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Model predictive path-following control for truck–trailer systems with specific guidance points — design and experimental validation Mechatronics (IF 3.3) Pub Date : 2024-04-17 Markus Lukassek, Julian Dahlmann, Andreas Völz, Knut Graichen
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Operability evaluation of manual operation control for force-sensorless power-assist transport cart Mechatronics (IF 3.3) Pub Date : 2024-04-13 Ryuki Sato, Ryuga Nishida, Susumu Hara, Hiroyuki Okuda, Mitsuru Nagatsuka, Masahiko Tsuji, Tatsuya Suzuki
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Adaptive torque control of wet dual clutch based on dynamic friction coefficient estimation Mechatronics (IF 3.3) Pub Date : 2024-04-13 Antai Li, Datong Qin, Zheng Guo
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Human–robot kinematic mapping method based on index constraint Mechatronics (IF 3.3) Pub Date : 2024-04-11 Xin Wang, Jing Zhao, Ziqiang Zhang
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Multirate repetitive control for an industrial print-belt system Mechatronics (IF 3.3) Pub Date : 2024-04-08 Leontine Aarnoudse, Kevin Cox, Sjirk Koekebakker, Tom Oomen
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Vision-based collaborative robots for exploration in uneven terrains Mechatronics (IF 3.3) Pub Date : 2024-04-06 Christyan Cruz Ulloa, Javier Álvarez, Jaime del Cerro, Antonio Barrientos
Exploring tasks in unknown environments has become a relevant search and rescue robotics approach. Ground robots are a better alternative to rescuers for first exploration. However, exploration progress is often limited by uneven terrains that exceed the kinematic capabilities of robots, including those with complex locomotion systems. This work proposes an innovative solution based on collaborative
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Adaptive hybrid-mode assist-as-needed control of upper limb exoskeleton for rehabilitation training Mechatronics (IF 3.3) Pub Date : 2024-04-04 Yida Guo, Yang Tian, Haoping Wang, Shuaishuai Han
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Nondimensional analysis and experimental assessment of the PII1/2DD1/2 position control of a rotary axis Mechatronics (IF 3.3) Pub Date : 2024-03-28 Luca Bruzzone, Chiara Micheli
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Accurate Contour Error Estimation-based robust contour control for dual-linear-motor-driven gantry stages Mechatronics (IF 3.3) Pub Date : 2024-03-21 Zhuang Kang, Weiyang Lin, Zhitai Liu, Ruiqi Xu
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A hybrid ankle-foot orthosis with soft pneumatic actuation Mechatronics (IF 3.3) Pub Date : 2024-03-21 Grace P. Marconi, Alpha A. Gopalai, Sunita Chauhan
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A 4-DoF wearable hand device for haptic rendering of surfaces and edges Mechatronics (IF 3.3) Pub Date : 2024-03-18 Lisheng Kuang, Monica Malvezzi, Marco Ferro, Domenico Prattichizzo, Paolo Robuffo Giordano, Francesco Chinello, Claudio Pacchierotti
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Cooperative compensate register control for mechanical shaft driven roll-to-roll printing system with dancer rolls Mechatronics (IF 3.3) Pub Date : 2024-03-18 Tao Zhang, Ying Zheng, Zhonghua Deng, Zhihua Chen
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Cross-coupled iterative learning control: A computationally efficient approach applied to an industrial flatbed printer Mechatronics (IF 3.3) Pub Date : 2024-03-15 Leontine Aarnoudse, Johan Kon, Koen Classens, Max van Meer, Maurice Poot, Paul Tacx, Nard Strijbosch, Tom Oomen
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Corrigendum to “An alternate drive method for improving the carrying load capacity and displacement smoothness of a vertical piezoelectric platform” [Mechatronics, 2023, 92: 102983] Mechatronics (IF 3.3) Pub Date : 2024-03-13 Qingbing Chang, Jie Deng, Weishan Chen, Yingxiang Liu
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Trajectory tracking control of autonomous space-based simulators for the on-orbit assembly of large space optical telescopes Mechatronics (IF 3.3) Pub Date : 2024-03-07 Jinhe Yang, Xuewen Wang, Ce Xu, Yi Yu, Tongjian Guo
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Hysteresis identification of joint with harmonic drive transmission based on Monte Carlo method Mechatronics (IF 3.3) Pub Date : 2024-03-07 Qi Wang, Huapeng Wu, Heikki Handroos, Yuntao Song, Ming Li, Jian Yin, Yong Cheng
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Integration of piezoelectric and electrothermal actuators for high-resolution Atomic Force Microscopy Mechatronics (IF 3.3) Pub Date : 2024-03-05 Hazhir Mahmoodi Nasrabadi, Nastaran Nikooienejad, K.S. Vikrant, S.O. Reza Moheimani
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Embedded model control of networked control systems: An experimental robotic application Mechatronics (IF 3.3) Pub Date : 2024-03-02 Luca Nanu, Luigi Colangelo, Carlo Novara, Carlos Perez Montenegro
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Automatic-switching-based teleoperation framework for mobile manipulator with asymmetrical mapping and force feedback Mechatronics (IF 3.3) Pub Date : 2024-02-26 Wenwen Li, Fanghao Huang, Zihao Chen, Zheng Chen
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Innovative Multi Vibrotactile-Skin Stretch (MuViSS) haptic device for sensory motor feedback from a robotic prosthetic hand Mechatronics (IF 3.3) Pub Date : 2024-02-26 Andrea Campanelli, Monica Tiboni, Fabien Verité, Charlélie Saudrais, Sébastien Mick, Nathanaël Jarrassé
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Identification of an overactuated deformable mirror system with unmeasured outputs Mechatronics (IF 3.3) Pub Date : 2024-02-24 Paul Tacx, Roel Habraken, Gert Witvoet, Marcel Heertjes, Tom Oomen
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Multi-loop resonant control applied to linear permanent magnet synchronous motors for periodic position tracking Mechatronics (IF 3.3) Pub Date : 2024-02-23 Ben Hur Bandeira Boff, Jeferson Vieira Flores, Paulo Roberto Eckert
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Model-based health monitoring of rotate-vector reducers in robot manipulators Mechatronics (IF 3.3) Pub Date : 2024-02-22 Huan Liu, M. Reza Emami, Yaguo Lei
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Design, fabrication and characterization of a wind-isolated galloping energy harvester via an embedded piezoelectric transducer Mechatronics (IF 3.3) Pub Date : 2024-02-20 Junwu Kan, Shijie Lin, Jin Wang, Kai Wang, Yiqun Gu, Shuyun Wang, Fanxu Meng, Zhonghua Zhang
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Development of a bionic multi-chamber hydraulic cylinder for improving energy efficiency Mechatronics (IF 3.3) Pub Date : 2024-02-17 Jianwei Wang, Junhong Yang, Delei Fang, Guoheng Wu, Yong Xue, Ming Yang
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Sample-tracking vibration isolation with rigid negative stiffness for broad bandwidth Mechatronics (IF 3.3) Pub Date : 2024-02-16 Kazuki Takahashi, Ryuto Makino, Shingo Ito
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An adaptive internal model control approach for unmanned surface vehicle based on bidirectional long short-term memory neural network: Implementation and field testing Mechatronics (IF 3.3) Pub Date : 2024-02-15 Yuhang Meng, Hui Ye, Zhengrong Xiang, Xiaofei Yang, Hao Zhang
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Control-oriented modeling of wet clutch friction considering thermal dynamics Mechatronics (IF 3.3) Pub Date : 2024-02-13 Seungin Shin, Seibum B. Choi
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Design and control of the mechanical-hydraulic hybrid transmission system in wind turbines Mechatronics (IF 3.3) Pub Date : 2024-02-13 Yonggang Lin, Fuquan Dai, Hongwei Liu, Yajing Gu, Wenting Chen, Jiajun Song
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Modular Maglev: Design and implementation of a modular magnetic levitation system to levitate a 2D Halbach array Mechatronics (IF 3.3) Pub Date : 2024-02-13 Zhenchuan Xu, Chanuphon Trakarnchaiyo, Curtis Stewart, Mir Behrad Khamesee
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Design of robotic finger using twisted string actuator with modular passive return rotational joints to achieve high grasping force: Application to wearable sixth finger Mechatronics (IF 3.3) Pub Date : 2024-02-13 Bhivraj Suthar, Mohammad I. Awad, Lakmal Seneviratne, Yahya Zweiri, Irfan Hussain
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Optimal vehicle position estimation using adaptive unscented Kalman filter based on sensor fusion Mechatronics (IF 3.3) Pub Date : 2024-02-09 Giseo Park
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Feasible spindle speed interval identification method for large aeronautical component robotic milling system Mechatronics (IF 3.3) Pub Date : 2024-02-09 Zhanxi Wang, Banghai Zhang, Wei Gao, Xiansheng Qin, Yicha Zhang, Chen Zheng
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Real-time observer designs for elastic-joint industrial robots: Experimental comparison and new strategies Mechatronics (IF 3.3) Pub Date : 2024-02-06 Moien Reyhani, Lukas Marko, Georg Janisch, Andreas Kugi
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USLIP dynamics emerges in underwater legged robot with foot kinematics of punting crabs Mechatronics (IF 3.3) Pub Date : 2024-01-31 Mrudul Chellapurath, Anna Astolfi, Yuki Yokoyama, Shingo Maeda, Marcello Calisti
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MGlove-TS: A modular soft glove based on twisted string actuators and flexible structures Mechatronics (IF 3.3) Pub Date : 2024-01-29 M. Dragusanu, D. Troisi, B. Suthar, I. Hussain, D. Prattichizzo, M. Malvezzi
Advances in technology, design, and manufacturing processes are leading to noticeable improvements in rehabilitation management. In this paper, we introduce MGlove-TS, an actuated soft glove based on twisted string actuators (TSAs) developed to assist and support individuals with hand impairments limiting active movements and grasping force in their rehabilitation process and in daily living. The glove
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Experimental validation of a constrained control architecture for a multi-robot bricklayer system Mechatronics (IF 3.3) Pub Date : 2024-01-23 Michele Ambrosino, Fabian Boucher, Pierre Mengeot, Emanuele Garone
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Dynamics modeling for the ultrasonic machining tool using a data-driven approach and a D-RBFNN Mechatronics (IF 3.3) Pub Date : 2024-01-20 Chao-Chung Peng, Yi-Ho Chen, Hao-Yang Lin, Her-Terng Yau
Ultrasonic machining presents several advantages over traditional CNC machining tools, including reduced cutting force and minimized friction between the cutting tool and workpiece. However, due to its complexity, it can be challenging to model the system's behavior accurately. In particular, it is crucial to identify the nominal air cutting system dynamics and associated parameters regularly during
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Investigation of two concepts for piezo- electrically driven bistable hydraulic switching valves Mechatronics (IF 3.3) Pub Date : 2024-01-18 Philipp Albrecht-Zagar, Rudolf Scheidl
This paper deals with the investigation of two actuation concepts for hydraulic switching valves which utilizes a piezo stack and a bistable mechanism. The goal of this work is to show concepts with which small and compact light-weight hydraulic valves can be designed and to pave the way for their integration in exoskeleton applications. The paper shows modeling and design aspects of a valve prototype
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A novel permanent magnet vibration isolator with wide stiffness range and high bearing capacity Mechatronics (IF 3.3) Pub Date : 2024-01-13 Xu Chen, Jinglei Zhao, Yan Jing, Xijun Cao, Shujin Yuan, Jun Luo, Huayan Pu
Quasi-zero stiffness (QZS) vibration isolators have attracted extensive attention because of their excellent performance in low-frequency vibration isolation and high bearing capacity. However, its practical engineering application remains challenges due to the magnitude and adaptability of the negative stiffness. This paper proposes a permanent magnet type variable stiffness (PMVS) mechanism with
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A design of pneumatic-driven translational pyramidal manipulator and its actively disturbance rejection tracking control Mechatronics (IF 3.3) Pub Date : 2024-01-09 Lian-Wang Lee, Ying-Hui Yang, I-Hsum Li
In this study, we have undertaken the design and implementation of a pneumatic-driven translational pyramidal manipulator (PTPM) with the primary objective of achieving reliable and precise motion control, even under conditions where the PTPM may be exposed to disturbances arising from coupling effects and internal uncertainties. To achieve this purpose, the ALADRC, an adaptive controller that integrates
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Underwater autonomous orientation using submarine light intensity gradient Mechatronics (IF 3.3) Pub Date : 2024-01-03 Pengwei Hu, Wenbin Liu, Jian Yang, Xiang Yu, Lijun Xu, Lei Guo
It is a huge challenge for autonomous underwater vehicles (AUVs) to determine heading autonomously without the signal of satellite or underwater acoustic positioning system. The underwater polarization navigation is a newly-developed solution for self-orientation. However, the polarization navigation depending on the Rayleigh scattering model is susceptible to the multiple scattering induced by water
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Robust adaptive repetitive learning control for manipulators with visual servoing Mechatronics (IF 3.3) Pub Date : 2024-01-03 Yueyuan Zhang, Sumaira Manzoor, Kyeong-Jin Joo, Sang-Min Kim, Tae-Yong Kuc
This study introduces a novel robust adaptive repetitive learning controller (RARLC) designed for periodic tasks in vision-based robot systems. The controller eliminates the requirement for prior knowledge of the camera's intrinsic and extrinsic parameters, depth information of image features, and robot dynamic parameters. By using a depth-independent Jacobian matrix, the controller can estimate depth
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Target positioning of dual forward looking sonars based on orthogonal detection Mechatronics (IF 3.3) Pub Date : 2024-01-03 Weidong Liu, Yanli Li, Le Li, Wenbo Zhang, Wenbin Huang
Accurate positioning of underwater targets is an important basis for many underwater tasks. As an imagery equipment, forward-looking sonar (FLS) can overcome the problem of poor brightness in underwater environment, and has a longer detection distance than the camera, which plays an important role in oceanic target positioning. However, there remain two challenging problems: (1) due to the complex
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A robust particle filter for ambiguous updates of underwater terrain-aided navigation Mechatronics (IF 3.3) Pub Date : 2023-12-31 Jiayu Zhang, Tao Zhang, Shede Liu, Maodong Xia
This paper proposes a novel method to improve the robustness of particle filtering (PF) in relatively flat terrain that lack sufficient features for accurate positioning. In terrain -aided navigation (TAN), similar terrain profiles lead to multimodality in the posterior distribution. It not only reduces the accuracy of current position estimation, but also affects the subsequent estimation of PF, and
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Geometric optimization of magnetorheological damper for prosthetic ankles using artificial neural networks Mechatronics (IF 3.3) Pub Date : 2023-12-26 Sachin Kumar, Sujatha Chandramohan, S. Sujatha
In this work, the primary design constraints of a magnetorheological (MR) actuator and its stroke dimension have been found based on biomechanical requirements and anthropometric constraints of the ankle in a transtibial prosthesis. Based on the inverted slider-crank mechanism models, the force controller parameters of the MR damper are identified. Parameters of the MR dampers are evaluated through
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A Parallel Compliant Leg for energy efficient walking of exoskeleton–walker systems Mechatronics (IF 3.3) Pub Date : 2023-12-28 Long Zhang, Guangkui Song, Chen Yang, Chaobin Zou, Hong Cheng, Rui Huang, Jing Qiu, Ziguang Yin
Lower limb exoskeletons have garnered significant attention for their effectiveness in gait training for paraplegic patients. For patients with insufficient trunk or upper limb strength to maintain balance, employing an unpowered robotic walker with an exoskeleton for gait training is an effective approach. The energy efficiency of the actuation system is a pivotal consideration in the design of the
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An original hybrid-architecture finger mechanism for wearable hand exoskeletons Mechatronics (IF 3.3) Pub Date : 2023-12-21 Chiara Brogi, Nicola Secciani, Lorenzo Bartalucci, Francesco Di Iorio, Enrico Meli, Mirko Rinchi, Benedetto Allotta, Alessandro Ridolfi
Robotic devices for rehabilitation and assistance are becoming crucial tools for improving the life quality of people with disabilities. The hand is one of the most affected upper-limb parts, but also fundamental for the subject’s interaction with the external environment. Wearability and portability, safety and comfort, lightness and small sizes, independent finger movement, efficacy in daily activities
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Improving odometric sensor performance by real-time error processing and variable covariance Mechatronics (IF 3.3) Pub Date : 2023-12-21 Bibiana Fariña, Jonay Toledo, Leopoldo Acosta
This paper presents a new method to increase odometric sensor accuracy by systematic and non-systematic errors processing. Mobile robot localization is improved combining this technique with a filter that fuses the information from several sensors characterized by their covariance. The process focuses on calculating the odometric speed difference with respect to the filter to implement an error type
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Real-time estimation of longitudinal tire stiffness considering dynamic characteristics of tire Mechatronics (IF 3.3) Pub Date : 2023-12-22 Jongyong Do, Dongyoon Hyun, Kyoungseok Han, Seibum B. Choi
To enhance the effectiveness of active safety control, the tire–road friction coefficient (TRFC) must be precisely estimated, and the longitudinal tire stiffness coefficient is an important vehicle dynamic parameter to estimate TRFC. In this research, we present an observer that improves the performance of longitudinal tire stiffness coefficient estimation by applying tire dynamics that were previously
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Design, modeling and experimental research of a multi-mode, fast-response piezoelectric control valve Mechatronics (IF 3.3) Pub Date : 2023-12-15 Yuanjie Pang, Liang Wang, Jiamei Jin
To realize the precise regulation and fast response of the valve, a piezoelectric control valve with a simple and compact structure, and easy control is proposed. The control valve is divided into the valve core that consists of a sandwich piezoelectric transducer and a valve body. When a single excitation signal is applied to the transducer, the longitudinal vibration mode of the valve core is excited
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Design and test of pneumatic dedusting equipment for photovoltaic panels Mechatronics (IF 3.3) Pub Date : 2023-12-14 Xiaoqiang Du, Haojian Guo, Yuechan Li, Hongli Chen, Zenghong Ma, Ziyu Tang
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Assist-As-Needed rehabilitation using velocity field for upper limb exoskeleton Mechatronics (IF 3.3) Pub Date : 2023-12-13 En-Yu Chia, Yuan-Kai Chang, Yao-Cheng Chang, Yi-Lian Chen, Tzu-Chieh Chien, Ming-Li Chiang, Li-Chen Fu, Jin-Shin Lai, Lu Lu
Assist-As-Needed (AAN) rehabilitation in related works typically limits subjects to perform rehabilitation tasks with particular time instants. This paper proposes a velocity field based on an active-assistive control system to solve this issue. The active intention of motion of the subjects are extracted via a Kalman filter constructed on the basis of an interactive torque observer. Then, given a
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Fault diagnosis and fault tolerant control for distributed drive electric vehicles through integration of active front steering and direct yaw moment control Mechatronics (IF 3.3) Pub Date : 2023-12-08 Yu Zhang, Pak Kin Wong, Wenfeng Li, Yucong Cao, Zhengchao Xie, Jing Zhao
For the purpose of improving the lateral stability in the path following process for the distributed drive electric vehicles subject to multiple actuator/sensor faults, a new fault diagnosis and fault tolerant control method is proposed in this paper through the integration of the active front steering (AFS) and direct yaw-moment control (DYC). Firstly, considering the actuator/sensor faults and parameter
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Active disturbance rejection control for unmanned tracked vehicles in leader–follower scenarios: Discrete-time implementation and field test validation Mechatronics (IF 3.3) Pub Date : 2023-12-06 Salem-Bilal Amokrane, Mohammed Zouaoui Laidouni, Touati Adli, Rafal Madonski, Momir Stanković
This paper presents a systematic design of an active disturbance rejection control (ADRC) system for unmanned tracked vehicles (UTVs) in leader-follow formation. Two ADRC controllers are designed for the lateral and the longitudinal channels of the UTV based on control errors in the cross-track and the along-track directions. Through simulations, the proposed ADRC approach is first shown to outperform
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Actuator optimization and deep learning-based control of pediatric knee exoskeleton for community-based mobility assistance Mechatronics (IF 3.3) Pub Date : 2023-12-06 Sainan Zhang, Junxi Zhu, Tzu-Hao Huang, Shuangyue Yu, Jin Sen Huang, Ivan Lopez-Sanchez, Taylor Devine, Mohamed Abdelhady, Minghui Zheng, Thomas C. Bulea, Hao Su
Lightweight and smart exoskeletons offer the potential to improve mobility in children. State-of-the-art pediatric exoskeletons are typically clinic-based since they are either tethered or portable but cumbersome and their design is often not optimized across a range of environments and users. To facilitate pediatric exoskeleton in community settings, we first proposed an actuator optimization framework
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Feedback control system design for force-sensing concentric tube-based surgical robot: Kinematics using Bernstein polynomials Mechatronics (IF 3.3) Pub Date : 2023-12-02 Binxiang Xu, Seong Young Ko
A novel force sensing module integrated into a concentric tube robot (CTR) was proposed for vitreoretinal surgery in our previous work, and this robot was able to provide tip force information to the operating surgeon. However, when the force-sensing module was integrated, the property of the tube changed, and the conventional modeling-based control algorithm proved to be unsuitable for the force-sensing
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Compensating torque ripples in a coarse pointing mechanism for free-space optical communication: A Gaussian process repetitive control approach Mechatronics (IF 3.3) Pub Date : 2023-11-30 Noud Mooren, Max van Meer, Gert Witvoet, Tom Oomen
Actuators that require commutation algorithms, such as the switched reluctance motor (SRM) considered in this paper and employed in the coarse pointing assembly (CPA) for free-space optical communication, often have torque-ripple disturbances that are periodic in the commutation-angle domain that deteriorate the positioning performance. The aim of this paper is to model the torque ripple as a Gaussian
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A novel robotic system enabling multiple bilateral upper limb rehabilitation training via an admittance controller and force field Mechatronics (IF 3.3) Pub Date : 2023-11-27 Ran Jiao, Wenjie Liu, Ramy Rashad, Jianfeng Li, Mingjie Dong, Stefano Stramigioli
Patients with hemiplegia are usually restricted to performing general bilateral activities of daily life (gbADLs). Bilateral training has been verified to contribute to the rehabilitation of physical functions. Although robotic systems are gradually being employed in the field of rehabilitation, few studies have performed simulations with regards to gbADLs for training. Therefore, a novel end-effector