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检索条件"任意字段=3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018"

共 43 条记录，以下是11-20 订阅

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Stiffness modeling and performance evaluation of 2(3HUS+S) parallel manipulator 3

Stiffness modeling and performance evaluation of 2(3HUS+S) p...

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3rd ieee international conference on advanced robotics and mechatronics (icarm)

作者： Zhang, Huizhen Cheng, Gang Chen, Shibiao Guo, Feng Shan, Xianlei Chino Univ Min & Technol Sch Mechatron Engn Xuzhou Jiangsu Peoples R China

ISBN: (纸本)9781538670668

This paper discusses the stiffness characteristic of a 2(3HUS+S) parallel manipulator. This manipulator can he applied to hip joint motion and simulate two hip joints in the same time. The stiffness of the manipulator components is given by Hooke's law, and the global stiffness matrix model is established based on the virtual work principle and the Principle of deformation superposition. The local and global stiffness characteristic evaluation indexes are defined. In the workspace of the manipulator, a numerical simulation of stiffness is conducted using MATLAB. The stiffness characteristic of this manipulator is assessed by analyzing the influence of the attitude parameters and structural parameters on the stiffness indexes. Finally, the structural deformation of the virtual prototype of the manipulator is analyzed under several typical attitudes using ANSYS Workbench. The experiment results from the virtual prototype are compared with those from the numerical simulation, and the analysis result verifies the Validity and correctness of the stiffness model and indexes of the 2(3HUS+S) parallel manipulator.

关键词： 2(3HUS+S) parallel manipulator stiffness model performance evaluation virtual experiment

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Follow a Human using a Mobile Robot Regardless of the Walking Speed 3

Follow a Human using a Mobile Robot Regardless of the Walkin...

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3rd ieee international conference on advanced robotics and mechatronics (icarm)

作者： Shaganan, Thiruketheeswaran Liu, Ran Yuen, Chau Marakkalage, Sumudu Hasala Padmal, Madhushanka Tan, U-Xuan Univ Moratuwa Dept Elect & Telecommun Engn Moratuwa 10400 Sri Lanka Singapore Univ Technol & Design Engn Prod Dev Pillar 8 Somapah Rd Singapore 487372 Singapore

ISBN: (纸本)9781538670668

The humanity is ready to merge intelligent robots into their habitual circumstances to work together, share feelings, and make self-reliant compliance. The capability to follow a human autonomously is essential for a mobile robot to interact with humans. Existing work either requires the human to be in line-of-sight or needs a beacon to be installed, which has great constraints on the human mobility. In this paper, we propose an approach to allow a mobile robot to follow a human regardless of his walking speed. In our setup, a human carries a Tango phone that can perform motion tracking using visual inertial sensing and create a map using its RGB-D sensor. The robot localizes itself in the map by incorporating its on-board Killed. and odometry information. The map quality decreases exponentially with increasing human speed. To produce a map that is suitable for the localization and navigation of the mobile robot, we, therefore, propose a map filter algorithm to improve the map quality. Instead of just following the human path, we propose an algorithm (i.e., trajectory filter) to reduce the cost of path and follow the human simultaneously. Experiments are conducted and the capability is illustrated using ROS on a turletbot platform. We also provide a video link to demonstrate our approach at 202.94.70.33/videos/***4.

关键词： Legged locomotion Robot sensing systems Navigation Trajectory Service robots

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Torque Tracking Impedance Control for a 3DOF Lower Limb Rehabilitation Robot 3

Torque Tracking Impedance Control for a 3DOF Lower Limb Reha...

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3rd ieee international conference on advanced robotics and mechatronics (icarm)

作者： Shen, Zhihang Zhou, Jie Gao, Jinwu Song, Rong Sun Yat Sen Univ Dept Engn Key Lab Sensing Technol & Biomed Instrument Guang Guangzhou Guangdong Peoples R China Jilin Univ Dept Control Sci & Engn Changchun Jilin Peoples R China Sun Yat Sen Univ Dept Engn Guangdong Prov Engn & Technol Ctr Adv & Portable Guangzhou Guangdong Peoples R China

ISBN: (纸本)9781538670668

This paper presents a torque tracking impedance control strategy for a lower limb rehabilitation robot (LLRR) with three joints, hip, knee and ankle. The strategy allows the human-robot system to track a desired interaction torque. To track the desired torque, the robot reference trajectory and actuator torque are designed properly based on the torque tracking impedance control. A constant torque tracking experiment performed on a healthy male subject has shown that the maximum normalized root mean square deviation (NRMSD) of each joint is less than 32%. It indicates that the control strategy is feasible and the LLRR is capable of providing stroke patients with active rehabilitation training.

关键词： Torque Impedance Robots Mathematical model Trajectory Actuators Training

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A sEMG-based Hand Function Rehabilitation System for Stroke Patients 3

A sEMG-based Hand Function Rehabilitation System for Stroke ...

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3rd ieee international conference on advanced robotics and mechatronics, icarm 2018

作者： Ma, Lele Zhao, Xingang Li, Ziyou Zhao, Ming Xu, Zhuang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9781538670668

In hospital, most stroke patients' rehabilitation training is assisted by rehabilitation physicians. However, this rehabilitation way is expensive and the number of physician cannot meet the demand. Therefore, surface electromyography (sEMG) and machine learning algorithms are introduced into the rehabilitation system, which can reduce the work of physicians and meet the needs of patients. We collect the sEMG signals of patients by picture guidance. Due to the mislabeling caused by the time mismatch, we re-calibrated the labels by means of peak detection. A model fusion algorithm, called stacking, is leveraged to improve the accuracy and robustness of hand action recognition. Before training, we will assess the patient's condition. Different rehabilitation training strategies will be adopted to patients under different conditions so as to each patient can receive effective training. According to rehabilitation psychology, virtual reality games were introduced to enhance the interest and pleasure of patients in the training process. At the same time, it can stimulate the development of nerve in the motor system and enhance the activity of the motor cortex in the cerebral cortex. © 2018 ieee.

关键词： Machine learning

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Insulator Fault Recognition Based on Spatial Pyramid Pooling Networks with Transfer Learning (Match 2018) 3

Insulator Fault Recognition Based on Spatial Pyramid Pooling...

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3rd ieee international conference on advanced robotics and mechatronics (icarm)

作者： Bai, RuiXian Cao, Hui Yu, Yajie Wang, Feng Dang, WenQiang Chu, Zhongyi Xi An Jiao Tong Univ Sch Elect Engn Shaanxi Key Lab Smart Grid Xian 710049 Peoples R China Xi An Jiao Tong Univ Sch Elect Engn State Key Lab Elect Insulat & Power Equipment Xian 710049 Peoples R China State Grid Ankang Elect Power Supply Co Xian 710049 Peoples R China Beihang Univ Sch Instrumentat Sci & Optoelect Engn Beijing 100191 Peoples R China

ISBN: (纸本)9781538670668

The insulators are the key component in the power transmission systems. In general, the images of insulators are difficult to obtain and the size of it may variance due to shooting angle and distance. The size of images has a great importance in computer vision and image processing. In this paper, a method of Insulator Fault Recognition Based on Spatial Pyramid Pooling networks (SPP-Net) with transfer learning is proposed to process the dataset which is small and the size of images are variance. The proposed method mainly employs the SPP-Net and with a transfer learning. The SPP-Net is used to relieve the constraint of fixed-size of the Deep Convolutional Neural Networks and learn the information from ImageNet Large Scale Visual Recognition Challenge (ILSVRC). Then the method of transfer learning is used to transfer the information learned by SPP-Net to the new model which will be used to the small dataset of insulators to improve the detection of the status of insulators. This paper conduct a thorough evaluation experiment on a real image-dataset of insulators. The experimental results indicate that the proposed method is suitable for this kind of insulators.

关键词： insulators fault recognition small dataset variance size of images spatial pyramid pooling transfer learning

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Fabrication and Initial Cadaveric Trials of Bi-directional Soft Hydrogel Robotic Benders Aiming for Biocompatible Robot-Tissue Interactions 3

Fabrication and Initial Cadaveric Trials of Bi-directional S...

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3rd ieee international conference on advanced robotics and mechatronics (icarm)

作者： Banerjee, Hritwick Aaron, Oh Yao Wei Yeow, Bok Seng Ren, Hongliang Natl Univ Singapore Fac Engn Dept Biomed Engn 4 Engn Dr 3 Singapore 117583 Singapore Natl Univ Singapore Ctr Life Sci Singapore Inst Neurotechnol SINAPSE Singapore 117456 Singapore NUS Suzhou Res Inst NUSRI Suzhou Jiangsu Peoples R China

ISBN: (纸本)9781538670668

Technological advancement recently exhibited engaging promises to use the multifaceted robot controlled medical devices in surgery and clinical setting for optimal navigation and surveillance purposes. Most of such medical devices used in surgical applications, still rely on direct vision based rigid, metallic substances to guide surgeons throughout the operational procedures. Here we demonstrate, world's first bi-directional shape-memory alloy (SMA) actuated hydrogel based biocompatible soft robot platform for optimally controllable bending navigation aiming for safer robot-tissue interactions such as in TransOral Robotic Surgery (TORS). The design depicted here utilizes technology of soft robotics, a soft hydrogel actuator that is capable of bending bi-directionally while maintaining a safe surface temperature for applications in biological environment. The prototype demonstrated in this article reached deflection angles of up to 45.5 degrees. With an initial cadaveric experiment outlaid here, we have shown an emerging promise and limitations, challenges that the soft medical device will encounter during real-time robot-tissue interactions.

关键词： Shape memory alloy biocompatible polymer hydrogel transoral navigation

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The Shared Effects of Active Body Weight Support and Robot-Applied Resistance/Assistance on Temporal Gait Parameters and Gait Related Muscle Activity 3

The Shared Effects of Active Body Weight Support and Robot-A...

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3rd ieee international conference on advanced robotics and mechatronics (icarm)

作者： Anaya-Reyes, Francisco Cheng, Hsiao-ju Thangavel, Pavithra Yu, Haoyong Natl Univ Singapore Dept Biomed Engn Singapore Singapore

ISBN: (纸本)9781538670668

For the development of protocols pertaining to highly specialized rehabilitation, it is vital to understand how specific exercises and rehabilitation robotic treatments influence locomotor adaptation. Therefore, experimental results are necessary to understand how these adaptive mechanisms depend on the role of shared training variables for optimizing the rehabilitation outcomes. In this study, we aimed to assess the combined effects of active body weight support (BWS) and robot-applied resistance/assistance training on the muscle function during robotic-assisted treadmill walking. Altogether, ten healthy participants enrolled in this study. Participants were asked to walk with different percentages levels of BWS (0%, 15% and 30% of the participants' body weight) and robot-applied resistance/assistance force (0%, 5% and 10% of the participants' body weight). Temporal gait parameters and muscular activity from gait related muscles were recorded. Overall, the provision of BWS increased the activity in muscles related to pelvic stability (i.e. Biceps Femoris) and reduced muscular activity associated with weight loading and foot clearance (i.e. Rectus Femoris and Tibialis Anterior). Moreover, resistance training did not show any superiority over assistance training in activating gait related muscles in healthy subjects, although different motor adaptations may be involved.

关键词： Body weight support Gait Muscle weakness Rehabilitation robotics Robot-assisted gait training Robotic assistance/resistance training

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Localizing Heterogeneous Access Points using Similarity-based Sequence 3

Localizing Heterogeneous Access Points using Similarity-base...

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3rd ieee international conference on advanced robotics and mechatronics (icarm)

作者： Liu, Ran Padmal, Madhushanka Marakkalage, Sumudu Hasala Shaganan, Thiruketheeswaran Yuen, Chau Tan, U-Xuan Singapore Univ Technol & Design Engn Prod Dev Pillar 8 Somapah Rd Singapore 487372 Singapore Southwest Univ Sci & Technol Sch Informat Engn Mianyang 621010 Peoples R China Univ Moratuwa Moratuwa 10400 Sri Lanka

ISBN: (纸本)9781538670668

Positioning of Will access points (APs) is important to understand the nature of the deployed ieee 802.11 network, for example, coverage, connectivity, and density. More importantly, using Wifi to perform indoor localization is a promising solution, and understanding the Will AP location could potentially improve the indoor localization accuracy. A common approach is to use an explicit model, which describes the signal propagation over a distance. But predicting the signal propagation is challenging due to the AP diversity, different antenna gains, occlusion and multi-path issue in indoor environments. Therefore, we propose to use sequence-based approach for the localization of heterogeneous APs. In particular, we represent a position with location sequence and the measurement with RSS (received signal strength) sequence. The localization of an AP is achieved by measuring the similarity between the location and RSS sequence. Moreover, we design a new similarity measure that considers the quality of a match to improve the localization accuracy. The proposed approach can be used to localize diverse APs under different antenna propagation characteristics without modeling the propagation of the radio signal. Experiments were carried in an indoor environment with 8 APs and our results show that our approach outperforms the propagation model-based approach and the sequence-based approach by 32.2% and 19.5%, respectively.

关键词： Antenna measurements Position measurement Sensors Atmospheric measurements Particle measurements Computational modeling Antennas

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Model Predictive Control for a 3-DOF Flapping-Wing Unmanned Aerial Vehicle with Control Constraints 3

Model Predictive Control for a 3-DOF Flapping-Wing Unmanned ...

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3rd ieee international conference on advanced robotics and mechatronics (icarm)

作者： Zhu, Bing Zuo, Zongyu Sun, Liang Zou, Yao Xia, Kewei Beihang Univ Res Div 7 Beijing 100191 Peoples R China Univ Sci & Technol Sch Automat & Elect Engn Beijing 100191 Peoples R China Tsinghua Univ Dept Precis Instrument Beijing 100084 Peoples R China Yonsei Univ Astrodynam & Control Lab Dept Astron Seoul 03722 South Korea Yonsei Univ Yonsei Univ Observ Seoul 03722 South Korea

ISBN: (纸本)9781538670668

A model predictive controller (MPC) is proposed in this paper for a 3-DOF flapping-wing unmanned aerial vehicle (UAV) to track the reference set point. The proposed MPC is designed by using an averaged model of the 3-DOF flapping UAV, where the control constraints arc considered. In the formulation of the MPC, nonlinear control inputs are transformed into linear ones, and constraints are re-designed for the linear control inputs, such that original constraints are satisfied. With the proposed MPC strategy, the set-point tracking error of the flapping-wing UAV can be proved ultimately bounded. A numerical example is provided to demonstrate the theoretical result.

关键词： Model predictive control flapping-wing unmanned aerial vehicles control constraints

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Contributions to the Design of a 6 DoF Contactless Sensor Intended for Intermittent Contact Haptic Interfaces 3

Contributions to the Design of a 6 DoF Contactless Sensor In...

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3rd ieee international conference on advanced robotics and mechatronics, icarm 2018

作者： De Cruz, Oscar La Gosselin, Florian Bachta, Wael Morel, Guillaume CEA LIST Interactive Robotics Laboratory Gif-sur-YvetteF-91190 France Sorbonne Universite Former UPMC Univ Paris 06 Institut des Systemes Intelligents et de Robotique ParisF-75005 France CNRS UMR 7222 Institut des Systemes Intelligents et de Robotique Equipe Agathe ParisF-75005 France INSERM ERL U1150 Institut des Systemes Intelligents et de Robotique Equipe Agathe ParisF-75005 France

ISBN: (纸本)9781538670668

The present work introduces a theoretical model and experimental validation of an Emitter-Receptor Slit based system (ERS) that uses an infrared light emitting diode (IRED) and a one-dimensional position sensitive detector (PSD). The radiation generated by the moving IRED passing through a slit creates a light beam which will form a light spot on the PSD photosensitive area. The PSD generates two photocurrents, function of the amount of received power, which values are used to calculate the position of the light spot center of gravity. The proper response modeling and characterization of the described system will help to define the design guidelines for a contactless position and orientation sensor, particularly suitable for local tool tracking in force feedback interfaces. © 2018 ieee.

关键词： Haptic interfaces

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