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检索条件"任意字段=5th International Conference on Informatics in Control, Automation and Robotics"

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Optimal 3D Kinematic Analysis for Human Lower Limb Rehabilitation 14

Optimal 3D Kinematic Analysis for Human Lower Limb Rehabilit...

引用

14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Faqihi, Hachmia Saad, Maarouf Benjelloun, Khalid Benbrahim, Mohammed Kabbaj, M. Nabil Mohammed V Univ LAII Ecole Mohammadia Ingnieurs Rabat Morocco Ecole Technol Suprieure Montreal PQ Canada Univ Fez LISTA Fac Sci Fes Morocco

ISBN: (纸本)9789897583049

the majority of the kinematics analysis carried out on the human body are usually available only for use in the sagittal plane. Limited studies were interested in this analysis in all three planes (sagittal, transverse, and frontal) where motions of all joints occur. the aim of this paper is to develop a new optimal kinematic analysis of human lower limbs in three-dimensional space for a rehabilitation end. the proposed approach is focused on optimizing the manipulability and the human performance of the human leg, as being a physiologically constrained three-link arm. the obtained forward kinematic model leads to define the feasible workspace of the human leg in the considered configuration. Using an effective optimization-based human performance measure that incorporates a new objective function of musculoskeletal discomfort, the optimal inverse kinematic (IK) model is obtained.

关键词： robotics Rehabilitation Inverse Kinematics Human Leg Trajectory Generation Optimization Minimum Jerk

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Redundancy Resolution in Minimum-time Path Tracking of Robotic Manipulators 13

Redundancy Resolution in Minimum-time Path Tracking of Robot...

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13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Reiter, Alexander Gattringer, Hubert Mueller, Andreas Johannes Kepler Univ Linz Inst Robot Altenberger Str 69 Linz Austria

ISBN: (纸本)9789897581984

Minimum-time trajectories for applications where a geometric path is followed by a kinematically redundant robot's end-effector may yield economical improvements in many cases compared to conventional manipulators. While for non-redundant robots the problem of finding such trajectories has been solved, the redundant case has not been treated exhaustively. In this contribution, the problem is split into two interlaced parts: inverse kinematics and trajectory optimization. In a direct optimization approach, the inverse kinematics problem is solved numerically at each time point. therein, the manupulator's kinematic redundancy is exploited by introducing scaled nullspace basis vectors of the Jacobian of differential velocities. the scaling factors for each time point are decision variables, thus the inverse kinematics is solved optimally w.r.t. the trajectory optimization goal, i.e. minimizing end time. the effectiveness of the presented method is shown by means of the example of a planar 4R manipulator with two redundant degrees of freedom.

关键词： robotics Optimal control Trajectory Planning Redundant Robots Inverse Kinematics

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Embodied localization in visually-guided walk of humanoid robots 11

Embodied localization in visually-guided walk of humanoid ro...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Chame, Hendry Ferreira Chevallereau, Christine Robotics Team of the IRCCyN Ecole Centrale de Nantes CNRS Nantes France

ISBN: (纸本)9789897580406

Humanoid robots are conceived to resemble the body and comportment of the human beings. Among the behavior repertoire, the possibility of executing visually-guided tasks is crucial for individual adaptation and relies on the on-board sensory system. However, the research on walk and localization is far from conclusive. Given the difficulties in the processing of the visual feedback, some studies have treated the problem by placing external sensors on the environment;thus neglecting the corporal metaphor. Others, despite exploring on-board solutions;have relied on an extensive model of the environment, thus considering the system as an information processing unit, abstracted from a body. this work presents a methodology to achieve embodied localization to serve visually-guided walk. the solution leans on robust segmentation from monocular vision, ego-cylindrical localization, and minimal knowledge about stimuli in the environment.

关键词： Computer vision

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Modelling exitement as a reaction to a virtual 3D face 11

Modelling exitement as a reaction to a virtual 3D face

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Vaškevičius, Egidijus Vidugiriene, Aušra Kaminskas, Vytautas Faculty of Informatics Vytautas Magnus University Vileikos g. 8 Kaunas Lithuania

ISBN: (纸本)9789897580390

this paper introduces a comparison of a linear and nonlinear one step predictive models that were used to describe the relationship between human emotional signal - excitement - as a reaction to a virtual 3D face feature - distance between eyes. An input-output model building method is proposed that allows building a stable model with the least output prediction error. Validation was performed using the recorded signals of six volunteers and the following measures: prediction error standard deviation, relative prediction error standard deviation, and average absolute relative prediction error. Validation results of the models showed that both models predict excitement signal in relatively high prediction accuracy.

关键词： Forecasting

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Cubature kalman filter-based performance enhancement of wireless indoor localization using ultra-wideband 15

Cubature kalman filter-based performance enhancement of wire...

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15th international conference on informatics in control, automation and robotics, ICINCO 2018

作者： Cho, Seong Yun School of Robotics Engineering Kyungil University 50 Gamasilgil Hayangup Kyungsan Korea Republic of

ISBN: (纸本)9789897583216

Ultra-wideband has been widely used for accurate wireless indoor localization systems due to accurate ranging measurement capability. there are several methods for ranging-based localization systems: iterative methods, linear closed-form solutions, model-based filters, etc. these methods have their advantages and disadvantages. In this paper, the characteristics of these methods are analysed and a cubature Kalman filter-based localization method is presented to improve the localization performance in various indoor environments. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Indoor positioning systems

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Automatic 3D Object Recognition and Localization for Robotic Grasping 18

Automatic 3D Object Recognition and Localization for Robotic...

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18th international conference on informatics in control, automation and robotics (ICINCO)

作者： Santo, Bruno Antao, Liliana Goncalves, Gil Univ Porto Fac Engn Res Ctr Syst & Technol SYSTEC Rua Dr Roberto Frias P-4200465 Porto Portugal

ISBN: (纸本)9789897585227

With the emergence of Industry 4.0 and its highly re-configurable manufacturing context, the typical fixedposition grasping systems are no longer usable. this reality underlined the necessity for fully automatic and adaptable robotic grasping systems. With that in mind, the primary purpose of this paper is to join Machine Learning models for detection and pose estimation into an automatic system to be used in a grasping environment. the developed system uses Mask-RCNN and Densefusion models for the recognition and pose estimation of objects, respectively. the grasping is executed, taking into consideration both the pose and the object's ID, as well as allowing for user and application adaptability through an initial configuration. the system was tested both on a validation dataset and in a real-world environment. the main results show that the system has more difficulty with complex objects;however, it shows promising results for simpler objects, even with training on a reduced dataset. It is also able to generalize to objects slightly different than the ones seen in training. there is an 80% success rate in the best cases for simple grasping attempts.

关键词： robotics Grasping Object Pose Estimation Object Recognition

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the development of a time of flight range imager for mobile robotics

The development of a time of flight range imager for mobile ...

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5th international conference on automation, robotics and Applications, ICARA 2011

作者： Drayton, Ben Carnegie, Dale A. Dorrington, Adrian A. School of Engineering and Computer Science Victoria University of Wellington Wellington New Zealand School of Engineering University of Waikato Hamilton New Zealand

ISBN: (纸本)9781457703287

Mobile robots are becoming increasingly prevalent in a large variety of applications. the introduction of robots into more complex environments necessitates the development of more advanced sensor systems to facilitate their successful implementation. this paper details the design and testing of a compact, configurable, indirect time of flight range imager with potential applications in mobile robotics. the paper then evaluates the range imager, particularly with regard to motion, and demonstrates some changes that can be made to improve the system's response. © 2011 IEEE.

关键词： Mobile robots

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the Influence of the Gear Reduction Ratio on the Free-floating Space Manipulator's Dynamics 18

The Influence of the Gear Reduction Ratio on the Free-floati...

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18th international conference on informatics in control, automation and robotics (ICINCO)

作者： Wojtunik, Mateusz Seweryn, Karol Ctr Badan Kosmicznych Polskiej Akad Nauk CBK PAN Warsaw Poland

ISBN: (纸本)9789897585227

Utilisation of space manipulator mounted on the satellite is one the main methods for the proposed Active Debris Removal and On-Orbit Servicing missions. Precise numerical models of the manipulator's joint are very important as its dynamics has a strong effect on the behaviour of the system including the base where it is mounted. One of aspects that can be considered is the extension of manipulator's dynamical equations with gear kinematic constraints. To achieve this goal, dynamical equations of motion for planar 3DoF free-floating manipulator with gear kinematic constraints are presented in this paper. Open-loop analysis is performed to form conclusions concerning the influence of the gear reduction ratio on space manipulator's dynamics. Torques required to perform end-effector straight line trajectory are evaluated using inverse dynamics path planning algorithm and then utilised as motor driving torques for different gear reduction ratios. It appears that the gear reduction ratio influences the system mass matrix nonlinearly causing the end-effector trajectory to deviate from the straight line. these deviations are already observed for relatively low gear reduction ratios.

关键词： Space robotics Free-floating Manipulators Gear-equipped Space Manipulators Gear Reduction Ratio

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A neurally inspired robotic control algorithm for gait rehabilitation in hemiplegic stroke patients 5

A neurally inspired robotic control algorithm for gait rehab...

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5th IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics, BioRob 2014

作者： Mishra, Abhishek Ghosh, Rohan Coscia, Martina Kukreja, Sunil Chisari, Carmelo Micera, Silvestro Haoyong, Yu thakor, Nitish V. Singapore National University of Singapore Singapore Johns Hopkins University United States Department of Bioengineering National University of Singapore 9 Engineering Drive 1 Singapore117575 Singapore SINAPSE NUS NASA CA93524 United States Translational Neuro Engineering Lab Center for Neuroprosthetics School of Engineering Lausanne Switzerland Biorobotics Institute Scuola Superiore Sant'Anna Pisa Italy SINAPSE NUS 28 Medical Drive Singapore117456 Singapore

ISBN: (纸本)9781479931262

Cerebrovascular accident or stroke is one of the major brain impairments that affects numerous people globally. After a unilateral stroke, sensory motor damages contralateral to the brain lesion occur in many patients. As a result, gait remains impaired and asymmetric. this paper describes and simulates a novel closed loop algorithm designed for the control of a lower limb exoskeleton for post-stroke rehabilitation. the algorithm has been developed to control a lower limb exoskeleton including actuators for the hip and knee joints, and feedback sensors for the measure of joint angular excursions. It has been designed to control and correct the gait cycle of the affected leg using kinematics information from the unaffected one. In particular, a probabilistic particle filter like algorithm has been used at the top-level control to modulate gait velocity and the joint angular excursions. Simulation results show that the algorithm is able to correct and control velocity of the affected side restoring phase synchronization between the legs.

关键词： Exoskeleton (robotics)

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Flexible shape measurement system for chemical plant using magnetic sensors 11

Flexible shape measurement system for chemical plant using m...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Yoshida, Kumiko Kawasue, Kikuhito Interdisciplinary Graduate School of Agriculture and Engineering University of Miyazaki 1-1 Gakuen Kibanadai Nishi Miyazaki Japan Department of Environmental Robotics University of Miyazaki 1-1 Gakuen Kibanadai Nishi Miyazaki Japan

ISBN: (纸本)9789897580390

We propose a flexible computer vision system using magnetic sensors. the system enables a flexible free scanning of a CCD camera and a laser slit using 3D magnetic sensors. Many numbers of views of each model from different angles can be taken on measuring the configuration between a CCD camera and a laser slit projector simultaneously. the information of different views is combined to reconstruct the 3D object on a computer display. In this paper, the application for pipe measurement is introduced. Experimental results show the feasibility of our system.

关键词： Computer vision

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