The emergence of soft robots provides new opportunities for developing phosphorite processing equipment. In this article, a soft pneumatic gripper (SPG) for gripping phosphorites is designed. On this basis, the dynamic modeling method and hysteresis inverse compensation control method for the SPG are proposed. First, an SPG for gripping phosphorites is designed based on pneumatic actuation technology. Meanwhile, the gripping ability of the designed SPG is experimentally examined. Next, a dynamic model of the SPG is established by combining the Bouc–Wen model and a linear dynamic model. The output of the established dynamic model can fit the experimental data well, which shows that the established dynamic model of the SPG can describe its motion characteristics. Then, by constructing the inverse expression of the established dynamic model, the hysteresis inverse compensation control method for the SPG is presented to realize its motion control. Finally, the result of the control system simulation illustrates that the presented control method is effective.

The high reliance on traditional Chinese medicine (TCM) knowledge and practical skills has led to prolonged training cycles for therapists and a significant talent shortage, posing a severe challenge to the standardization of TCM physiotherapy in rehabilitation. Meanwhile, most physiotherapy robots based on rigid robotics technology suffer from insufficient safety and adaptability, resulting in unsatisfactory treatment effects. This paper presents a novel wearable pneumatic soft physiotherapy device, designed to achieve high‐safety and personalized physiotherapy for shoulder and neck acupoint massage. The device integrates four soft massage actuators, four embedded thin‐film stress sensors, two miniature airflow sources, and a power supply system, enhancing its portability. Additionally, a hybrid control strategy combining feedforward inverse compensation and PID feedback is proposed to regulate and customize the therapy intensity on human acupoints. Experimental results demonstrate that the developed device can apply therapeutic intensities ranging from 0 to 3.45 N to human acupoints, effectively adapting to the human shoulder and neck region to achieve good wearing comfort, and performing safe acupoint massage with customized physiotherapy intensities. This study explores and realizes the integration of emerging soft robotics technology with TCM, providing a paradigm for the development of more soft physiotherapy devices.

Aiming at the problems of jittering waveforms and poor power quality caused by external disturbances during the operation of a dual-pulse-width-modulation (PWM) converter, an improved terminal sliding mode control and an improved active disturbance rejection control (ADRC) are investigated. The method is based on mathematical models of grid-side and machine-side converters to design the controllers separately, and the balance between the two sides is maintained by the capacitor voltage. An improved terminal fuzzy sliding mode control and equivalent input disturbance (EID)-error-estimation-based active disturbance rejection control are presented on the grid side to improve the voltage response rate, and an improved support vector modulation (SVM)–direct torque control (DTC)–ADRC method is developed on the motor side to improve the robustness against disturbances. Finally, theoretical simulation experiments are built in MATLAB R2023a/Simulink to verify the effectiveness and superiority of this method.

A novel proactive method to defend against false-data-injection (FDI) attacks is proposed in this paper. FDI attacks have a high degree of concealment, which can seriously threaten the security of cyber-physical systems (CPS). Therefore, a new watermark-based encryption defense strategy is proposed to improve the attack detection rate. Moreover, the proposed watermark-based approach cannot affect the system performance in the absence of attacks, and the χ 2 abnormal detector is utilized to detect attacks. Furthermore, FDI attacks are be divided into two different types in this work, that is, additive FDI (A-FDI) attacks and multiplicative FDI (M-FDI) attacks. In addition, three different attack detection scenarios are discussed, and the detection capabilities of the proposed defense method are analyzed. Finally, numerical simulation results are given to illustrate the effectiveness of the main results.

The grabbing of phosphorite rocks is an important process in the mining industry. Traditional grabbing technology based on rigid robots faces challenges such as heavy weight, low flexibility, and insufficient safety. This study presents the structural design, characteristic analysis, and modeling of a novel tailored soft robot for phosphorite grabbing (TSRPG). The TSRPG is designed with soft, flexible materials, providing flexible movement and high safety in complex environments. The design inspiration of the robot comes from humans using their thumb and index finger to hold things, and the structural design mainly focuses on the flexibility and grabbing function of the robot. The grabbing function of the TSRPG is exhibited by several actual grabbing experiments. In addition, through characteristic analysis, we explore the robot’s motion properties under various input air pressure conditions. A mathematical model of the TSRPG is developed to depict its characteristics based on the nonlinear ARX model. The developed mathematical model provides a base for promoting the practical application of the TSRPG.