Mechatronics最新文献_第7页

Multiple model switched repetitive control for tremor suppression 多模型切换重复控制抑制震颤

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-10-01 Epub Date: 2025-08-05 DOI: 10.1016/j.mechatronics.2025.103392

Tingze Fang, Christopher T. Freeman

Tremor is a condition that impacts millions of people globally, and is characterised by a periodic limb movement that impedes voluntary motion. Recent studies have shown that functional electrical stimulation (FES) can help reduce tremor by artificially stimulating opposing muscles, thereby decreasing the oscillation’s amplitude. Various control methods have been proposed for this purpose, but repetitive control (RC) has shown the most promise with potential to completely suppress the tremor. While several RC approaches have demonstrated suppression rates of up to 90%, they heavily rely on an accurate model of the underlying dynamics, and their effectiveness declines steeply due to factors like muscle fatigue, spasticity, and modelling inaccuracies.

This paper introduces a multiple model switched repetitive control (MMSRC) framework that addresses the limitations of existing RC approaches. It guarantees high performance tremor suppression provided the true dynamics belong to an uncertainty set specified by the designer. This enables it to adapt to time-varying physiological changes, as well as changes in the placement of the FES electrodes. Moreover, once an uncertainty set has been established, it removes the need for subsequent model identification. This is an important step towards home-based tremor suppression where model identification and expert tuning are not possible. Experimental validation is performed with four participants, showing that MMSRC effectively suppresses tremor even in the presence of severe modelling uncertainty and fatigue, unlike conventional RC methods which often become unstable under these conditions.

震颤是一种影响全球数百万人的疾病，其特征是周期性肢体运动，阻碍了自主运动。最近的研究表明，功能性电刺激（FES）可以通过人工刺激对侧肌肉来减少震颤，从而降低振荡的幅度。为此提出了各种控制方法，但重复控制（RC）显示出最有希望完全抑制震颤的潜力。虽然一些RC方法已经证明抑制率高达90%，但它们严重依赖于潜在动力学的准确模型，并且由于肌肉疲劳、痉挛和建模不准确等因素，它们的有效性急剧下降。本文介绍了一个多模型切换重复控制（MMSRC）框架，解决了现有RC方法的局限性。它保证高性能的震颤抑制提供了真正的动态属于一个不确定的设计者指定的集合。这使得它能够适应时变的生理变化，以及FES电极位置的变化。此外，一旦建立了不确定性集，就不需要后续的模型识别。这是迈向基于家庭的震颤抑制的重要一步，其中模型识别和专家调谐是不可能的。实验验证与四名参与者进行，表明MMSRC有效地抑制震颤，即使存在严重的建模不确定性和疲劳，不像传统的RC方法，往往在这些条件下变得不稳定。

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引用次数: 0

Dynamics modeling and μ synthesis for a parallel - suspension type inertially stabilized platform 并联悬架型惯性稳定平台动力学建模与μ综合

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-10-01 Epub Date: 2025-06-16 DOI: 10.1016/j.mechatronics.2025.103363

Yin Sun, Feng Zhao, Zhenjing Guo, Xiaojun Yan

The parallel-suspension type inertially stabilized platform utilizes a unique flexible support structure and non-contact linear actuators to enable simultaneous high-efficiency vibration suppression control of optical payloads across multiple degrees of freedom. Compared to traditional series – gimbals type stabilized platforms, it offers a higher payload-to-weight ratio and rapid response characteristics. In this paper, a 6-degree-of-freedom dynamic model for the parallel-suspension inertially stabilized platform is established, a control method is designed, and an actual engineering prototype is constructed. Specifically, a flexible support element model that accounts for column instability phenomenon is developed. Based on the parallel mount configuration a complete 6-degree-of-freedom dynamic model of the entire platform is constructed. Furthermore, due the variable parameter characteristics of flexible elastic elements, a μ synthesis control method considering the uncertainty of model parameters is designed. The experimental results show that the μ controller can effectively reduce the external sinusoidal angular disturbance to less than 25 % and the linear vibration disturbance to less than 3 % of the original disturbance while maintaining the robustness. Both simulation and experimental results verify the correctness and effectiveness of the proposed model and method.

并联悬架式惯性稳定平台采用独特的柔性支撑结构和非接触式线性致动器，可同时对多个自由度的光学有效载荷进行高效抑振控制。与传统的串联万向节型稳定平台相比，它具有更高的有效载荷重量比和快速响应特性。本文建立了并联悬架惯性稳定平台的6自由度动力学模型，设计了控制方法，并构建了实际工程样机。具体而言，建立了考虑柱失稳现象的柔性支撑单元模型。在并联安装结构的基础上，建立了整个平台完整的六自由度动力学模型。此外，针对柔性弹性元件的变参数特性，设计了一种考虑模型参数不确定性的μ综合控制方法。实验结果表明，该控制器在保持鲁棒性的同时，能有效地将外部正弦角扰动和线性振动扰动分别降低到原扰动的25%和3%以下。仿真和实验结果验证了所提模型和方法的正确性和有效性。

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引用次数: 0

Development of a type of cross-scale piezoelectric screw motor operating in quasi-static and resonant states 一种准静态和谐振型跨尺度压电螺杆电机的研制

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-10-01 Epub Date: 2025-07-26 DOI: 10.1016/j.mechatronics.2025.103391

Xiaolong Shu , Yifang Zhang , Jianfa Lin , Bingliang Guan , Min Qian , Qiaosheng Pan

In this study, a cross-scale piezoelectric screw motor was proposed, designed, fabricated and tested. The proposed motor can operate in quasi-static and resonant states, and achieves cross-scale motion output through mode conversion. The motor is comprised of a stator and a rotor, with the same internal and external screws. The motor’s motion is achieved by friction between the stator and the rotor. Structure and working principle of the motor are introduced. The vibration modes of the stator in different modes were studied through finite element analysis. The motor's dynamic model was established. Finally, the prototype was fabricated, and the output performance was tested. Experimental results demonstrate a minimum resolution of 12.5 nm and a maximum load capacity of 12 N in quasi-static mode. When operating in resonant state, the motor achieves a maximum speed of 10.4mm/min (32.8 rpm), the maximum load capacity is 30 N and the maximum efficiency is 0.36 % when the prototype is rotated forward. When the motor is reversed, the maximum speed is 20.8 mm/min (65.5 rpm), the load capacity reaches 33 N, and the maximum efficiency is 0.46 %. The proposed piezoelectric motor promotes the development of cross-scale actuators.

本研究提出、设计、制作并测试了一种跨尺度压电螺旋电机。该电机可以在准静态和谐振状态下工作，并通过模式转换实现跨尺度运动输出。电机由定子和转子组成，内部和外部有相同的螺钉。电动机的运动是通过定子和转子之间的摩擦来实现的。介绍了电机的结构和工作原理。通过有限元分析，研究了定子在不同模态下的振动模态。建立了电机的动力学模型。最后制作了样机，并对输出性能进行了测试。实验结果表明，在准静态模式下，最小分辨率为12.5 nm，最大负载能力为12 N。在谐振状态下运行时，样机向前旋转时，电机最大转速为10.4mm/min (32.8 rpm)，最大负载能力为30 N，最大效率为0.36%。电机倒转时，最高转速20.8 mm/min (65.5 rpm)，负载能力达到33 N，最高效率为0.46%。提出的压电电机促进了跨尺度作动器的发展。

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引用次数: 0

Construction of hierarchical health indicators for explainable monitoring in multi-component mechatronic systems 多部件机电系统可解释监测的分层健康指标构建

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-10-01 Epub Date: 2025-07-10 DOI: 10.1016/j.mechatronics.2025.103379

Duc-An Nguyen , Diego Dominguez , Khanh T.P. Nguyen , Marcos Orchard , Kamal Medjaher

The development of explainable health indicators (HIs) for multi-component mechatronic systems is vital for monitoring their performance, ensuring their reliability, and optimizing their operational efficiency across a wide range of industries. These indicators play a pivotal role in detecting and diagnosing faults, assessing system health, and guiding maintenance decisions. However, achieving explainability in HIs poses significant challenges, including the selection of the most relevant sensors, the accurate modeling of degradation trends influenced by maintenance activities, and the integration of component dynamics into a system-level representation. To address these challenges, we propose a novel methodology for constructing hierarchical HIs — a two-level structure where component-level degradation signals are first modeled individually, then systematically aggregated to form a comprehensive system-level health representation. The proposed approach, named TRSAE, incorporates an automated sensor selection process to identify the most important sensors, reducing redundancy while improving interpretability. Furthermore, maintenance and downtime effects are explicitly integrated into the modeling process to ensure a more realistic and reliable assessment of system health. By tackling these challenges, our methodology improves transparency in system behavior, strengthens diagnostic capabilities, and builds trust in predictive maintenance decisions. The proposed methodology is validated through a case study in an iron mining system, an environment characterized by extreme operating conditions and continuous heavy loads that accelerate the degradation of critical components. The case study demonstrates how hierarchical HIs can capture complex degradation dynamics, optimize sensor usage, and improve remaining useful life (RUL) predictions, offering actionable insights for proactive maintenance planning and reliable system operation.

多组件机电一体化系统的可解释健康指标（HIs）的发展对于监测其性能、确保其可靠性和优化其在广泛行业中的运行效率至关重要。这些指标在检测和诊断故障、评估系统健康状况以及指导维护决策方面发挥着关键作用。然而，在HIs中实现可解释性提出了重大挑战，包括选择最相关的传感器，受维护活动影响的退化趋势的准确建模，以及将组件动态集成到系统级表示中。为了解决这些挑战，我们提出了一种构建分层HIs的新方法——一个两级结构，其中组件级退化信号首先单独建模，然后系统地聚合以形成一个全面的系统级健康表示。该方法被命名为TRSAE，采用自动传感器选择过程来识别最重要的传感器，减少冗余，同时提高可解释性。此外，维护和停机影响被明确地集成到建模过程中，以确保对系统健康状况进行更现实和可靠的评估。通过应对这些挑战，我们的方法提高了系统行为的透明度，增强了诊断能力，并建立了对预测性维护决策的信任。提出的方法通过一个铁开采系统的案例研究得到验证，该系统的环境特点是极端的操作条件和持续的重载，加速了关键部件的退化。案例研究展示了分层HIs如何捕获复杂的退化动态，优化传感器使用，提高剩余使用寿命（RUL）预测，为主动维护计划和可靠的系统运行提供可操作的见解。

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引用次数: 0

A low-cost 3D printed electromagnetic gripper for robotic arms 一种用于机械臂的低成本3D打印电磁夹具

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-10-01 Epub Date: 2025-06-24 DOI: 10.1016/j.mechatronics.2025.103374

Andrea Ruo, Luca Bernardi, Ludovico Campanelli, Mattia Grespan, Danila Trane, Roberto Sedoni, Diego Angeli, Lorenzo Sabattini, Valeria Villani

Grasping, carrying, and placing objects are fundamental capabilities and common operations for robots and robotic manipulators. To ensure secure grasping of objects with a wide variety of shapes, sizes, and materials, various sensors and control strategies are also necessary. In this paper, an electromagnetic robotic gripper is proposed. The exploitation of electromagnetism principles for grasping is not new in the literature, but the proposed design innovation aims at proposing an open-source and low-cost solution that can be 3D printed. The developed prototype was tested by performing pick and place operations on samples of progressively increasing mass. Finally, a thermodynamic analysis was conducted to determine the steady-state external temperature of the shell and identify its limitations.

抓取、搬运和放置物体是机器人和机械手的基本能力和常用操作。为了确保安全抓取各种形状、大小和材料的物体，还需要各种传感器和控制策略。本文提出了一种电磁机械手。利用电磁原理抓取在文献中并不新鲜，但提出的设计创新旨在提出一种可以3D打印的开源和低成本解决方案。开发的原型通过对质量逐渐增加的样品进行取放操作进行测试。最后，进行了热力学分析，确定了壳体的稳态外部温度，并确定了其局限性。

引用次数: 0

Modeling and feedforward control of hysteresis in piezoelectric actuators considering its rotation and expansion 考虑旋转和膨胀的压电作动器迟滞建模及前馈控制

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-10-01 Epub Date: 2025-06-04 DOI: 10.1016/j.mechatronics.2025.103354

Yunzhi Zhang , Jie Ling , Micky Rakotondrabe , Yuchuan Zhu , Dan Wang

Piezoelectric actuators (PEAs) play a key role in precision engineering, but their strong rate-dependent hysteresis affects accuracy. Existing hysteresis models fail to capture the simultaneous rotation and expansion of hysteresis at high rates. This paper proposes a modified Prandtl–Ishlinskii model in a Hammerstein-like architecture (HAMPI) aiming to model the rotation and expansion of the hysteresis at different input rates. Simulations and experiments are conducted to validate the HAMPI model across a wide range of input rates (50–500 Hz) and amplitudes (0–140 V), revealing that the proposed model has the root-mean-square error (resp. relative root-mean-square error) of 0.47

μ

m (resp. 3.07%), which is lower than the results of existing hysteresis model. Additionally, a HAMPI-based feedforward controller with the inverse multiplicative structure shows that the tracking performance RMS error (resp. NRMS error) can be kept within 0.09

μ

m (resp. 2.25%) when the operating frequency is below 150 Hz. Meanwhile, the displacement attenuation issue in feedforward control caused by the rate-dependent rotation of hysteresis loops is also successfully addressed by the proposed HAMPI model.

压电作动器在精密工程中起着关键作用，但其较强的速率滞后影响了其精度。现有的迟滞模型无法捕捉到同时高速旋转和膨胀的迟滞。本文提出了一种改进的Hammerstein-like结构（HAMPI）中的Prandtl-Ishlinskii模型，旨在模拟不同输入速率下迟滞的旋转和扩展。通过仿真和实验验证了HAMPI模型在宽输入速率（50-500 Hz）和振幅（0-140 V）范围内的有效性，结果表明所提出的模型具有均方根误差(resp。相对均方根误差为0.47 μm。3.07%)，低于现有滞回模型的结果。此外，基于hampi的逆乘结构前馈控制器表明，该控制器的跟踪性能均方根误差(RMS error, p。NRMS误差)可控制在0.09 μm以内。2.25%)，当工作频率低于150hz时。同时，所提出的HAMPI模型也成功地解决了前馈控制中由迟滞环的速率相关旋转引起的位移衰减问题。

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引用次数: 0

Optimization of crutch-free walking for a powered exoskeleton considering human adaptation 考虑人类适应性的动力外骨骼无拐杖行走优化

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-10-01 Epub Date: 2025-08-05 DOI: 10.1016/j.mechatronics.2025.103389

Jongwon Kim , Abhiraj Singh , Jimin Youn , Hyeongjun Kim , Jeongsu Park , Jinsu Park , Kyoungchul Kong

In crutch-free walking with powered exoskeletons, pilots instinctively engage their upper body to adapt its motion and maintain balance, especially in the absence of lower-limb sensory feedback or external stabilizing aids. These self-balancing efforts, often involving significant head and trunk movement, not only increase physical and cognitive load but also reduce the overall usability of the exoskeleton. This study proposes a human-adaptation-in-the-loop optimization method that minimizes the need for voluntary upper-body adjustments, particularly head movement. This approach aims to enable crutch-free walking by minimizing the pilot’s voluntary balancing, achieved through the iterative optimization of ankle joint trajectory based on the modeling of the pilot’s head movements and the center of pressure (COP). As a result, the proposed human-adaptation-in-the-loop optimization minimized the instability caused by the pilot’s adaptation motion that is not reflected within the human–robot integrated system, enabling continuous walking for people with spinal cord injury (SCI) at a speed of 0.24 m/s without the use of crutches. This demonstrates an effective solution for achieving natural, crutch-free walking in a powered exoskeleton.

在使用动力外骨骼的无拐杖行走中，飞行员本能地使用上半身来适应运动并保持平衡，特别是在没有下肢感官反馈或外部稳定辅助的情况下。这些自我平衡的努力，通常涉及显著的头部和躯干运动，不仅增加了身体和认知负荷，而且降低了外骨骼的整体可用性。本研究提出了一种人类适应循环优化方法，该方法可以最大限度地减少对上半身自愿调整的需要，特别是头部运动。该方法旨在通过基于飞行员头部运动和压力中心（COP）建模的踝关节轨迹迭代优化，最大限度地减少飞行员的自主平衡，从而实现无拐杖行走。因此，本文提出的人类自适应环内优化最小化了飞行员自适应运动在人-机器人集成系统中没有反映出来的不稳定性，使脊髓损伤（SCI）患者能够在不使用拐杖的情况下以0.24 m/s的速度连续行走。这展示了一种有效的解决方案，可以在动力外骨骼中实现自然的、无拐杖的行走。

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引用次数: 0

Corrigendum to “A real-time lane change trajectory planning approach for autonomous vehicles utilizing tire force prediction” [Mechatronics 109 (2025) 103351] “基于轮胎力预测的自动驾驶车辆实时变道轨迹规划方法”[机电一体化]109(2025)103351]更正

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-10-01 Epub Date: 2025-07-12 DOI: 10.1016/j.mechatronics.2025.103383

Lin Li , Serdar Coskun , Youming Fan , Caiguang Yu , Fengqi Zhang

引用次数: 0

Kinematic optimal design and rehabilitation performance evaluation of an upper-limb bilateral end-effector mechanism 上肢双侧末端执行器机构运动学优化设计及康复性能评价

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-10-01 Epub Date: 2025-07-08 DOI: 10.1016/j.mechatronics.2025.103380

Mingjie Dong , Shuaibang Wang , Shiping Zuo , Zugan Du , Wenjie Liu , Jianfeng Li

Limb disabilities caused by stroke can severely impact activities of daily living (ADLs), and upper limb rehabilitation training plays a crucial role in promoting the recovery of motor functions. Currently, the studies of upper limb rehabilitation robots have several drawbacks, such as bulkiness, high costs, and the lack of integrated rehabilitation performance evaluation. This study, building on the previously proposed upper limb end-effector bilateral rehabilitation robotic system (EBReRS), derives its forward and inverse kinematics, calculates the Jacobian matrix, plots singularity analysis and performance atlases, and optimizes link dimensions to enhance operational performance, enabling it to carry out rehabilitation tasks more effectively. Based on surface electromyography (sEMG) signals, muscle activation levels were obtained. Utilizing the evaluation data, customized muscle training was introduced by establishing a mapping between muscles and training modes. Experimental results indicate that correct mode mapping during training can enhance muscle activation levels by a factor of 1 to 5. In the future, EBReRS is expected to be utilized for more widespread home rehabilitation, and the proposed rehabilitation evaluation strategy has the potential to be applied to other rehabilitation robots.

脑卒中所致肢体残疾严重影响日常生活活动，而上肢康复训练对促进运动功能的恢复起着至关重要的作用。目前，上肢康复机器人的研究存在体积大、成本高、缺乏综合康复性能评价等问题。本研究在前人提出的上肢末端执行器双侧康复机器人系统（EBReRS）的基础上，推导其正逆运动学，计算雅可比矩阵，绘制奇异分析和性能图集，优化连杆尺寸，提高其操作性能，使其能够更有效地执行康复任务。根据表面肌电图（sEMG）信号，获得肌肉的激活水平。利用评估数据，建立肌肉与训练模式之间的映射关系，引入定制化肌肉训练。实验结果表明，在训练过程中正确的模式映射可以将肌肉激活水平提高1到5倍。在未来，EBReRS有望应用于更广泛的家庭康复，并且所提出的康复评估策略具有应用于其他康复机器人的潜力。

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引用次数: 0

Research on space proximity pursuit-evasion interception decision-making based on deep reinforcement learning 基于深度强化学习的空间接近追逃拦截决策研究

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-10-01 Epub Date: 2025-08-05 DOI: 10.1016/j.mechatronics.2025.103387

Cheng Huang, Quanli Zeng, Jiazhong Xu

Aiming at the one-to-one pursuit-evasion problem in space, to successfully intercept the close-range evader with arbitrary counter-maneuver under relative motion between pursuer and evader at a close given range, this paper proposes a decision-making method for close-range pursuit-evasion interception based on Distributed Distributional Deep Determined Policy Gradient (D4PG). An improved nearest neighbor algorithm exploration mechanism including random constant and logarithmic constant is adopted, which reduces the learning burden of the algorithm and improves its convergence stability. A target network containing three value networks is constructed, and the loss function is calculated by selecting a value network with the minimum variance of probability distribution in the three networks, which enables the more accurate estimation of the Q-functions, and the operation speed and efficiency of the algorithm are effectively improved. Four typical escaping scenarios of arbitrary counter-maneuvering are performed as experimental verification to the simulation, and the results show the effectiveness and superiority of the proposed decision-making method for space proximity pursuit-evasion interception.

针对空间中一对一的追逃问题，为了在给定近距离内，在追逃相对运动条件下成功拦截具有任意反机动的近距离躲避机，提出了一种基于分布式深度确定策略梯度（D4PG）的近距离追逃拦截决策方法。采用改进的包含随机常数和对数常数的最近邻算法探索机制，减少了算法的学习负担，提高了算法的收敛稳定性。构造了包含三个值网络的目标网络，通过选择三个网络中概率分布方差最小的值网络来计算损失函数，使得q函数的估计更加准确，有效地提高了算法的运算速度和效率。通过四种典型的任意反机动逃离场景对仿真进行了实验验证，结果表明了所提决策方法在空间近距离追逃拦截中的有效性和优越性。

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引用次数: 0