperative pain.Although it involves higher direct costs,its cost-effectiveness remains unclear owing to a lack of analysis including indirect costs.Ongoing controversy continues regarding long-term benefits.The most recent systematic review pointed towards lower recurrence rates with robotic surgery,although randomized controlled trials have not validated this finding.Data on chronic pain are currently insufficientto draw firmconclusions.Further studies are needed to assess its use in complex cases and the role of novel techniques.展开更多
Robotic electronic skin(e-skin)is inspired by human skin and endows robots with tactile perception,temperature detection,and environmental interaction capabilities.However,its development is hampered by prolonged desi...Robotic electronic skin(e-skin)is inspired by human skin and endows robots with tactile perception,temperature detection,and environmental interaction capabilities.However,its development is hampered by prolonged design cycles,limited signal enhancement,and weak cognitive abilities.Given that the convergence of artificial intelligence(AI)with e-skin is fundamentally transforming this landscape,the present review highlights the pivotal contributions of AI across the entire development spectrum of robotic e-skin,including design optimization,signal processing,and cognitive enhancement.AI-driven design paradigms dramatically shorten development time and enable the discovery of optimal sensor materials and structures.In signal processing,AI algorithms notably improve the ability to decouple complex sensory data,enabling robust,multimodal,super-resolution sensing.AI endows e-skin with advanced cognitive capabilities,allowing it to interpret intricate tactile information and intelligently respond to external environments.By underscoring the potential of AI throughout the entire development pipeline,this review aims to drive the creation of e-skin with minimal hardware and maximal cognition and thus achieve revolutionary breakthroughs in cutting-edge fields such as human-robot interactions,precise robot control,and soft robotics for environmental exploration.展开更多
基金National Key Basic Research and Development Program Fund project(Grant No.2014CB046306)the Central University Funding Project for Basic Scientific Research Operations(Grant No.2009QJ16)
文摘To keep coal workers away from the hazardous area with frequent accidents such as the roof fall and rib spalling in an underground coalmine,we put forward the solution with robotized self-moving anchor-supporting unit.The existing research shows that the surrounding rock of the roadway has self-stability,and the early or late support is not conducive to the safe and reliable support of the roadway,so there is a problem of support opportunity.In order to study the supporting effect and the optimal supporting time of the above solution,we established the mechanical coupling model of surrounding rock and advance support,and investigated the surrounding rock deformation and advance support pressure distribution under different reserved roof subsidence by using the numerical simulation software FLAC3D.The results show that the deformation of surrounding rock increases and finally tends to a stable level with the increase of pre settlement of roadway roof,and when the pre settlement of roof is between 8-15 mm,the vertical pressure of the top beam of advance support reaches the minimum value,about 0.58 MPa.Based on the above research,we put forward the optimum supporting time in roadway excavation,and summarized the evaluation method based on the mechanical coupling model of surrounding rock-advance support.
基金The authors acknowledge support from the National Nat-ural Science Foundation of China(51635007,51925503,51705179)Natural Science Foundation of Hubei Province of China(2020CFA028).
文摘Large,3D curved electronics are a trend of the microelectronic industry due to their unique ability to conformally coexist with complex surfaces while retaining the electronic functions of 2D planar integrated circuit technologies.However,these curved electronics present great challenges to the fabrication processes.Here,we propose a reconfigurable,mask-free,conformal fabrication strategy with a robot-like system,called robotized‘transfer-and-jet’printing,to assemble diverse electronic devices on complex surfaces.This novel method is a ground-breaking advance with the unique capability to integrate rigid chips,flexible electronics,and conformal circuits on complex surfaces.Critically,each process,including transfer printing,inkjet printing,and plasma treating,are mask-free,digitalized,and programmable.The robotization techniques,including measurement,surface reconstruction and localization,and path programming,break through the fundamental constraints of 2D planar microfabrication in the context of geometric shape and size.The transfer printing begins with the laser lift-off of rigid chips or flexible electronics from donor substrates,which are then transferred onto a curved surface via a dexterous robotic palm.Then the robotic electrohydrodynamic printing directly writes submicrometer structures on the curved surface.Their permutation and combination allow versatile conformal microfabrication.Finally,robotized hybrid printing is utilized to successfully fabricate a conformal heater and antenna on a spherical surface and a flexible smart sensing skin on a winged model,where the curved circuit,flexible capacitive and piezoelectric sensor arrays,and rigid digital–analog conversion chips are assembled.Robotized hybrid printing is an innovative printing technology,enabling additive,noncontact and digital microfabrication for 3D curved electronics.
基金supported by the National Natural Science Foundation of China(Grant Nos.51935010,51525504)。
文摘In recent years,robots have been extensively applied in the establishment of intelligent manufacturing systems.Many robotized manufacturing equipment have been developed,some of which have gained successful applications.A mechanism is the skeleton of a machine that transfers motion and energy.The topology of a mechanism is an important gene that determines the function and performance of a machine.Although several reviews have focused on robotized manufacturing,an up-to-date review of robotized manufacturing equipment from the perspective of mechanism topology is lacking.This motivated us to present a survey about existing robotics structures used in manufacturing equipment.Relevant studies are classified into three types:serial robot-based manufacturing equipment,parallel kinematic machines,and hybrid robot-based manufacturing equipment.The features and performance behaviour of these equipments,as determined by their mechanism topology,are analyzed.In particular,the influences of joint numbers,rotational axes of output motion,actuation schemes,and topological symmetry on equipment performance are discussed to provide insight into the new development of robotized manufacturing equipment,as well as future research directions on this topic.
文摘Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.
文摘The Chinese SME’s vision shows the bright side of humanoid robots:rather than replacing human workers,they are handling everyday mechanical tasks,leaving human staff to focus on improving service and emotional experiences.IN the Jinqiao Economic and Technological Development Zone in Pudong New Area,Shanghai,KEENON Robotics,a national-level“Little Giant”(innovative SME),is leading the transformation of the service robots industry.Amid the wave of embodied intelligence development,the humanoid service robots created by this company have become a focal point of the industry and businesses alike.
基金supported by the National Natural Science Foundation of China (Grant Nos.T2325027,12274448,T2350007,12404239,12174041,12325405,12090054,and T2221001)the National Key R&D Program of China (Grant No.2022YFF0503504)。
文摘The intrinsic pressure framework,which treats self-propelling force as an external force,provides a convenient and consistent description of mechanical equilibrium in active matter.However,direct experimental evidence is still lacking.To validate this framework,here we employ a programmable robotic platform,where a single light-controlled wheeled robot travels in an activity landscape.Our experiments quantitatively demonstrate that the intrinsic pressure difference across the activity interface is balanced by the emerged polarization force.This result unambiguously confirms the theoretical predictions,thus validating the intrinsic pressure framework and laying the experimental foundation for the intrinsic pressure-based mechanical description of dry active matter.
基金the National Natural Science Foundation of China[62525301,62127811,62433019]the New Cornerstone Science Foundation through the XPLORER PRIZEthe financial support by the China Postdoctoral Science Foundation[GZB20240797].
文摘Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function.Despite their high-quality information content,these single-cell measuring techniques suffer from laborious manual processing by highly skilled workers and extremely low throughput(tens of cells per day).Recently,numerous researchers have automated the measurement of cell mechanical and electrical signals through robotic localization and control processes.While these efforts have demonstrated promising progress,critical challenges persist,including human dependency,learning complexity,in-situ measurement,and multidimensional signal acquisition.To identify key limitations and highlight emerging opportunities for innovation,in this review,we comprehensively summarize the key steps of robotic technologies in single-cell biomechanics and electrophysiology.We also discussed the prospects and challenges of robotics and automation in biological research.By bridging gaps between engineering,biology,and data science,this work aims to stimulate interdisciplinary research and accelerate the translation of robotic single-cell technologies into practical applications in the life sciences and medical fields.
基金the financial support of the National Natural Science Foundation of China(NO.52173028)。
文摘Since the first design of tactile sensors was proposed by Harmon in 1982,tactile sensors have evolved through four key phases:industrial applications(1980s,basic pressure detection),miniaturization via MEMS(1990s),flexible electronics(2010s,stretchable materials),and intelligent systems(2020s-present,AI-driven multimodal sensing).With the innovation of material,processing techniques,and multimodal fusion of stimuli,the application of tactile sensors has been continuously expanding to a diversity of areas,including but not limited to medical care,aerospace,sports and intelligent robots.Currently,researchers are dedicated to develop tactile sensors with emerging mechanisms and structures,pursuing high-sensitivity,high-resolution,and multimodal characteristics and further constructing tactile systems which imitate and approach the performance of human organs.However,challenges in the combination between the theoretical research and the practical applications are still significant.There is a lack of comprehensive understanding in the state of the art of such knowledge transferring from academic work to technical products.Scaled-up production of laboratory materials faces fatal challenges like high costs,small scale,and inconsistent quality.Ambient factors,such as temperature,humidity,and electromagnetic interference,also impair signal reliability.Moreover,tactile sensors must operate across a wide pressure range(0.1 k Pa to several or even dozens of MPa)to meet diverse application needs.Meanwhile,the existing algorithms,data models and sensing systems commonly reveal insufficient precision as well as undesired robustness in data processing,and there is a realistic gap between the designed and the demanded system response speed.In this review,oriented by the design requirements of intelligent tactile sensing systems,we summarize the common sensing mechanisms,inspired structures,key performance,and optimizing strategies,followed by a brief overview of the recent advances in the perspectives of system integration and algorithm implementation,and the possible roadmap of future development of tactile sensors,providing a forward-looking as well as critical discussions in the future industrial applications of flexible tactile sensors.
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Support by Sichuan Science and Technology Program[2023YFSY0026,2023YFH0004]Guangzhou Huashang University[2024HSZD01,HS2023JYSZH01].
文摘Robust teleoperation in image-guided interventions faces critical challenges from latency,deformation,and the quasi-periodic nature of physiological motion.This paper presents a fully integrated,latency-aware visual servoing system leveraging stereo vision,hand–eye calibration,and learning-based prediction for motion-compensated teleoperation.The system combines a calibrated binocular camera setup,dual robotic arms,and a predictive control loop incorporating Long Short-Term Memory(LSTM)and Temporal Convolutional Network(TCN)models.Through experiments using both in vivo and phantom datasets,we quantitatively assess the prediction accuracy and motion-compensation performance of both models.Results show that TCNs deliver more stable and precise tracking,especially on regular trajectories,while LSTMs exhibit robustness under quasi-periodic dynamics.By matching prediction horizons to system latency,the approach significantly reduces peak and steady-state tracking errors,demonstrating practical feasibility for deploying prediction-augmented servoing in teleoperated surgical.
文摘Objective:Robotic colorectal surgery(RCS)provides a stable,magnifiedthree-dimensional visual field and enhanced ergonomics enabling precise dissection and tremor suppression.We postulate that this technique is associated with less tissue trauma and improved postoperative outcomes than laparoscopic colorectal surgery(LCS).This study aimed to explore the inflammatoryresponse following RCS by measuring postoperative C-reactive protein(CRP)levels and compare them with LCS data reported in the literature.Methods:This single centre retrospective study included consecutive elective robotic colon and rectum resections via the da Vinci®Xi platform for benign and malignant colorectal tumours,performed by a single surgeon between January 2017 and December 2023 at the Sydney Adventist Hospital,Sydney.CRP values were measured on post-operative days(PODs)3 and 5.A narrative review of the literature was performed via EMBASE,MEDLINE via PubMed and Google Scholar from inception to December 2024 for comparative CRP values following LCS.Descriptive statistical comparisons were performed between the RCS and LCS.Results:One hundred ninety-three patients were identifiedin the RCS cohort.The median age was 73 y(range:62–83 y).Most colectomies were performed for adenocarcinoma(90.2%),with right hemicolectomy being the most common type of procedure(49.3%).The median CRP levels on PODs 3 and 5 were 83.10 mg/L(IQR:49.80–124.12 mg/L)and 26.20 mg/L(IQR:17.70–80.00 mg/L),respectively.The reported CRP after LCS was heterogeneous,with mean POD 3 values ranging from 69 mg/L to 99.5 mg/L,and mean POD 4–5 values ranging from 62.4 mg/L to 72.85 mg/L.Conclusions:There were similar,if not lower,POD 3 and 5 CRP values,suggesting that RCS was probably non-inferior to LCS regarding postoperative tissue trauma.In particular,there appeared to be a quicker recovery of the inflammatory response with RCS.
基金supported by the National Science and Technology Council of under Grant NSTC 114-2221-E-130-007.
文摘This paper presents an intelligent patrol and security robot integrating 2D LiDAR and RGB-D vision sensors to achieve semantic simultaneous localization and mapping(SLAM),real-time object recognition,and dynamic obstacle avoidance.The system employs the YOLOv7 deep-learning framework for semantic detection and SLAM for localization and mapping,fusing geometric and visual data to build a high-fidelity 2D semantic map.This map enables the robot to identify and project object information for improved situational awareness.Experimental results show that object recognition reached 95.4%mAP@0.5.Semantic completeness increased from 68.7%(single view)to 94.1%(multi-view)with an average position error of 3.1 cm.During navigation,the robot achieved 98.0%reliability,avoided moving obstacles in 90.0%of encounters,and replanned paths in 0.42 s on average.The integration of LiDAR-based SLAMwith deep-learning–driven semantic perception establishes a robust foundation for intelligent,adaptive,and safe robotic navigation in dynamic environments.
基金Natural Science Foundation of Beijing Municipality under Grant L243004the National Natural Science Foundation of China under Grant 62403060.
文摘Protective hardware is essential for mitigating damage caused by unavoidable falls in humanoid robots.Despite notable progress in fall protection hardware,the theoretical foundation for modeling and the feasibility of conducting full-scale fall experiments on robots or their surrogates remain somewhat limited.This paper proposes a method for optimizing the thickness of Expandable Polyethylene(EPE),which is used as back protection for the Chubao humanoid robot,based on small-scale impact test data to predict full-scale behavior.The optimal thickness is defined as a balance between compact design and protective effectiveness.An equivalent impact model characterized by four parameters:contact area S,mass m,fall height h,and cushioning material thickness d is introduced to describe impact conditions.The relationship between the peak impact acceleration ap and material thickness d,which forms the core of the method and gives rise to the name AP-D,is analyzed through their plotted curves.After introducing three characteristic parameters and two correction fac-tors,the relationship among the aforementioned variables is derived.Subsequently,both the optimal thickness do and its corresponding peak impact acceleration aop are predicted via nonlinear and linear regression models.Finally,the accuracy and effectiveness of the theoretically derived optimal thickness are validated on both a dummy and the actual robot.With the cushioning material applied,the peak chest acceleration is reduced to 41.57g for the dummy and 32.08g for the robot.
基金Support by Sichuan Science and Technology Program[2023YFSY0026,2023YFH0004]Guangzhou Huashang University[2024HSZD01,HS2023JYSZH01].
文摘Soft-tissue motion introduces significant challenges in robotic teleoperation,especially in medical scenarios where precise target tracking is critical.Latency across sensing,computation,and actuation chains leads to degraded tracking performance,particularly around high-acceleration segments and trajectory inflection points.This study investigates machine learning-based predictive compensation for latency mitigation in soft-tissue tracking.Three models—autoregressive(AR),long short-term memory(LSTM),and temporal convolutional network(TCN)—were implemented and evaluated on both synthetic and real datasets.By aligning the prediction horizon with the end-to-end system delay,we demonstrate that prediction-based compensation significantly reduces tracking errors.Among the models,TCN achieved superior robustness and accuracy on complex motion patterns,particularly in multi-step prediction tasks,and exhibited better latency–horizon compatibility.The results suggest that TCN is a promising candidate for real-time latency compensation in teleoperated robotic systems involving dynamic soft-tissue interaction.
文摘Embodied intelligence is redefining policing On the first day of 2026 chunyun,a period of high mobility associated with the Chinese New Year,the city of Jingzhou in Hubei Province welcomed new participants in road safety:police robots capable of moving autonomously and interacting with passengers.Deployed on a trial basis on 2 February,these robots quickly demonstrated their usefulness in various urban settings.
基金Shenzhen Science and Technology Program(Grant No.20220817171811004)(Grant No.RCBS20231211090816033)+4 种基金the Major Key Project of PCL,China under Grant PCL2025A13Longgang District,Shenzhen's"Ten-Action Plan"for Supporting Innovation Projects(Grant No.LGKCSDPT2024002,LGKCSDPT2024003,LGKCSDPT2024004)the"Zhiguo"Action of Guangxi Science and Technology Program(Grant No.ZG2503980003)Guangdong S&T Program under(Grant No.2025B0909040003)Guangdong Provincial Leading Talent Program(Grant No.2024TX08Z319).
文摘The main cable is the primary load-bearing component of a suspension bridge,continuously exposed to harsh environmental conditions,such as wind and rain,throughout the year.These adverse conditions contribute to varying degrees of degradation and damage to the main cable,necessitating regular inspections to prevent catastrophic failures.Traditional manual inspection methods not only suffer from low efficiency but also pose significant safety risks to personnel.To address these challenges and ensure the safe and effective inspection of suspension bridge main cables,this study introduces a novel cooperative climbing robot,designated as Main Cable Robot Version II(CCRobot-M-II),inspired by the locomotion of the inchworm.The robot employs an alternating opening and closing mechanism of four gripper sets,mimicking the inchworm's movement to achieve efficient crawling along the suspension bridge handrails.This paper provides a comprehensive analysis of the structural design,key components,and motion mechanisms of CCRobot-M-II.A detailed force analysis of the robot's crawling process is also presented,followed by the design of the control system and the development of an efficient motion control algorithm.Laboratory experiments demonstrate that the robot achieves a positional error of 00.64%during crawling,with a maximum average crawling speed of 7.6 m/min.Furthermore,the biomimetic design enables the robot to overcome obstacles up to 30 mm in height and possess the capability to handle suspension bridge cables with spans ranging from 740 to 1100 mm.Finally,CCRobot-M-II successfully conducted an inspection of the main cable on a suspension bridge,marking the world's first successful deployment of a climbing robot for main cable inspection on a suspension bridge.
文摘Robotic inguinal hernia repair remains in the early stages of implementation,and its potential advantages over the laparoscopic approach are still a matter of debate.This narrative review aims to summarize the findingsof major systematic reviews and randomized controlled trials and explore variables not adequately addressed in those studies.The literature review indicates that robotic inguinal hernia repair is associated with longer operative times but has improved ergonomics compared with laparoscopy.It is a safe procedure that results in a reduced inflammatory response,similar complication rates,and no significantdifference in acute postoperative pain.Although it involves higher direct costs,its cost-effectiveness remains unclear owing to a lack of analysis including indirect costs.Ongoing controversy continues regarding long-term benefits.The most recent systematic review pointed towards lower recurrence rates with robotic surgery,although randomized controlled trials have not validated this finding.Data on chronic pain are currently insufficientto draw firmconclusions.Further studies are needed to assess its use in complex cases and the role of novel techniques.
基金supported by the National Natural Science Foundation of China(No.52375031)the Dongfang Electric Corporation-Zhejiang University Joint Innovation Research Institutethe Bellwethers Research and Development Plan of Zhejiang Province(No.2023C01045)。
文摘Robotic electronic skin(e-skin)is inspired by human skin and endows robots with tactile perception,temperature detection,and environmental interaction capabilities.However,its development is hampered by prolonged design cycles,limited signal enhancement,and weak cognitive abilities.Given that the convergence of artificial intelligence(AI)with e-skin is fundamentally transforming this landscape,the present review highlights the pivotal contributions of AI across the entire development spectrum of robotic e-skin,including design optimization,signal processing,and cognitive enhancement.AI-driven design paradigms dramatically shorten development time and enable the discovery of optimal sensor materials and structures.In signal processing,AI algorithms notably improve the ability to decouple complex sensory data,enabling robust,multimodal,super-resolution sensing.AI endows e-skin with advanced cognitive capabilities,allowing it to interpret intricate tactile information and intelligently respond to external environments.By underscoring the potential of AI throughout the entire development pipeline,this review aims to drive the creation of e-skin with minimal hardware and maximal cognition and thus achieve revolutionary breakthroughs in cutting-edge fields such as human-robot interactions,precise robot control,and soft robotics for environmental exploration.
