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Xiangyang Zhu
Shanghai Jiao Tong University
EngineeringControl engineeringComputer visionComputer scienceControl theory
248Publications
23H-index
2,222Citations
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Publications 251
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#1Heng Zhang (SJTU: Shanghai Jiao Tong University)
#2Qi Sheng (SJTU: Shanghai Jiao Tong University)
Last. Xiangyang Zhu (SJTU: Shanghai Jiao Tong University)H-Index: 23
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Abstract With the development of the robotic technology, Autonomous Mobile Manipulator (AMM) is increasingly used in more applications. Reasonable motion planning for AMM to maintain high manipulation capability is the prerequisite for the success of the mobile manipulation task. In this paper, the Capability Map (CM) of AMM that gives the distribution of the manipulability in cartesian space is first built. Then given the path of the end effector, we design a novel path planner for the mobile r...
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OBJECTIVE: Estimation of the discharge pattern of motor units by electromyography (EMG) decomposition has been applied for neurophysiologic investigations, clinical diagnosis, and human-machine interfacing. However, most of the methods for EMG decomposition are currently applied offline. Here, we propose an approach for high-density surface EMG decomposition in real-time. METHODS: A real-time decomposition scheme including two sessions, offline training and online decomposition, is proposed base...
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Surface electromyography (EMG) signals are inevitably contaminated by various noise components, including powerline interference (PLI), baseline wandering (BW), and white Gaussian noise (WGN). These noises directly degrade the efficiency of EMG processing and affect the accuracy and robustness of further applications. Currently, most of the EMG filters only target one category of noise. Here, we propose a novel filter to remove all three types of noise. The noisy EMG signal is first decomposed i...
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#1Kun LiuH-Index: 1
Last. Xiangyang ZhuH-Index: 23
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Dielectric elastomer actuators (DEAs) are able to undergo large deformation in response to external electric stimuli and have been widely used to drive soft robotic systems, due to their advantageous attributes comparable to biological muscles. However, due to their isotropic material properties, it has been challenging to generate programmable actuation, e.g., along a predefined direction. In this paper, we provide an innovative solution to this problem by harnessing honeycomb metastructures to...
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#1Yang Yu (SJTU: Shanghai Jiao Tong University)H-Index: 1
#2Chen Chen (SJTU: Shanghai Jiao Tong University)H-Index: 1
Last. Xiangyang Zhu (SJTU: Shanghai Jiao Tong University)H-Index: 23
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Abstract Human machine interface (HMI) based on surface electromyography (sEMG) promises to provide an intuitive and noninvasive way to interact with peripheral equipments, such as prostheses, exoskeletons, and robots. Most recently, advances in machine learning, especially in deep learning algorithms, present the capabilities in constructing complicated mapping functions. In this study, we construct a stacked autoencoder-based deep neural network (SAE-DNN) to continuously estimate multiple degr...
1 CitationsSource
OBJECTIVE: The objective of this study is to propose an objective index to evaluate the difference of tactile acuity between the left and right hand based on steady-state somatosensory evoked potential (SSSEP). APPROACH: Two kinds of tactile sensations (vibration and pressure) with three levels of intensities (low/medium/high) were evoked on two finger areas of the left or right hand (thumb and index for healthy hands, thumb and index-projected areas for disabled hands) via transcutaneous electr...
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#1Lei Tang (SJTU: Shanghai Jiao Tong University)H-Index: 1
#2Li-Min Zhu (SJTU: Shanghai Jiao Tong University)H-Index: 29
Last. Guo-Ying Gu (SJTU: Shanghai Jiao Tong University)H-Index: 20
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While cable-driven snake robots are promising in exploring confined spaces, their hyper-redundancy makes the collision-free motion planning difficult. In this paper, by combining the prediction lookup and interpolation algorithms, we present a new path following method for cable-driven snake robots to high-efficiently slither into complex terrains along a desired path. In our method, we first discretize the desired path into points, and develop the prediction lookup algorithm to efficiently find...
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Rapid development in wearable electronics and systems continues to impose challenges on portable energy storage sustained over time, and thus human energy harvesting is a potentially attractive means of sustainable, long-term energy. We introduce a novel ‘controlled slip’ energy harvesting approach for capturing energy during human locomotion. While slip is normally considered undesirable, controlled slip holds potential to enable a significant amount of energy harvesting during each step of hum...
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#1Chen Chen (SJTU: Shanghai Jiao Tong University)H-Index: 1
#2Yang Yu (SJTU: Shanghai Jiao Tong University)H-Index: 1
Last. Xiangyang Zhu (SJTU: Shanghai Jiao Tong University)H-Index: 23
view all 7 authors...
Abstract Objective Methods for surface electromyographic (EMG) signal decomposition have been developed in the past decade, to extract neural information transferred from the spinal cord to muscles. Here, we characterize the accuracy in the identification of motor unit activities during hand postures from high-density EMG signals and we propose a mapping approach between these neural signals and hand gestures. Methods High-density EMG signals were recorded during 11 hand gesture tasks from 11 ab...
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