面向下肢全周期运动辅助的外骨骼膝关节多构态弹性驱动机理与控制策略研究

51975401
2019
E0501.机器人与机构学
宋智斌
面上项目
副教授
天津大学
60万元
机构设计;多构态;柔顺驱动;构型设计
2020-01-01到2023-12-31
  • 中英文摘要
  • 结题摘要
  • 结题报告
  • 项目成果
  • 项目参与人
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序号 标题 类型 作者
1 A Novel Wheelchair-Exoskeleton Hybrid Robot to Assist Movement and Aid Rehabilitation 会议论文 Song Zhibin;Ju Wenjie;Chen Dechao;Gong Hexi;Kang Rongjie;Paolo Dario
2 Positioning and Posture Adjustment for a Rotational Cutting Biopsy Capsule 会议论文 Zhang wenjie;Paolo Dario;Zhang wenhui;Song Zhibin
3 基于给定非线性刚度的柔顺驱动器设计及性能评估 期刊论文 宋智斌;胡秀棋
4 Safe physical human-robot interaction: A quasi whole-body sensing method based on novel laser-ranging sensor ring pairs 期刊论文 Keke Qi;Zhibin Song;Jian S. Dai
5 一种可弯曲前进的软体气动机器人及其弯曲方法 专利 宋智斌;张文杰
6 Trajectory Tracking of a Quadrotor Underwater Delivery Platform via Adaptive Sliding Mode Control 会议论文 Shiyu Li;Xin Zhang;Zhibin Song
7 Design of a torsional compliant mechanism with given discrete torque-deflection points for nonlinear stiffness elastic actuator 期刊论文 Wenjie Ju;Bingwei Li;Rongjie Kang;Songyuan Zhang;Zhibin Song
8 一种具有活检操作力感知功能的一次性活检钳装置 专利 宋智斌;张文杰
9 一种嵌入在胶囊内窥镜中的多次活检装置 专利 宋智斌;张文杰
10 一种反向拉绳或丝驱动装置 专利 宋智斌;张鹏勃;赵浩程;李奕浩
11 A Novel 6-DOF Wearable Exoskeleton Ankle Mechanism 会议论文 Jiaxu Han;Zhibin Song;Paolo Dario;Jian S. Dai
12 一种刚柔复合材料构成的可展结构 专利 宋智斌;付仲儒
13 一种给定力矩变形规律的串联弹性驱动器及设计方法 专利 宋智斌;鞠文杰
14 一种往复直推式的水下推进器 专利 宋智斌;张宸睿;张元昊;曹鸿钰;赵礼轩;赵俊翔;王泽峰;杨铭
15 一种可实现坐立行三态转换的辅助移动轮椅外骨骼装置 专利 宋智斌;巩合喜;保罗达里奥
16 Undulatory motion of sailfish-like robot via a new single-degree-of-freedom modularized spatial mechanism 期刊论文 Jiaxu Han;Zhongru Fu;Yuanhao Zhang;Liwei Shi;Rongjie Kang;Jian S Dai;Zhibin Song
17 A four-prism tensegrity robot using a rolling gait for locomotion 期刊论文 Xinrui Wang;Zhenchao Ling;Chen Qiu;Zhibin Song;Rongjie Kang
18 A Trajectory Tracking Control Based on a Terminal Sliding Mode for a Compliant Robot with Nonlinear Stiffness Joints 期刊论文 Zhibin Song;Tianyu Ma;Keke Qi;Emmanouil Spyrakos-Papastavridis;Songyuan Zhang;Rongjie Kang
19 一种滚压驱动的折展皮囊泵式拮抗驱动装置 专利 宋智斌;张元昊;陈德超
20 一种给定刚度特性的非线性弹簧机构及其设计方法 专利 宋智斌;鞠文杰
21 Design of a Novel Wheelchair-Exoskeleton Robot for Human Multi-mobility Assist 会议论文 Zhibin Song;Hexi Gong;Paolo Dario
22 Prediction of Passive Torque on Human Shoulder Joint Based on BPANN 期刊论文 Shuyang Li;Paolo Dario;Zhibin Song
23 A Novel Biomimetic Compliant Structural Skin Based on Composite Materials for Biorobotics Applications 期刊论文 Zhibin Song;Zhongru Fu;Donato Romano;Paolo Dario;Jian S. Dai
24 A Novel Biopsy Capsule Robot Based on High-Speed Cutting Tissue 期刊论文 Zhibin Song;Wenjie Zhang;Wenhui Zhang;Dario Paolo
25 Experimental Research on the Coupling Relationship between Fishtail Stiffness and Undulatory Frequency 期刊论文 Yuanhao Zhang;Rongjie Kang;Donato Romano;Paolo Dario;Zhibin Song
26 A Novel Fish-Inspired Robot with a Double-Cam Mechanism 期刊论文 Zhibin Song;Zhongru Fu;Donato Romano;Paolo Dario;Rongjie Kang
27 一种刚柔耦合五自由度并联机器人 专利 宋智斌;黎时宇;武一帆
28 An Improved Bouc–Wen Model Based on Equitorque Discretization for a Load-Dependent Nonlinear Stiffness Actuator 期刊论文 Song Zhibin;Zhao Yaru;Gao Dong;Dai Jian S.
29 Novel Design Method for Nonlinear Stiffness Actuator with User-Defined Deflection-Torque Profiles 期刊论文 Hu Xiuqi;Song Zhibin;Ma Tianyu
30 A new nonlinear stiffness actuator with a predefined torque-deflection profile 期刊论文 Ju Wenjie;Gong Hexi;Qi Keke;Kang Rongjie;Dai Jian S.;Song Zhibin
31 一种并联柔索驱动下肢康复机器人 专利 宋智斌;张禹泽
32 一种基于磁流变液的被动负重下肢外骨骼膝关节装置 专利 宋智斌;陈德超;张元昊
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