作者： Zhao, Aidi^{1, 2, 3}; Su, Hong^{1, 2, 3}; She, Chongyang⁴; Li, Hui^{1, 2, 3}; Qiu, Huaiyu⁴; Huang, Xiao^{1, 2, 3}; Jiang, Zhihong^{1, 2, 3} （¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing; 100081, China;²Tangshan Research Institute of Beijing Institute of Technology, Tangshan; 063099, China;³Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing; 100081, China;⁴Ophthalmology Department, Beijing Chao-Yang hospital, Capital medical university, Beijing; 100020, China）

出处： Biomedical Signal Processing and Control 2024

作者： Shen,Minghui¹²;Huang,Xiao¹²;Zhao,Yan¹²;Wang,Yunlai¹²;Li,Hui¹²;Jiang,Zhihong¹²; （¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China;²Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing, 100081, China）

出处： ISA Transactions 2024

摘要： The acceleration and deceleration (AD) motions are the basic motion modes of robot astronauts moving in a space station. Controlling the locomotion of ...

作者： Wang, Yuxuan¹;Tian, Ye¹;Zhu, Jinying¹;She, Haotian¹;Jiang, Yinlai²;Jiang, Zhihong¹;Yokoi, Hiroshi² （¹Beijing Inst Technol, Sch Mechatron Engn, Beijing, Peoples R China.;²Univ Electrocommun, Fac Informat & Engn, Tokyo, Japan.）

出处： CYBORG AND BIONIC SYSTEMS 2024 Vol.5

关键词： SEMG

摘要： The electromyography(EMG) signal is the biocurrent associated with muscle contraction and can be used as the input signal to a myoelectric intelligent ...

作者： Huang, Xiao¹;Wang, Xingfang¹;Zhao, Yan¹;Hu, Jiachen¹;Li, Hui¹;Jiang, Zhihong¹ （¹Beijing Inst Technol, Adv Innovat Ctr Intelligent Robots & Syst, Sch Mechatron Engn, Key Lab Biomimet Robots & Syst,Chinese Minist Educ, Beijing 100081, Peoples R China.）

出处： IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2024

关键词： STRIATUM

摘要： Reinforcement learning recently has achieved impressive success in allowing robots to learn complex motor skills in simulation environments. However, ...

作者： Zhang, Yan¹;Li, Manhong¹;Zhang, Minglu¹;Guo, Ce¹;Jiang, Zhihong² （¹Hebei Univ Technol, Sch Mech Engn, Tianjin 300401, Peoples R China.;²Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China.）

出处： MEASUREMENT 2023 Vol.213

关键词： BACKGROUND SUBTRACTION; ALGORITHM; SYSTEM

摘要： Target object detection based on deep learning and image processing technology is widely used in robot astronauts. However, existing detection methods ...

作者： Zhao, Aidi^{1, 2, 3}; Su, Hong^{1, 2, 3}; She, Chongyang⁴; Huang, Xiao^{1, 2, 3}; Li, Hui^{1, 2, 3}; Qiu, Huaiyu⁴; Jiang, Zhihong^{1, 2, 3}; Huang, Gao⁵ （¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing; 100081, China;²Advanced Innovation Center for Intelligent Robots and Systems, Beijing; 100081, China;³Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing; 100081, China;⁴Ophthalmology Department, Beijing Chao-Yang hospital, Capital medical university, Beijing; 100020, China;⁵Faculty of Information Technology, Beijing University of Technology, Beijing; 100124, China）

出处： Computers in Biology and Medicine 2023

发明人： 曹晓磊，蒋志宏，李辉，黄销

申请人： 北京理工大学

申请号： 202310996018.0

申请日期： 2023.08.08

摘要： 本发明提供一种自动更换螺丝刀批头系统，涉及自动化机器人技术领域，包括批头取放模块和批头支撑模块，批头取放模块用于安装于机器人机械臂的自由端，批头支撑模块上设置有多种批头；批头取放模块包括电磁铁，当需要取批头时，批头取放模块移动至待选批头的正上方后，通过控制电磁铁通电来吸取待选批头；当需要放批头时，批 ...

发明人： 蒋志宏，曹晓磊，李辉，黄销

申请人： 北京理工大学

申请号： 202310993867.0

申请日期： 2023.08.08

摘要： 本发明公开了一种机器人快速更换末端工具的接口，涉及机器人应用技术领域，包括机械臂侧对接组件和工具侧对接组件，机械臂侧对接组件一侧的周向设有一圈容差凹槽，工具侧对接组件一侧的周向设有一圈容差凸槽，容差凹槽和容差凸槽均为非对称容差槽，机械臂侧对接组件的中部还设有锁紧元件，工具侧对接组件的中部设有锁紧槽， ...

发明人： 蒋志宏，赵爱迪，苏红，黄销，李辉

申请人： 北京理工大学

申请号： 202310140293.2

申请日期： 2023.02.13

摘要： 本发明公开一种联合分割视网膜眼底图像中视杯视盘的方法，属于医学图像处理领域。本发明结合视杯视盘的椭圆形态学特征，从椭圆检测的角度构建两阶段的视杯视盘联合分割网络模型，第一阶段结合视杯位于视盘区域内部的空间几何约束，引入Paired‑BoxRPN实现视杯视盘最小边界矩形框的耦合检测，第二阶段学习边界框 ...

发明人： 黄销，苏红，赵爱迪，蒋志宏，李辉

申请人： 北京理工大学

申请号： 202310201135.3

申请日期： 2023.03.01

摘要： 本发明公开一种视网膜动静脉分类优化方法及系统，涉及图像处理领域，该方法包括根据血管二值化分割结果，采用轻量化算法和多级Dijkstra最短路径算法确定血管拓扑结构；根据血管拓扑结构，采用反流向溯源算法，确定有向图；并对有向图采用方向修正算法进行方向校正，确定从末端到视神经头的血管有向拓扑结构；将血管 ...