Mr. Dexin Jiang Profile

Dexin Jiang

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Proceedings Article | 5 August 2024 Paper

Design and simulation analysis of humanoid lower limb with a parallel compliant actuator

Bingyang Xiao, Zaojun Fang, Dexin Jiang, Junjun Chen, Yalin Wang

Proceedings Volume 13226, 1322611 (2024) https://doi.org/10.1117/12.3038379

KEYWORDS: Elasticity, Actuators, Robots, Energy efficiency, Motion analysis, Kinematics

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This article presents a design method for humanoid lower limbs with a parallel compliant actuator. The integration of series-parallel main actuators and parallel efficient energy storage mechanisms significantly improves energy efficiency of the humanoid lower limb. The lower limb design is semi-anthropomorphic, with similar mass and mass distribution. Then a three-degree-of-freedom kinematic model of the humanoid lower limbs is established in the Cartesian coordinate system. Besides, The Lagrange equation is utilized to establish the inverse dynamics model, resulting in the derivation of the relationship between joint torque and joint angle. Subsequently, the parameters of elastic elements in the energy storage mechanism are optimized. The energy storage performance of the humanoid lower limbs is simulated in ADAMS. The simulation results validate that the parallel compliant actuation design can improve the energy efficiency of the lower limb, compared with rigid actuation systems.

Proceedings Article | 15 March 2024 Paper

The design and analysis of a humanoid thoracic cavity platform

Junjun Chen, Zaojun Fang, Dexin Jiang

Proceedings Volume 13079, 130790X (2024) https://doi.org/10.1117/12.3015498

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A device that can imitate human breathing movement is vital to evaluate the performance of flexible sensors and wearable equipment. It can be used to implement millions of fatigue tests with continuous movement at controllable conditions that is better than tests on human bodies. To imitate the breathing movement of humans, the pneumatic thoracic cavity has been employed in previous research. However, it has low position accuracy and large hysteresis of the driven module. To address these issues, a new humanoid thoracic cavity based on a multi-link parallel mechanism is proposed. Its morphology based on human anatomy is achieved by using the region-splicing method. The rib of the device is enhanced to promote its structural strength based on a support mechanism. The kinematics of the proposed mechanism is established and analyzed, and the kinematic model is evaluated by experiments. The tensile test of the flexible stretchable sensors and the repeated positioning accuracy test of the platform were conducted. The experimental results demonstrate that the proposed device possesses stability, reliability, and high control accuracy.

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