Mechatronics最新文献_第7页

Natural efficient gaits from Nonholonomic Locomotion Nonlinear Normal Mode (NL-NNM): The Pendrivencar case 非完整运动非线性正态模式（NL-NNM）的自然有效步态：Pendrivencar情况

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

Mechatronics

Pub Date : 2025-10-01 Epub Date: 2025-06-20 DOI: 10.1016/j.mechatronics.2025.103366

Mirado Rajaomarosata, Luc Jaulin, Lionel Lapierre, Simon Rohou

Bio-inspired robots remain far less energy-efficient than animals because conventional controllers impose trajectories that fight passive dynamics, whereas animals exploit resonance through natural nonlinear normal modes (NNM), whose periodic internal motions form a smooth 2D invariant surface; We ask how to define and compute the natural motions of a conservative locomotion system: propulsion arises only from no-slip constraints, and once initiated, a gait persists without actuation—like a frictionless pendulum. We tackle non-holonomic constraints on the Pendrivencar, a vehicle driven by a motorised pendulum with a cubic torsional spring; We introduce the Nonholonomic Locomotion - NNM (NL-NNM): extract a high-speed spectral seed – where chassis oscillations vanish and the pendulum is neutrally stable – refine the periodic orbit, and continue the resulting 2D invariant manifold via pseudo-arclength across three slow centre manifolds (stable for positive speed, neutral at zero, unstable for negative) from non-isolated rectilinear equilibria; We demonstrate the first NL-NNM for a moving non-holonomic robot: internal orbits produce a pendulum–chassis choreography whose energy-dependent frequency shifts and harmonic richness exceed linear predictions. Via geometric phase, each orbit yields undulatory straight-line motion. A dual-loop control simulation confirms autonomous path tracking with only the pendulum; Extending to dissipative regimes via non-linear resonant modes offers a path to high-efficiency locomotion in aquatic, aerial, legged, soft-bodied, and other robots.

仿生机器人仍然远不如动物节能，因为传统的控制器施加的轨迹与被动动力学作斗争，而动物通过自然非线性正常模式（NNM）利用共振，其周期性内部运动形成光滑的二维不变表面；我们的问题是如何定义和计算一个保守运动系统的自然运动：推进只产生于无滑移约束，一旦启动，步态就会在没有驱动的情况下持续存在，就像一个无摩擦的钟摆。我们解决了Pendrivencar的非完整约束，Pendrivencar是一种由带有三次扭转弹簧的机动摆驱动的车辆；我们引入了非完整运动-NNM (NL-NNM)：提取高速光谱种子-底盘振荡消失，钟摆中立稳定-细化周期轨道，并通过非孤立直线平衡中的三个慢中心流形（正速度稳定，零中立，负不稳定）的伪弧长继续得到二维不变流形；我们展示了第一个用于移动非完整机器人的NL-NNM：内部轨道产生钟摆-底盘编排，其能量依赖的频移和谐波丰富度超过线性预测。通过几何相位，每个轨道产生波动的直线运动。双环控制仿真证实了单摆的自主路径跟踪；通过非线性共振模式扩展到耗散状态，为水生、空中、腿式、软体和其他机器人的高效运动提供了途径。

{"title":"Natural efficient gaits from Nonholonomic Locomotion Nonlinear Normal Mode (NL-NNM): The Pendrivencar case","authors":"Mirado Rajaomarosata, Luc Jaulin, Lionel Lapierre, Simon Rohou","doi":"10.1016/j.mechatronics.2025.103366","DOIUrl":"10.1016/j.mechatronics.2025.103366","url":null,"abstract":"<div><div>Bio-inspired robots remain far less energy-efficient than animals because conventional controllers impose trajectories that fight passive dynamics, whereas animals exploit resonance through <em>natural nonlinear normal modes (NNM)</em>, whose periodic internal motions form a smooth 2D invariant surface; We ask how to define and compute the <em>natural motions of a conservative locomotion system</em>: propulsion arises only from <em>no-slip constraints</em>, and once initiated, a gait persists without actuation—like a frictionless pendulum. We tackle non-holonomic constraints on the <em>Pendrivencar</em>, a vehicle driven by a <em>motorised pendulum with a cubic torsional spring</em>; We introduce the <strong>Nonholonomic Locomotion - NNM (NL-NNM)</strong>: extract a <em>high-speed spectral seed</em> – where chassis oscillations vanish and the pendulum is neutrally stable – refine the periodic orbit, and continue the resulting <em>2D invariant manifold</em> via pseudo-arclength across <em>three slow centre manifolds</em> (stable for positive speed, neutral at zero, unstable for negative) from non-isolated rectilinear equilibria; We demonstrate the first NL-NNM for a moving non-holonomic robot: internal orbits produce a <em>pendulum–chassis choreography</em> whose <em>energy-dependent frequency shifts</em> and <em>harmonic richness</em> exceed linear predictions. Via <em>geometric phase</em>, each orbit yields undulatory straight-line motion. A <em>dual-loop control simulation</em> confirms autonomous path tracking with only the pendulum; Extending to dissipative regimes via <em>non-linear resonant modes</em> offers a path to high-efficiency locomotion in aquatic, aerial, legged, soft-bodied, and other robots.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103366"},"PeriodicalIF":3.1,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144322976","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robotized Incremental Sheet Forming trajectory control using deep neural network for force/torque compensator and task-space error tracking controller 基于深度神经网络的力/扭矩补偿器和任务空间误差跟踪控制器的自动化增量成形轨迹控制

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

Mechatronics

Pub Date : 2025-10-01 Epub Date: 2025-06-19 DOI: 10.1016/j.mechatronics.2025.103360

Xuan Dung To , Jefferson Roman Blanco , Sandra Zimmer-Chevret , Ghinwa Ouaidat , Thibaut Raharijaona , Farid Noureddine , Micky Rakotondrabe

In Robotized Incremental Sheet Forming (ISF), achieving precise geometrical accuracy is a challenging task due to trajectory tool center point (TCP) position errors at the forming tool attached to the robot’s end-effector. These errors primarily arise from external disturbance forces and torques generated during the interaction between the forming tool and the elastic metal sheet. While joint-torque space controllers can mitigate reaction forces and torques through dynamic modeling, joint-space control has inherent limitations, particularly for industrial high-load robots like the ABB IRB 8700. To overcome these challenges, this work implements an external force/torque (F/T) compensator in task-space using a deep neural network. The network predicts trajectory errors induced by reaction forces and torques measured via a 6-axis F/T sensor. Additionally, the forming tool’s trajectory is precisely monitored using a laser tracker, which serves as a feedback mechanism in a closed-loop task-space error-tracking controller. This controller detects and corrects trajectory deviations in real time. By integrating the F/T compensator and the task-space error-tracking controller, the proposed approach effectively compensates for reaction forces and torques while addressing additional errors introduced by other process-related factors. This integration results in significantly enhanced accuracy in robotic incremental forming processes.

在机器人增量成形（ISF）中，由于机器人末端执行器上的成形工具存在轨迹刀具中心点（TCP）位置误差，实现精确的几何精度是一项具有挑战性的任务。这些误差主要是由成形工具与弹性金属板相互作用过程中产生的外部扰动力和扭矩引起的。虽然关节-扭矩空间控制器可以通过动态建模来减轻反作用力和扭矩，但关节-空间控制具有固有的局限性，特别是对于像ABB IRB 8700这样的工业高负载机器人。为了克服这些挑战，本工作使用深度神经网络在任务空间中实现了外部力/扭矩（F/T）补偿器。该网络预测由反作用力和通过6轴F/T传感器测量的扭矩引起的轨迹误差。此外，使用激光跟踪器精确监测成形工具的轨迹，该跟踪器作为闭环任务空间误差跟踪控制器中的反馈机制。该控制器实时检测和纠正轨迹偏差。通过集成F/T补偿器和任务空间误差跟踪控制器，该方法有效地补偿了反作用力和扭矩，同时解决了由其他过程相关因素引入的附加误差。这种集成结果显著提高了机器人增量成形过程的精度。

{"title":"Robotized Incremental Sheet Forming trajectory control using deep neural network for force/torque compensator and task-space error tracking controller","authors":"Xuan Dung To , Jefferson Roman Blanco , Sandra Zimmer-Chevret , Ghinwa Ouaidat , Thibaut Raharijaona , Farid Noureddine , Micky Rakotondrabe","doi":"10.1016/j.mechatronics.2025.103360","DOIUrl":"10.1016/j.mechatronics.2025.103360","url":null,"abstract":"<div><div>In Robotized Incremental Sheet Forming (ISF), achieving precise geometrical accuracy is a challenging task due to trajectory tool center point (TCP) position errors at the forming tool attached to the robot’s end-effector. These errors primarily arise from external disturbance forces and torques generated during the interaction between the forming tool and the elastic metal sheet. While joint-torque space controllers can mitigate reaction forces and torques through dynamic modeling, joint-space control has inherent limitations, particularly for industrial high-load robots like the ABB IRB 8700. To overcome these challenges, this work implements an external force/torque (F/T) compensator in task-space using a deep neural network. The network predicts trajectory errors induced by reaction forces and torques measured via a 6-axis F/T sensor. Additionally, the forming tool’s trajectory is precisely monitored using a laser tracker, which serves as a feedback mechanism in a closed-loop task-space error-tracking controller. This controller detects and corrects trajectory deviations in real time. By integrating the F/T compensator and the task-space error-tracking controller, the proposed approach effectively compensates for reaction forces and torques while addressing additional errors introduced by other process-related factors. This integration results in significantly enhanced accuracy in robotic incremental forming processes.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103360"},"PeriodicalIF":3.1,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144322975","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Fast switching and dynamic characteristics preservation of water hydraulic high-speed on-off valve using pressure-adaptive multistage voltage and sliding mode control 基于压力自适应多级电压滑模控制的水力高速开关阀的快速开关和动态特性保持

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

Mechatronics

Pub Date : 2025-10-01 Epub Date: 2025-07-05 DOI: 10.1016/j.mechatronics.2025.103384

Xing Yang, Boyang Zhang, Defa Wu, Yinshui Liu

Water hydraulic high-speed on-off valves (WHSVs) are crucial for managing fluid flow in water hydraulic manipulator systems. As the ambient pressure changes, the dynamic characteristics of WHSVs are affected, which reduces the overall control accuracy of the manipulator. To simultaneously achieve rapid switching and maintain consistent dynamic behavior of WHSVs under variable ambient pressure, a pressure-adaptive multistage voltage and sliding mode control (PMVS) algorithm is proposed. A sliding mode controller is utilized to precisely regulate the coil current at the pre-opening and holding current levels, significantly shortening the switching time of the WHSV. By optimizing the controller’s operation time and modifying the duty cycle of the excitation voltage, the switching time remains stable across different pressures. Based on the structure of the designed WHSV group, an innovative method combining a pressure sensor and a vibration sensor is proposed to capture the dynamic characteristics of the WHSV. Experimental validation demonstrates that the PMVS method efficiently controls the switching delay and regulates the excitation voltage. Dynamic characteristic tests of WHSVs under different pressures are conducted. The results show that PMVS effectively reduces the switching time of WHSVs. Comparative tests reveal that WHSVs driven by PMVS achieve an 86.3 % reduction in opening time and an 87.5 % reduction in closing time compared to conventional pulse width modulation (CPWM). Furthermore, PMVS ensures consistent dynamic characteristics within an ambient pressure range of 0 to 20 MPa, with an opening time deviation of 7.94 % and a closing time deviation of 3.03 %. The PMVS algorithm enables the WHSV to rapidly switch and preserve dynamic characteristics under variable ambient pressures.

水液压高速开关阀（WHSVs）是水液压机械手系统中控制流体流动的关键部件。随着环境压力的变化，其动态特性会受到影响，从而降低了机械手的整体控制精度。为了在变环境压力下同时实现快速开关和保持稳定的动态行为，提出了一种压力自适应多级电压滑模控制（PMVS）算法。利用滑模控制器精确调节预开和保持电流水平的线圈电流，大大缩短了WHSV的开关时间。通过优化控制器的工作时间和修改励磁电压的占空比，使开关时间在不同压力下保持稳定。基于所设计的WHSV组的结构，提出了一种结合压力传感器和振动传感器的创新方法来捕获WHSV的动态特性。实验验证表明，该方法能有效地控制开关延迟和调节励磁电压。进行了不同压力条件下的水轮机动态特性试验。结果表明，PMVS有效地缩短了wsvs的切换时间。对比试验表明，与传统脉宽调制（CPWM）相比，PMVS驱动的WHSVs实现了86.3%的打开时间减少和87.5%的关闭时间减少。在0 ~ 20 MPa的环境压力范围内，PMVS的动态特性保持一致，开启时间偏差为7.94%，关闭时间偏差为3.03%。PMVS算法使WHSV能够在可变环境压力下快速切换并保持动态特性。

{"title":"Fast switching and dynamic characteristics preservation of water hydraulic high-speed on-off valve using pressure-adaptive multistage voltage and sliding mode control","authors":"Xing Yang, Boyang Zhang, Defa Wu, Yinshui Liu","doi":"10.1016/j.mechatronics.2025.103384","DOIUrl":"10.1016/j.mechatronics.2025.103384","url":null,"abstract":"<div><div>Water hydraulic high-speed on-off valves (WHSVs) are crucial for managing fluid flow in water hydraulic manipulator systems. As the ambient pressure changes, the dynamic characteristics of WHSVs are affected, which reduces the overall control accuracy of the manipulator. To simultaneously achieve rapid switching and maintain consistent dynamic behavior of WHSVs under variable ambient pressure, a pressure-adaptive multistage voltage and sliding mode control (PMVS) algorithm is proposed. A sliding mode controller is utilized to precisely regulate the coil current at the pre-opening and holding current levels, significantly shortening the switching time of the WHSV. By optimizing the controller’s operation time and modifying the duty cycle of the excitation voltage, the switching time remains stable across different pressures. Based on the structure of the designed WHSV group, an innovative method combining a pressure sensor and a vibration sensor is proposed to capture the dynamic characteristics of the WHSV. Experimental validation demonstrates that the PMVS method efficiently controls the switching delay and regulates the excitation voltage. Dynamic characteristic tests of WHSVs under different pressures are conducted. The results show that PMVS effectively reduces the switching time of WHSVs. Comparative tests reveal that WHSVs driven by PMVS achieve an 86.3 % reduction in opening time and an 87.5 % reduction in closing time compared to conventional pulse width modulation (CPWM). Furthermore, PMVS ensures consistent dynamic characteristics within an ambient pressure range of 0 to 20 MPa, with an opening time deviation of 7.94 % and a closing time deviation of 3.03 %. The PMVS algorithm enables the WHSV to rapidly switch and preserve dynamic characteristics under variable ambient pressures.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103384"},"PeriodicalIF":3.1,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144563671","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

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。

{"title":"Construction of hierarchical health indicators for explainable monitoring in multi-component mechatronic systems","authors":"Duc-An Nguyen , Diego Dominguez , Khanh T.P. Nguyen , Marcos Orchard , Kamal Medjaher","doi":"10.1016/j.mechatronics.2025.103379","DOIUrl":"10.1016/j.mechatronics.2025.103379","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103379"},"PeriodicalIF":3.1,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144588653","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

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。

{"title":"Modeling and feedforward control of hysteresis in piezoelectric actuators considering its rotation and expansion","authors":"Yunzhi Zhang , Jie Ling , Micky Rakotondrabe , Yuchuan Zhu , Dan Wang","doi":"10.1016/j.mechatronics.2025.103354","DOIUrl":"10.1016/j.mechatronics.2025.103354","url":null,"abstract":"<div><div>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 <span><math><mi>μ</mi></math></span>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 <span><math><mi>μ</mi></math></span>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.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103354"},"PeriodicalIF":3.1,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144203724","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

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。

{"title":"Optimization of crutch-free walking for a powered exoskeleton considering human adaptation","authors":"Jongwon Kim , Abhiraj Singh , Jimin Youn , Hyeongjun Kim , Jeongsu Park , Jinsu Park , Kyoungchul Kong","doi":"10.1016/j.mechatronics.2025.103389","DOIUrl":"10.1016/j.mechatronics.2025.103389","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103389"},"PeriodicalIF":3.1,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144770758","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

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。

{"title":"Kinematic optimal design and rehabilitation performance evaluation of an upper-limb bilateral end-effector mechanism","authors":"Mingjie Dong , Shuaibang Wang , Shiping Zuo , Zugan Du , Wenjie Liu , Jianfeng Li","doi":"10.1016/j.mechatronics.2025.103380","DOIUrl":"10.1016/j.mechatronics.2025.103380","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103380"},"PeriodicalIF":3.1,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144571234","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

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。

{"title":"Research on space proximity pursuit-evasion interception decision-making based on deep reinforcement learning","authors":"Cheng Huang, Quanli Zeng, Jiazhong Xu","doi":"10.1016/j.mechatronics.2025.103387","DOIUrl":"10.1016/j.mechatronics.2025.103387","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"110 ","pages":"Article 103387"},"PeriodicalIF":3.1,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144770681","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0