The Experts below are selected from a list of 276 Experts worldwide ranked by ideXlab platform
Xingsong Wang - One of the best experts on this subject based on the ideXlab platform.
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modeling of novel compound Tendon Sheath artificial muscle inspired by hill muscle model
IEEE Transactions on Industrial Electronics, 2018Co-Authors: Qi Zhang, Xingsong Wang, Mengqian Tian, Xiaopeng ShenAbstract:Various types of artificial muscles have been developed in recent years. Nevertheless, they are not well suited to robot applications due to the defects of their mechanical properties, such as small output, limited shrinkage, and slow response. Moreover, portable designs are difficult to realize because of the special power-source requirement. For the shortcomings above, the paper presents a motor-driven Tendon-Sheath artificial muscle inspired by Hill muscle model. The series and parallel elastic elements both made up of linear springs are applied on the Tendon-Sheath actuation system. Consequently, the Tendon-Sheath artificial muscle is created with a compliant structure, variable elasticity, and high power transmission capacity. Next, a compound Tendon-Sheath artificial muscle transmission system similar to the form of antagonist muscles is modeled based on the static Coulomb friction model. The transmission model with a sinusoidal input is simulated and analyzed in detail. And experiments are performed to validate our transmission model. The model shows high accuracy in predicting the system output. At the frequency of 1 Hz, the fidelity of output torque is 92.3% and the output displacement is 94.2%. Moreover, the maximum output force of the Tendon-Sheath artificial muscle with 0.8 mm Tendon (under the safety factor of 4) can reach 80 N.
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transmission model and compensation control of double Tendon Sheath actuation system
IEEE Transactions on Industrial Electronics, 2015Co-Authors: Qingcong Wu, Xingsong Wang, Lin Chen, Fengpo DuAbstract:The Tendon-Sheath actuation system is capable of providing remote power transmission and greatly simplifying the mechanical design of robotic systems. However, there exist many undesirable nonlinear problems in Tendon-Sheath transmission, such as hysteresis, dead zone, backlash, and direction-dependent behavior. Unlike most of the existing literature that focus on the analysis of single-Tendon-Sheath actuation, this paper proposes a general mathematical double-Tendon-Sheath transmission model suitable for arbitrary types of load conditions. Experimental setups composed of servo motors, Tendon-Sheath components, and robot joint are established to test the proposed models and gain insights into the transmission processes through sinusoidal input signal experiments. Based on the transmission models, two open-loop control strategies are developed for the friction and deformation compensation, requiring no feedback from the distal end. With the aim of obtaining the complete model parameters, an offline identification method able to calibrate the transmission model using the sensors mounted at the proximal end is developed. The performance of the proposed control methods is evaluated by torque/position-tracking experiments in different kinds of load conditions. Moreover, the frequency characteristics of the actuation system are analyzed, and the controlled bandwidth is about 10 Hz during operation.
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inverse transmission model and compensation control of a single Tendon Sheath actuator
IEEE Transactions on Industrial Electronics, 2014Co-Authors: Lin Chen, Xingsong WangAbstract:Tendon-Sheath actuation mechanism is popular in many applications such as surgical robots, robotic hands, and exoskeleton devices due to its simplicity, dexterity, and remote transmission. There exist, however, undesirable nonlinear dynamic properties like backlash, hysteresis, and friction in Tendon-Sheath transmission. Controlling the distal-end position and force accurately is a very challenging task, since the needed sensors can hardly be placed at the distal end of the system. This paper develops a displacement transmission model of a single-Tendon-Sheath transmission system based on the force transmission model and proposes a new approach to control the distal-end force and position by inverse transmission without any feedback from the output side. The inverse model is calibrated by offline measurements using the sensors mounted at the proximal end. An experimental setup of single-Tendon-Sheath actuation is presented, and the improved control performance, with respect to distal-end position and force tracking, is validated by experiments.
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Modeling of the Tendon-Sheath actuation system
2012Co-Authors: Lin Chen, Xingsong WangAbstract:Tendon-Sheath actuation mechanism is preferred in many applications such as surgical robots, robotic hands, and exoskeleton robots because it can provide a kind of simple yet dexterous remote transmission mode. However, many undesirable nonlinear phenomena, like backlash and hysteresis, are presented due to the friction between the Sheath and Tendon. In this paper, based on our previous results, the research is furthered by modelling the position transmission models of the single-Tendon-Sheath system. Experiments were implemented to validate the models. Numerical simulation is developed to study the transmission characteristics of Tendons and Sheaths in pull-pull configuration. Both the torque and position transmission showed backlash-like and hysteresis-like characteristics.
Lin Chen - One of the best experts on this subject based on the ideXlab platform.
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transmission model and compensation control of double Tendon Sheath actuation system
IEEE Transactions on Industrial Electronics, 2015Co-Authors: Qingcong Wu, Xingsong Wang, Lin Chen, Fengpo DuAbstract:The Tendon-Sheath actuation system is capable of providing remote power transmission and greatly simplifying the mechanical design of robotic systems. However, there exist many undesirable nonlinear problems in Tendon-Sheath transmission, such as hysteresis, dead zone, backlash, and direction-dependent behavior. Unlike most of the existing literature that focus on the analysis of single-Tendon-Sheath actuation, this paper proposes a general mathematical double-Tendon-Sheath transmission model suitable for arbitrary types of load conditions. Experimental setups composed of servo motors, Tendon-Sheath components, and robot joint are established to test the proposed models and gain insights into the transmission processes through sinusoidal input signal experiments. Based on the transmission models, two open-loop control strategies are developed for the friction and deformation compensation, requiring no feedback from the distal end. With the aim of obtaining the complete model parameters, an offline identification method able to calibrate the transmission model using the sensors mounted at the proximal end is developed. The performance of the proposed control methods is evaluated by torque/position-tracking experiments in different kinds of load conditions. Moreover, the frequency characteristics of the actuation system are analyzed, and the controlled bandwidth is about 10 Hz during operation.
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inverse transmission model and compensation control of a single Tendon Sheath actuator
IEEE Transactions on Industrial Electronics, 2014Co-Authors: Lin Chen, Xingsong WangAbstract:Tendon-Sheath actuation mechanism is popular in many applications such as surgical robots, robotic hands, and exoskeleton devices due to its simplicity, dexterity, and remote transmission. There exist, however, undesirable nonlinear dynamic properties like backlash, hysteresis, and friction in Tendon-Sheath transmission. Controlling the distal-end position and force accurately is a very challenging task, since the needed sensors can hardly be placed at the distal end of the system. This paper develops a displacement transmission model of a single-Tendon-Sheath transmission system based on the force transmission model and proposes a new approach to control the distal-end force and position by inverse transmission without any feedback from the output side. The inverse model is calibrated by offline measurements using the sensors mounted at the proximal end. An experimental setup of single-Tendon-Sheath actuation is presented, and the improved control performance, with respect to distal-end position and force tracking, is validated by experiments.
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Modeling of the Tendon-Sheath actuation system
2012Co-Authors: Lin Chen, Xingsong WangAbstract:Tendon-Sheath actuation mechanism is preferred in many applications such as surgical robots, robotic hands, and exoskeleton robots because it can provide a kind of simple yet dexterous remote transmission mode. However, many undesirable nonlinear phenomena, like backlash and hysteresis, are presented due to the friction between the Sheath and Tendon. In this paper, based on our previous results, the research is furthered by modelling the position transmission models of the single-Tendon-Sheath system. Experiments were implemented to validate the models. Numerical simulation is developed to study the transmission characteristics of Tendons and Sheaths in pull-pull configuration. Both the torque and position transmission showed backlash-like and hysteresis-like characteristics.
Fengpo Du - One of the best experts on this subject based on the ideXlab platform.
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transmission model and compensation control of double Tendon Sheath actuation system
IEEE Transactions on Industrial Electronics, 2015Co-Authors: Qingcong Wu, Xingsong Wang, Lin Chen, Fengpo DuAbstract:The Tendon-Sheath actuation system is capable of providing remote power transmission and greatly simplifying the mechanical design of robotic systems. However, there exist many undesirable nonlinear problems in Tendon-Sheath transmission, such as hysteresis, dead zone, backlash, and direction-dependent behavior. Unlike most of the existing literature that focus on the analysis of single-Tendon-Sheath actuation, this paper proposes a general mathematical double-Tendon-Sheath transmission model suitable for arbitrary types of load conditions. Experimental setups composed of servo motors, Tendon-Sheath components, and robot joint are established to test the proposed models and gain insights into the transmission processes through sinusoidal input signal experiments. Based on the transmission models, two open-loop control strategies are developed for the friction and deformation compensation, requiring no feedback from the distal end. With the aim of obtaining the complete model parameters, an offline identification method able to calibrate the transmission model using the sensors mounted at the proximal end is developed. The performance of the proposed control methods is evaluated by torque/position-tracking experiments in different kinds of load conditions. Moreover, the frequency characteristics of the actuation system are analyzed, and the controlled bandwidth is about 10 Hz during operation.
Donald K Bynum - One of the best experts on this subject based on the ideXlab platform.
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flexor Tendon Sheath infections of the hand
Journal of The American Academy of Orthopaedic Surgeons, 2012Co-Authors: Reid W Draeger, Donald K BynumAbstract:Flexor Tendon Sheath infections of the hand must be diagnosed and treated expeditiously to avoid poor clinical outcomes. Knowledge of the Sheath's anatomy is essential for diagnosis and to help to guide treatment. The Kanavel cardinal signs are useful for differentiating conditions with similar presentations. Management of all but the earliest cases of pyogenic flexor tenosynovitis consists of intravenous antibiotics and surgical drainage of the Sheath with open or closed irrigation. Closed irrigation may be continued postoperatively. Experimental data from an animal study have shown that local administration of antibiotics and/or corticosteroids can help lessen morbidity from the infection; however, additional research is required. Despite aggressive and prompt antibiotic therapy and surgical intervention, even otherwise healthy patients can expect some residual digital stiffness following flexor Tendon Sheath infection. Patients with medical comorbidities or those who present late with advanced infection can expect poorer outcomes, including severe digital stiffness or amputation.
Qingcong Wu - One of the best experts on this subject based on the ideXlab platform.
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transmission model and compensation control of double Tendon Sheath actuation system
IEEE Transactions on Industrial Electronics, 2015Co-Authors: Qingcong Wu, Xingsong Wang, Lin Chen, Fengpo DuAbstract:The Tendon-Sheath actuation system is capable of providing remote power transmission and greatly simplifying the mechanical design of robotic systems. However, there exist many undesirable nonlinear problems in Tendon-Sheath transmission, such as hysteresis, dead zone, backlash, and direction-dependent behavior. Unlike most of the existing literature that focus on the analysis of single-Tendon-Sheath actuation, this paper proposes a general mathematical double-Tendon-Sheath transmission model suitable for arbitrary types of load conditions. Experimental setups composed of servo motors, Tendon-Sheath components, and robot joint are established to test the proposed models and gain insights into the transmission processes through sinusoidal input signal experiments. Based on the transmission models, two open-loop control strategies are developed for the friction and deformation compensation, requiring no feedback from the distal end. With the aim of obtaining the complete model parameters, an offline identification method able to calibrate the transmission model using the sensors mounted at the proximal end is developed. The performance of the proposed control methods is evaluated by torque/position-tracking experiments in different kinds of load conditions. Moreover, the frequency characteristics of the actuation system are analyzed, and the controlled bandwidth is about 10 Hz during operation.
