智能机器人将很快准备在我们家里,医院,办公室,在户外。一个关键方法这种智能的发展和自主机器人的灵感从生物系统的行为示范。事实上,使用这种方法,一些新应用领域最近收到了显著的利益在机器人技术社区,包括康复机器人、服务机器人、医疗机器人、娱乐机器人。很明显,bioinspired方法变得越来越重要的今天的要求应用程序的复杂性。生物启发的机器人与感觉器官协调导致复杂的结构,经常扮演重要的角色在实现学习的适应。此外,康复机器人产生了令人兴奋的新思想和小说在日益增长的人类辅助设备领域的生物医学机器人。康复机器人的科技进步通过机器人之间的协作人员,医生和病人。

这个特殊的问题关注的理论和技术挑战的进化从生物系统转变为智能机器人。有33个收到的稿件,和18原始研究论文终于接受正式的同行评审后在这个特殊的问题。公认的论文可以进一步分为三个相关主题,即人类的协助和康复,外骨骼系统bioinspired机械手设计精细操作和手术,bioinspired传感系统以人为本应用程序的开发。

在外骨骼的作品,是一大关注点下肢的应用程序。a Yatsugi等人研究的可行性neurorehabilitation使用混合辅助病人的脊柱手术的肢体。病人治疗指数,和真正的主体实验证明neurorehabilitation治疗脊柱手术后使用下肢外骨骼是可行的。对于类似的应用程序,问:陈等人提出了一个新颖的步态规划方法,旨在提供一个可靠的和平衡行走时步态援助。外骨骼和病人被建模成一个线性倒立摆(唇),和病人的目的是通过一个轨道能量图。实验结果证明了该新方法的有效性。y刘等人开发了一个可穿戴的脚与跖趾关节矫正法被认为是人类运动的一个关键组成部分。实验结果也表明,所设计的系统可以提供承诺在某些应用程序和临床治疗康复。软机器人西装也由美国金等人协助髋关节屈曲节能行走的老年人在日常生活活动,在长途代谢降低成本水平和倾斜散步。实验结果表明,对于一个79岁的健康男性,机器人西装显著降低代谢成本条件下机器人西装穿和动力与磨损的条件,但动力。协助定制的步态规划稳定运动变量地形在下肢exoskeleton-based康复走路,c .悦等人开发了一种新颖的可穿戴传感系统采用7力传感器作为传感矩阵实现高精度的地面反作用力检测。 By fusing force and angular velocity data, four typical terrain features are able to be recognized successfully, and the recognition rate can reach up to 93%. For the upper limb rehabilitation, W. Wei et al. developed a soft arm exoskeleton-based Bowden cable-driven system. The movement of the shoulder skeletal system through a mathematical model based on the Bowden cable transmission was explored, and the experimental results show that man-machine interaction force can be reduced when the number of bearing force points is increased and the bearing force point is away from the elbow. To fully understand the human shoulder mechanism to rehabilitation exoskeleton design, a new skeleton model and the motion rhythm analysis for human shoulder complex were proposed by S. Zhibin et al. Experimental data were analyzed and proved the proposed model effectiveness. One of the big topics in exoskeleton research is the human-robot interfacing. EMG has been widely used, and B. Gao et al. studied the real-time evaluation of the sEMG signal processing in an upper arm exoskeleton system for rehabilitation. The experimental results showed that the recognition accuracy of sEMG was 94%, and the average delay time was 300 ms, which met the requirements in the real rehabilitation process.

生物学系统显示很好的参考和灵感工程师开发新的操纵和传感系统。关键的审查是由h . Al-Shuka等人与关注积极的阻抗控制bioinspired运动机器人机械手。不同的策略进行了综述和比较新的系统控制发展的备查。通过学习人体解剖学和肌肉控制系统、肌肉协调控制的不对称antagonistic-driven肌肉骨骼机器人用吸引子的选择是由美国开发的Ide和Nishikawa。虚拟对抗肌肉结构揭示了在实验中显示有效的控制方法。通过充分探索人类肘关节复杂,运动解耦分析,和一个新的仿生机器人肘关节由崔et al。详细的运动学设计和设计是紧随其后的是模拟测试解释道。同样,一个完整的7自由度假肢是肩膀关节脱落和低成本的目标。3 d印制方法与原型车重1350克,建议和评估进行了展示日常生活活动的有效性。除了假肢,bioinspired导管系统也是由y江等人与力反馈进行血管内治疗。初步开展了临床试验,显示开发系统的可行性。 Apart from a human, a soft robotic fish was presented by W. Zhao et al. by using piezoelectric fiber composite (PFC) as flexible actuator based on numerical coupling analysis. On the bioinspired sensing side, a novel micro-photoionization detector for rapid volatile organic compound measurement was developed by Q. Zhou et al. The testing results showed that the ion collection efficiency reached 91% at a bias voltage of 150 V. To target microdistance and force perception, a magnetostrictive bioinspired whisker sensor based on the galfenol composite cantilever beam was developed to realize bidirectional tactile perception. In the experiment, the designed whisker, compared with a traditional unimorph whisker, displayed an output voltage range of -240 to 240 mV, the distance was 0-22 mm, with the microforce sensing range of 9.8-2,744 mN, the average distance of 10.90 mm/mV, and the force sensitivity of 11.4 mN/mV. The experimental results show that the proposed whisker sensor can realize the bidirection tactile perception in one-dimensional space. The automatic measurement, especially for products with complex shapes, has always been one of the most important application areas of robots. Aiming at the challenge of measuring residual stress under the curved surface, Q. Pan et al. proposed a robotic system for the residual stress ultrasonic measuring based on combining industrial robot technology with residual stress ultrasonic nondestructive measuring technology. Irregular vibration of the vocal cords corresponding to a variety of voice disorders can be observed with electronic laryngoscope to assist diagnosing vocal cord disease. However, laryngoscopy examination is invasive, and the outcomes are relatively subjective. Acoustic analysis can complement and in some cases replace the other invasive methods, which are based on direct vocal fold observation. Based on this, X. Zhang et al. designed a pathological voice source analysis system by integrating nonlinear dynamics with an optimized asymmetric two-mass model to explore nonlinear characteristics of vocal cord vibration. Changes in acoustic parameters, such as fundamental frequency, caused by distinct subglottal pressure and varying degrees of vocal cord paralysis are analyzed. Experimental results validate the applicability of the proposed model to reproduce vocal cord vibration with high accuracy and show that a paralyzed vocal cord increases the model coupling stiffness.

因此,这个特殊的问题介绍了最近的进展建模、设计、分析、实施、测试和治疗人类的辅助康复机器人外骨骼,bioinspired假肢,操纵者和传感系统。我们希望将知识和信息良好的引用和进一步发展的基础在这些领域科技以人为本。