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A robotic arm design for stroke patients

A robotic arm design for stroke patients

引用

international conference on Power Electronics Systems and Applications (ICPESA)

作者： Shuxiao Wang K.W.E. Cheng K. Ding Jiongkang Lin C.D. Xu Department of Electrical Engineering Hong Kong Polytechnic University Hong Kong China

This paper presents a robotic arm for stroke patients. Two SEMG (Surface Electromyography) signals collected from bicipital muscle and triceps muscle of arm, which are used to control robotic arm. When patients want to flexile arm, the SEMG signal of bicipital muscle is larger than that of triceps muscle. On the other hand, when patient want to extend arm, the SEMG signal of triceps muscle is larger than that of bicipital muscle. The robotic arm's rotation direction is decided by the difference of two SEMG signals. The torque and speed of the robotic arm are controlled by the amplitudes of SEMG signals. The system is based DSP (Digital Signal Processor). H-bridge is used to drive DC motor. The experimental results show that the robotic arm can act correctly according to SEMG signals of human arm.

关键词： DC motors Muscles Pulse width modulation converters Voltage Pulse width modulation inverters Power electronics Robot control Torque control Pulse width modulation Rehabilitation robotics

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Multi-agent control architecture of mobile manipulators: Extraction of 3D coordinates of object using an eye-in-hand camera

Multi-agent control architecture of mobile manipulators: Ext...

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international conference on Signals, Circuits and Systems, SCS

作者： A. Hentout B. Bouzouia I. Akli M. A. Bouskia R. Benbouali E. Ouzzane Advanced Technologies Development Centre (CDTA) Computer-Integrated Manufacturing and Robotics Algiers Algeria University of Sciences and Technology Houari Boumediene Algiers Algeria

ISBN: (纸本)9781424443970;9781424443987

This research is part of the development of a multi-agent control architecture of mobile manipulators. The control architecture consists of six agents: Supervisory, Local Mobile Robot, Local Manipulator Robot, Vision System, Remote Mobile Robot and Remote Manipulator Robot. The first four agents are installed on an off-board PC while the two others are installed on the on-board PC of the robot. This paper proposes the development of the Vision System agent in order to give the robot the ability to manipulate in an indoor environment. It presents a position-based control of mobile manipulators with a single camera mounted at its end-effector (eye-in-hand camera). The cooperative manipulation can be carried out due to messages exchanged between the various agents of the control architecture (3D coordinates of object, joints angles of the manipulator for capturing images, current position coordinates and orientation angle of the mobile base, etc.). Experimental results, using the RobuTER/ULM mobile manipulator, are presented to verify the correctness, the effectiveness and the performances of the implemented agent.

关键词： Cameras Robot vision systems Manipulators Mobile robots Robot kinematics control systems Machine vision Mobile computing Indoor environments Humans

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Electronic mail-based adaptive social graph for the conference

Electronic mail-based adaptive social graph for the conferen...

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international Workshop on Soft Computing Applications (SOFA)

作者： Gabor Tolnai Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

In the last few years many Web sites were created to build social networks. These sites have common behavior, for example they need their users to search and mark their friends, so those are the users who build the graph themselves. This graph is fixed from a certain point of view: the connections are binary connections and the graph consists of only the explicit data given by the users. In this paper we define a social network based on e-mails which is distributed and asymmetric. The key differences between this type of network and usual networks are that using this network we do not need to register to a specific Web site and we do not need to mark our friends. The social graph can be built automatically based on the mass of e-mails and the address book belonging to us. By analyzing this huge amount of data we can reveal the connections between our contacts and build a weighted graph. Besides this we can create a graph from the e-mails using the same data to improve the search results when looking for a specific e-mail or contact. These weighted graphs can be considered as neural networks. We can create an adaptive method to modify the connections in the graphs with implicit data gathered from the behavior of the user. Moreover, we can define a search algorithm on this type of graph based on the activation model of the neural networks. In this paper we show a way to build this kind of networks and we define an algorithm which finds similar elements to a specific item.

关键词： Electronic mail Social network services Books Neural networks automation informatics IP networks Internet Protocols Message service

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Which ostensive stimuli can be used for a robot to detect and maintain tutoring situations?

Which ostensive stimuli can be used for a robot to detect an...

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international conference on Affective Computing and Intelligent Interaction and Workshops, ACII

作者： Katrin Solveig Lohan Anna-Lisa Vollmer Jannik Fritsch Katharina Rohlfing Britta Wrede CoR Lab Applied Informatics Group Bielefeld University Bielefeld Germany

In developmental research, tutoring behavior has been identified as scaffolding infants' learning processes. Infants seem sensitive to tutoring situations and they detect these by ostensive cues. Some social signals such as eye-gaze, child-directed speech (Motherese), child-directed motion (Motionese), and contingency have been shown to serve as ostensive cues. The concept of contingency describes exchanges in which two agents interact with each other reciprocally. Csibra and Gergely argued that contingency is a characteristic ostensive stimulus of a tutoring situation. In order for a robot to be treated similar to an infant, it has to both, be sensitive to the ostensive stimuli on the one hand and induce tutoring behavior by its feedback about its capabilities on the other hand. In this paper, we raise the question whether a robot can be treated similar to an infant in an interaction. We present results concerning the acceptance of a robotic agent in a social learning scenario, which we obtained via comparison to interactions with 8-11 months old infants and adults in equal conditions. We applied measurements for motion modifications (Motionese) and eye-gaze behavior. Our results reveal significant differences between adult-child interaction (ACI), adult-adult interaction (AAI) and adult-robot interaction (ARI) suggesting that in ARI, robot-directed tutoring behavior is even more accentuated in terms of Motionese, but contingent responsivity is impaired. Our results confirm previous findings concerning the differences between ACI, AAI, and ARI and constitute an important empirical basis for making use of ostensive stimuli as social signals for tutoring behavior in social robotics.

关键词： Pediatrics Robot sensing systems Speech Feedback Information filtering Information filters informatics Motion measurement Environmental economics Environmental management

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Estimation of user interest using time delay features between proactive content presentation and eye movements

Estimation of user interest using time delay features betwee...

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international conference on Affective Computing and Intelligent Interaction and Workshops, ACII

作者： Jean-Baptiste Dodane Takatsugu Hirayama Hiroaki Kawashima Takashi Matsuyama Graduate School of Informatics Kyoto University Sakyo Kyoto Japan

Human-machine interaction still lacks smoothness and naturalness despite the widespread utilization of intelligent systems and emotive agents. In order to improve the interaction, this work proposes an approach to estimate user's interest based on the relationships between dynamics of user's eye movements, more precisely the endogenous control mode of saccades, and machine's proactive visual content presentation. Under a specially-designed presentation phase to make the user express the endogenous saccades, we analyzed delays between the saccades and the presentation events. As a result, we confirmed that the delay while the user's gaze is maintained on the previous presented content regardless of the next event, called resistance, is a good indicator of the interest estimation (70% success, upon 20 experiments). It showed higher accuracy than the conventional interest estimation based on gaze duration.

关键词： Delay estimation Delay effects Humans Electrical resistance measurement Probes Switches Man machine systems Prototypes Displays Bridges

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Fault adaptive control for RUAV actuator failure with unscented Kalman filter

Fault adaptive control for RUAV actuator failure with unscen...

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3rd international conference on Innovative Computing Information and control, ICICIC'08

作者： Qi, Juntong Han, Jianda National Key Laboratory of Robotics Graduated School of Chinese Academy of Sciences Chinese Academy of Sciences China National Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9780769531618

A new fault adaptive control methodology against the actuator failure is proposed. The actuator failure modeling are introduced to denote the actuator healthy Coefficients (AHCs) and the Unscented Kalman Filter (UKF) is employed for on-line estimation of both the flight states and the AHCs parameters of rotorcraft UAV(RUAV). In this paper, The functionality of the approach has been illustrated through experiments on the Shenyang Institute of automation RUAV platform SIA-Heli-90 and the results show that the proposed method is an effective tool for actuator fault adaptive control of RUAVs. © 2008 IEEE.

关键词： Actuators

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Dynamical models for omni-directional robots with 3 and 4 wheels

Dynamical models for omni-directional robots with 3 and 4 wh...

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5th international conference on informatics in control, automation and robotics

作者： Oliveira, Helder P. Sousa, Armando J. Moreira, A. Paulo Costa, Paulo J. Univ Porto Fac Engn P-4200465 Oporto Portugal

ISBN: (纸本)9789898111319

Omni-directional robots are becoming more and more common in recent robotic applications. They offer improved ease of maneuverability and effectiveness at the expense of increased complexity. Frequent applications include but are not limited to robotic competitions and service robotics. The goal of this work is to find a precise dynamical model in order to predict the robot behavior. Models were found for two real world omni-directional robot configurations and their parameters estimated using a prototype that can have 3 or 4 wheels. Simulations and experimental runs are presented in order to validate the presented work.

关键词： identification simulation modeling and omni-directional mobile robots

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Detection and control of Non-linear behavior by Sliding Modes control in a 3 d.o.f. robot

Detection and control of Non-linear behavior by Sliding Mode...

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5th international conference on informatics in control, automation and robotics

作者： Urrea, Claudio Jamett, Marcela Univ Santiago Chile Dept Ingn Elect Santiago Chile

ISBN: (纸本)9789898111319

Results from simulations of a Planar Robot Model, when it is placed in the same plane of the action of the gravity force are reviewed in this paper. The model includes several parameters usually discarded in current models, such as Driving, and Non-linear Friction, for an industrial-type robotic manipulator and its actuators. When we develop more exact representations of the dynamics of a manipulator and their actuators, chaotic behavior is detected for certain parameter values of the robotic manipulator. This chaotic behavior - without external inputs - was exactly controlled by Sliding Modes.

关键词： Planar Robot Model chaotic behaviour Sliding Modes

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Noise removal based on fourth order partial differential equation

Noise removal based on fourth order partial differential equ...

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3rd international conference on Innovative Computing Information and control, ICICIC'08

作者： Zhifeng, Wang Yandong, Tang Yingkui, Du State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Graduate School Chinese Academy of Sciences China

ISBN: (纸本)9780769531618

Noise removal is an important image processing problem which has wide applications in different fields. The noise removal and edge preservation algorithm based on variational method and partial differential equation (PDE) for processing Magnetic Resonance images is proposed. The proposed method can avoid the blocky effects and false edges, compared with other second-order PDE method;moreover, it is realized easily. Experimental results illustrate the effectiveness of the model in the Magnetic Resonance image noise removal. © 2008 IEEE.

关键词： Partial differential equations

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Directional change in a priori anti-windup compensators vs. prediction horizon

Directional change in a priori anti-windup compensators vs. ...

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5th international conference on informatics in control, automation and robotics

作者： Horla, Dariusz Poznan Univ Tech Inst Control & Informat Engn Div Control & Robot Ul Piotrowo 3A PL-60965 Poznan Poland

ISBN: (纸本)9789898111326

The paper presents the correspondence in between directional change and anti-windup phenomenon with respect to a priori anti-windup compensator on the basis of MPC (simulation results include plants with not equal number of inputs and outputs). It shows what is the excess of directional change for consecutive predictions of control vectors for a given prediction horizons.

关键词： directional change windup phenomenon optimal control linear matrix inequalities predictive control

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