Zhao Guo

Wuhan University

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i-10 index

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Co-Authors

Haoyong Yu

National University of Singapore

Xiaohui Xiao

Wuhan University

Roger S. Goody

Max Planck Institute of Molecular Physiology

Yongping Pan

National University of Singapore

Chen Gong

Nanjing University of Science and Technology

Wei Qian

Wuhan University

Yuehong Yin

Shanghai Jiao Tong University

Aymelt Itzen

Universität Hamburg

Shuowen Yi

Wuhan University

Kyung-Ryoul Mun

Korea Institute of Science and Technology

Cooperative Institutions

Wuhan University

National University of Singapore

Chinese Academy of Sciences

Shanghai Jiao Tong University

Zhejiang University

University of Chinese Academy of Sciences

Tsinghua University

Nanjing University of Science and Technology

Hefei University of Technology

Wuhan Institute of Technology

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Human–Robot Interaction Control of Rehabilitation Robots With Series Elastic Actuators

IEEE Transactions on Robotics (2015)

Haoyong Yu Sunan Huang Gong Chen Yongping Pan Zhao Guo

Rehabilitation robots, by necessity, have direct physical interaction with humans. Physical interaction affects the controlled variables and may even cause system instability. Thus, human-robot interaction control design is critical in rehabilitation robotics research. This paper presents an interaction control strategy for a gait rehabilitation robot. The robot is driven by a novel compact series elastic actuator, which provides intrinsic compliance and backdrivablility for safe human-robot interaction. The control design is based on the actuator model with consideration of interaction dynamics. It consists mainly of human interaction compensation, friction compensation, and is enhanced with a disturbance observer. Such a control scheme enables the robot to achieve low output impedance when operating in human-in-charge mode and achieve accurate force tracking when operating in force control mode. Due to the direct physical interaction with humans, the controller design must also meet the stability requirement. A theoretical proof is provided to show the guaranteed stability of the closed-loop system under the proposed controller. The proposed design is verified with an ankle robot in walking experiments. The results can be readily extended to other rehabilitation and assistive robots driven with compliant actuators without much difficulty.

Rehabilitation robotics

Human–robot interaction

Impedance Control

10.1109/tro.2015.2457314

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Citations (311)

Kinematics and dynamics analysis of drive mechanism of parallel four-bar energy-saving pumping unit

Wuhan University Journal of Natural Sciences (2012)

Xiangming Zhang Xia Yang Zhao Guo

Bar (unit)

Dynamics

Dynamic simulation

10.1007/s11859-012-0807-6

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Citations (2)

Studies on biomechanics of skeletal muscle based on the working mechanism of myosin motors: An overview

Chinese Science Bulletin (2012)

Yuehong Yin Zhao Guo Xing Chen Yuanjie Fan

Biomechanics

10.1007/s11434-012-5438-y

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Citations (15)

CCDC 1555913: Experimental Crystal Structure Determination

The Cambridge Structural Database (2017)

Zhao Guo Y. Wang Yungen Xu Xuedong Wei

An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.

Crystal (programming language)

10.5517/ccdc.csd.cc1p71rq

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Citations (0)

Unbalance detection to avoid falls with the use of a smart walker

Solenne Page Kyung-Ryoul Mun Zhao Guo Francisco Anaya Reyes Haoyong Yu

Smart walkers aimed at providing better support than conventional walker. These devices have synchroneous movements with users but they have to act differently in case of unbalanced gait. The available discriminatory factors used in smart walkers are generally based only on position data. These static data cannot be representative of the dynamical process of falling. This paper proposes three methods that could be used to detect unbalanced gait. They are based on different kinematic data: forward velocity, angular velocity around transverse axis and eXtrapolated Center Of Mass (XCOM) with stability margins. These methods are evaluated and compared experimentally on 4 young healthy subjects experiencing unexpected unbalanced gait when using a robotic walker.

Falling (accident)

10.1109/biorob.2016.7523760

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Citations (7)

Design and Evaluation of a Motorized Robotic Bed Mover With Omnidirectional Mobility for Patient Transportation

IEEE Journal of Biomedical and Health Informatics (2018)

Zhao Guo Xiaohui Xiao Haoyong Yu

Patient transportation in hospitals faces many challenges, including the limited manpower, work-related injuries, and low efficiency of current bed pushing methods. This paper presents a new motorized robotic bed mover with omnidirectional mobility to address this problem. This device is composed of an omnidirectional mobility unit, a force sensing-based human-machine interface, and control hardware with batteries and electronics. The proposed bed mover can be attached to the bottom of a manual hospital stretcher, transforming it into a powered omnidirectional bed (OmniBed) that can be used only by one person. The function of the OmniBed is compared with that of a conventional powered bed, which only provides forward assistance with a fifth powered wheel. We perform a pilot study with 14 subjects to evaluate the performance of this OmniBed and benefits for hospital application. The experimental results show that the OmniBed can half the manpower while decreasing back muscle activities, revealing the potential health benefits for older staffs. The OmniBed also shows the promising signs of high precision and handling in small spaces with its one-step "parallel-parking" ability. This device is more ergonomic, more effective, and safer than the conventional powered bed.

SAFER

Omnidirectional camera

Interface (matter)

10.1109/jbhi.2018.2849344

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Citations (13)

Editorial: Bioinspired Design and Control of Robots With Intrinsic Compliance

Frontiers in Neurorobotics (2020)

Yongping Pan Zhao Guo Dongbing Gu

EDITORIAL article Front. Neurorobot., 17 September 2020 | https://doi.org/10.3389/fnbot.2020.00064

10.3389/fnbot.2020.00064

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Citations (1)

Experimental evaluation of a novel robotic hospital bed mover with omni-directional mobility

Applied Ergonomics (2017)

Zhao Guo Rachael Bei Yee Kyung-Ryoul Mun Haoyong Yu

Hospital bed

10.1016/j.apergo.2017.04.010

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Citations (21)

Effects of compliant and flexible trunks on peak-power of a lizard-inspired robot

2021 IEEE International Conference on Robotics and Biomimetics (ROBIO) (2015)

Xiaoyi Gu Zhao Guo Yuxin Peng Chen Gong Haoyong Yu

Many physical biological properties can be used to improve bio-inspired robot design. However, the effects of trunks' flexibility on improving the performance of legged robots have not been fully investigated. In this study, we aim to investigate the effects of compliant and flexible trunks on the peak-power of a lizard-inspired crawling robot. We first developed a bio-inspired lizard model to guide the design of a crawling robot with a flexible and compliant trunk. This robot is able to mimic the basic crawling gait pattern of lizards. Simulations and experiments were then performed to assess the motor power under various conditions. We found that the lizard-inspired crawling robot with a compliant and flexible trunk exhibited significantly reduced peak-power. More interestingly, we found that the stiffness of the trunk and the motion frequency are two key variables affecting the reduction rate of the peak-power.

Crawling

Robot locomotion

Biomimetics

10.1109/robio.2015.7418816

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Citations (3)

Design and Modeling of a Compact Rotary Series Elastic Actuator for an Elbow Rehabilitation Robot

Lecture notes in computer science (2017)

Qiang Zhang Benyan Xu Zhao Guo Xiaohui Xiao

Rehabilitation robotics

Rotary actuator

Robustness

10.1007/978-3-319-65298-6_5

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Citations (5)