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A Review of Upper and Lower Limb Rehabilitation Training robot 10th

A Review of Upper and Lower Limb Rehabilitation Training Rob...

引用

10th international conference on Intelligent robotics and applications (ICIRA

作者： Hu, Wenlong Li, Gongfa Sun, Ying Jiang, Guozhang Kong, Jianyi Ju, Zhaojie Jiang, Du Wuhan Univ Sci & Technol Key Lab Met Equipment & Control Technol Minist Educ Wuhan 430081 Peoples R China Wuhan Univ Sci & Technol Hubei Key Lab Mech Transmiss & Mfg Engn Wuhan 430081 Peoples R China Univ Portsmouth Lab Intelligent Syst & Biomed Robot Portsmouth PO1 3HE Hants England

ISBN: (纸本)9783319652894;9783319652887

With the aging of society, the number of patients with limb disorders caused by stroke has increased year by year, it is necessary to introduce more advanced technology into the field of rehabilitation treatment. Rehabilitation training based on the brain plasticity has been proved by clinical medical practice as an effective treatment method, and because of the serious lack of professional rehabilitation therapists, a large number of rehabilitation training robot have been designed so far. This article analyzed and described the research status on upper and lower limbs rehabilitation training robot, and at last the paper forecasts the future development trend of rehabilitation robot.

关键词： Rehabilitation training robot Stroke Brain plasticity

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Cloud-Based robots and Intelligent Space Teleoperation Tools 4th

Cloud-Based Robots and Intelligent Space Teleoperation Tools

引用

4th international conference on robot intelligence technology and applications (RiTA)

作者： Cadrik, Tomas Takac, Peter Ondo, Jaroslav Sincak, Peter Mach, Marian Jakab, Frantisek Cavallo, Filippo Bonaccorsi, Manuele Tech Univ Kosice Fac Elect Engn & Informat Dept Cybernet & Artificial Intelligence Ctr Intelligent Technol Kosice Slovakia Scuola Super Sant Anna BioRobot Inst Pisa Italy

ISBN: (纸本)9783319312934;9783319312910

Despite an idea of robotic system teleoperation is a relatively old concept, here we present its enhancements heading to an interconnection of teleoperation and collecting relevant information from the environment where robots act. This environment should be an intelligent space featured with various devices and sensors, which allows to obtain, preprocess and stores data in the cloud. Those data should provide relevant information for teleoperator or directly for robots, which act autonomously. For this purpose, we developed cloud-based tools, named Telescope v2. It is a platform-independent system for remote monitoring and controlling various systems. In this paper, we introduce this system, its abilities, and compare it with its network-based ancestor, Telescope v1. We analyze measurements of latency and response time when our new system is used for teleoperation in different places equipped with various Internet bandwidths.

关键词： Remote control

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A Novel Quality Assessment Metric for Synthesized Virtual View in 3D Video 3

A Novel Quality Assessment Metric for Synthesized Virtual Vi...

引用

3rd international conference on Fuzzy Systems and Data Mining (FSDM)

作者： Zhang, Yan North China Inst Aerosp Engn Sch Comp & Remote Sensing Informat Technol Langfang 065000 Peoples R China

ISBN: (纸本)9781614998280;9781614998273

Three-dimensional (3D) video involves stereoscopic and multi-view provides the viewer with a depth perception. In order to reduce the transmission data, multi-view video plus depth which are the combination of texture image and associated depth map is applied. A limited number of views and corresponding depth maps are input to generate more intermediate virtual views for 3D display by view synthesis reference software. Due to the lack of ground truth, virtual view quality assessment is a difficult problem. This paper therefore proposes a novel reduced-reference quality assessment metric for synthesized virtual view by utilizing the edge similarity between undistorted and distorted synthesized view. Undistorted view edge is synthesized by uncompressed texture edge and depth map. Distorted edge is extracted from assessed virtual view. The results over multi-view video sets imply that the proposed metric can reflect virtual view quality and is highly consistent with full-reference metric.

关键词： quality assessment virtual view reduced-reference edge similarity

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Method and Experiment of the NAO Humanoid robot Walking on a Slope Based on CoM Motion Estimation and Control 1

引用

10th international conference on Intelligent robotics and applications (ICIRA

作者： Yuan, Qingdan Xi, Zhigang Lu, Qinghua Lin, Zhihao Foshan Univ Sch Mechatron Engn Foshan 528000 Guangdong Peoples R China

ISBN: (数字)9783319652986

ISBN: (纸本)9783319652986;9783319652979

In this paper, a method of biped walking on a slope is studied, taking the NAO humanoid robot as research object. Firstly, we adopt the 3D linear inverted pendulum mode (3D-LIPM) to generate walking pattern, and obtain the reference trajectory of the center of mass (CoM). Then the Denavit-Hatenberg (D-H) parameters of the leg chain are determined based on the analysis of the NAO leg configuration. Finally in the process of walking, an extended Kalman filter (EKF) via fusing sensor data is used to estimate the robot's CoM motion, in addition, an inverse kinematics (IK) controller is implemented which regulates the CoM position state in real time based on position tracking errors. On a slope with given angle, walking uphill and downhill experiments are conducted. The experimental results show that for the NAO humanoid robot, the deviation of walking direction can be controlled within 2 cm, so that it can keep walking stability for a long distance.

关键词： NAO humanoid robot Biped walking CoM motion estimation

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Robust and Fast Mapping Based on Direct Methods 2

Robust and Fast Mapping Based on Direct Methods

引用

2nd international conference on Advanced robotics and Mechatronics (ICARM)

作者： Wang, Pengfei Gao, Chao Guo, Wei Li, Mantian Zha, Fusheng Cong, Yanjie Harbin Inst Technol State Key Lab Robot & Syst Yikuang Rd Harbin Heilongjiang Peoples R China Double Coin Grp Jiangsu Tyre Co Ltd Rugao Peoples R China

ISBN: (纸本)9781538632604

Simultaneous localization and mapping technology is the key technology of robot. It's now still challenging due to huge computational cost, rapid motion, non-texture environment, illumination fluctuations, etc. In this paper, we propose a SLAM algorithm based on direct method similar to LSD SLAM. In our method, we adopt constant-velocity motion model to predict the camera pose of next frame and we demonstrate the model's function on avoiding tracking lost. Besides, we adopt inverse compositional method rather than forward additive method used by LSD SLAM to align image and experiments show that ours is more efficient. In addition, we optimize the map on Sim(3) to avoid scale-drift of monocular SLAM.

关键词： direct methods simultaneous localization and lapping monocular SLAM tracking Sim(3)

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A Novel Soft robot Based on Organic Materials: Finite Element Simulation and Precise Control 10th

A Novel Soft Robot Based on Organic Materials: Finite Elemen...

引用

10th international conference on Intelligent robotics and applications (ICIRA

作者： Wei, Fanan Zheng, Jianghong Yu, Changle Fuzhou Univ Sch Mech Engn & Automat Fuzhou 350116 Peoples R China Fuzhou Univ Sch Ocean Fuzhou 350116 Peoples R China

ISBN: (纸本)9783319652894;9783319652887

Considering the inherent safety and high flexibility, soft robot is drawing extensive attention from both industry and academics. Soft robots made of organic materials show the merits of considerably low cost and ease of fabrication. But, the precise control of soft robot is still of great challenge. A sophisticated understanding of the motion mechanics of organic soft robot is essential for accurate control of this type of robot. In this paper, PDMS/PEDOT:PSS system, which is developed for soft robot, is modelled and simulated using finite element method. Through parameters tuning, the dependences of PDMS/PEDOT:PSS system deformation on layer thicknesses and electrical current are acquired and compared with the experimental results available in reference. Furthermore, we proposed a three layer structure for soft robot, and investigated the relationship between deformation of this structure and layer thicknesses. Our work proposed an approach for precise control for soft robot through a combination of finite element simulation and experiment data. Additionally, the three layer structure we proposed is demonstrated to be a promising solution for high response speed soft robot.

关键词： Soft robot PEDOT:PSS PDMS Finite element simulation

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Correction Algorithm of LIDAR Data for Mobile robots 10th

Correction Algorithm of LIDAR Data for Mobile Robots

引用

10th international conference on Intelligent robotics and applications (ICIRA

作者： Bai, Wenzhi Li, Gen Han, Liya Huazhong Univ Sci & Technol Wuhan 430074 Peoples R China

ISBN: (纸本)9783319652924;9783319652917

Laser range finder (LRF) or laser distance sensor (LDS), further referred to as LIDAR (light detection and ranging). LIDAR can obtain environmental point cloud data, while a robot can realize environmental sensing by adoption of the point cloud data generated and LIDAR-based SLAM (Simultaneous Localization And Mapping) algorithm. The precision of point clouds provided by the LIDAR determines that of environmental sensing of the LIDAR-based mobile robot. In this paper, a common correction algorithm has been proposed to correct the inaccuracy of measured point cloud data caused by mobile LIDAR, effectively improving the precision of point cloud data measured by the LIDAR under a mobile state. It also conducts mathematical derivation of the algorithm, presents simulation and real world experiments performed and verifies the necessity and effectiveness of the algorithm derived by experimental results in the paper.

关键词： LIDAR Data correction Mobile robot SLAM

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Preliminary Study in a Novel robotic-Assisted Femoral Shaft Fracture Reduction System 4th

Preliminary Study in a Novel Robotic-Assisted Femoral Shaft ...

引用

4th international conference on robot intelligence technology and applications (RiTA)

作者： Zhu, Qing Wang, Xingsong Sun, Xiaogang Liang, Bin Southeast Univ Sch Mech Engn Nanjing 211189 Jiangsu Peoples R China Nanjing First Hosp Dept Orthoped Nanjing 210006 Jiangsu Peoples R China

ISBN: (纸本)9783319312934;9783319312910

The minimally invasive surgical operation of intramedullary nailing has prevailed as a standard technique for a definite stabilizing treatment in femoral shaft fractures, and reduction is a critical step before carrying out an invasive operation. However, there are some disadvantages about this technology, such as the frequent radiation exposure for the operator and patients. This paper describes a novel cuff-type robotic-assisted femoral shaft fracture repositioning system, and preliminary discusses the constitutive modeling of passive transverse mechanical properties of skeletal muscle. Skeletal traction and fragments alignment for femur fracture reduction can be performed separately, which are standard procedures for surgeons in clinical. Correspondingly, the robotic system consists of distraction device, cuff-type reduction unit and remote control system. Preliminary experiments based on artificial models have been done, and the results show the effectiveness of the proposed robotic-assisted system, and indicate the potential value for further study.

关键词： Fracture reduction robot Cuff-type unit Skeletal muscle Compressive behavior

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Space robotic De-Tumbling of Large Target with Eddy Current Brake in Hand 1

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10th international conference on Intelligent robotics and applications (ICIRA

作者： Liu, Jiayu Du, Baosen Huang, Qiang Beijing Inst Technol Intelligent Robot Inst Sch Mechatron Engn 5 Nandajie Beijing Peoples R China China Acad Launch Vehicle Technol CALT Inst 18 Beijing Inst Precise Mechatron & Controls 1 Nandahongmenlu Beijing Peoples R China

ISBN: (数字)9783319652986

ISBN: (纸本)9783319652986;9783319652979

Space debris has increased with recent launch missions greatly. Former active debris removal tests using space robot mainly focused on the fundamental technology of target recognition, motion control and path planning. However, robot contacts directly with the surface of targets with large mass and angular momentum will cause severe collision problems. A target de-tumbling strategy is proposed in this paper by using two manipulators. Each arm is equipped with magnetic coil, which can generate eddy current in conductive targets and gradually de-tumble rotation without contact. The three-dimension rotation model of a discarded satellite and upstage is established based on its distribution of the moment of inertia and the safe working space of the robots is calculated. By analyzing the point of application and direction of the magnetic force, an optimized de-tumbling trajectory for the robot is presented to minimize the de-tumbling time by reducing the targets' angular momentum. At last, a simulation is processed to verify the optimized de-tumbling method.

关键词： Space robot Eddy current brake On-orbit Tumbling target Large debris capture

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Research on robot Grinding technology Considering Removal Rate and Roughness 10th

Research on Robot Grinding Technology Considering Removal Ra...

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10th international conference on Intelligent robotics and applications (ICIRA

作者： Xie, Shaobo Li, Shan Chen, Bing Qi, Junde Northwestern Polytech Univ Key Lab Contemporary Design & Integrated Mfg Tech Minist Educ Xian 710072 Peoples R China

ISBN: (纸本)9783319652924;9783319652917

In order to solve the problem of poor consistency and low processing efficiency of artificial grinding, this paper establishes a six-axis robot automatic grinding platform. In the first section of the paper, the qualitative relationship between the process parameters and the grinding quality could be learned from the single factor experiment, and the primitive range of the process parameter domain is obtained. On the basis, an orthogonal experiment is carried out, and a quantitative regression empirical model is established. Then the parameter sensitivity function is deduced based on the model. In regards to the grinding quality and stability constraints, the process parameter domain optimization is carried out. Finally, considering the influence of grinding attitude, the optimal attitude angle is found in the range of process parameters. The results show that the blade grinding system and the grinding scheme are effective.

关键词： robot grinding system Grinding quality Grinding angle Optimized parameters domain Turbine blades

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