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检索条件"机构=1State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin"

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A novel method of combining computer vision, eye-tracking, EMG, and IMU to control dexterous prosthetic hand

A novel method of combining computer vision, eye-tracking, E...

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Shi, Chunyuan Qi, Le Yang, Dapeng Zhao, Jingdong Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150081 China Artificial Intelligence Laboratory State Key Laboratory of Robotics and System Harbin150081 China

ISBN: (纸本)9781728163215

Due to poor robustness, instability, and the heavy burden of use, the traditional myoelectric control method is still powerless in the face of the control of the dexterous prosthetic hand. To solve this problem, a new method (CVEEI), that combines computer vision, eye tracking, electromyogram (EMG) and IMU was proposed in this paper. Firstly, through gazing (eye-tracking) in front of the screen, the grasping pattern of the objects can be fed back to the prosthetic hand controller;Then, the prosthetic hand can be controlled to transport the object to the position expected, on collaboration of both EMG and IMU. In this process, the grasping pattern of all objects can be recognized by computer vision in real-time. Importantly, through comparing the traditional EMG control method (co-contraction to switch) in the transport experiment of the objects, the superiority of this new method in operating the dexterous prosthetic hand was further verified (fast > 1s/single object) in this paper. © 2019 IEEE.

关键词： Eye tracking

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GRNet: Gridding Residual Network for Dense Point Cloud Completion 16th

GRNet: Gridding Residual Network for Dense Point Cloud Compl...

引用

16th European Conference on Computer Vision, ECCV 2020

作者： Xie, Haozhe Yao, Hongxun Zhou, Shangchen Mao, Jiageng Zhang, Shengping Sun, Wenxiu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Faculty of Computing Harbin Institute of Technology Harbin China SenseTime Research Shenzhen China Nanyang Technological University Singapore Singapore The Chinese University of Hong Kong Hong Kong SAR China Peng Cheng Laboratory Shenzhen China SenseTime Research Hong Kong SAR China

ISBN: (纸本)9783030585440

Estimating the complete 3D point cloud from an incomplete one is a key problem in many vision and robotics applications. Mainstream methods (e.g., PCN and TopNet) use Multi-layer Perceptrons (MLPs) to directly process point clouds, which may cause the loss of details because the structural and context of point clouds are not fully considered. To solve this problem, we introduce 3D grids as intermediate representations to regularize unordered point clouds and propose a novel Gridding Residual Network (GRNet) for point cloud completion. In particular, we devise two novel differentiable layers, named Gridding and Gridding Reverse, to convert between point clouds and 3D grids without losing structural information. We also present the differentiable Cubic Feature Sampling layer to extract features of neighboring points, which preserves context information. In addition, we design a new loss function, namely Gridding Loss, to calculate the L1 distance between the 3D grids of the predicted and ground truth point clouds, which is helpful to recover details. Experimental results indicate that the proposed GRNet performs favorably against state-of-the-art methods on the ShapeNet, Completion3D, and KITTI benchmarks. © 2020, Springer Nature Switzerland AG.

关键词： Computer vision

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Design of a highly compliant underactuated prosthetic hand

Design of a highly compliant underactuated prosthetic hand

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Cheng, Ming Fan, Shaowei Jiang, Li Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang China

ISBN: (纸本)9781728163215

This paper presents a highly compliant prosthetic hand based on a novel synergy mechanism. The prosthetic hand consists of a synergy mechanism, four fingers and one thumb. The synergy mechanism can transmit the power from two motors to four fingers. It can effectively reduce the number of motors. At the same time, it makes the prosthetic hand have excellent dexterity. The underactuated finger has three joints with two DOF. It has two main motion modes: coupled motion in free space and self-adaptive motion when contacting with the object, which can mimic the human finger as much as possible. The thumb uses one motor to drive the two flexion-extension joints and uses a manual switch to drive the abduction-adduction joint, which can reduce the number of motors and the cost efficiently. The performance evaluation is given to demonstrate the comprehensive performance in terms of the versatility, compliance, sensing, size, weight and cost of the proposed design. © 2019 IEEE.

关键词： End effectors

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Modeling and simulation of the structural and electrical characteristics for a polarized piezoelectric sensor actuator 2

Modeling and simulation of the structural and electrical cha...

引用

2nd International Conference on Modeling in Mechanics and Materials

作者： Zhang, Chong Shan, Xiaobiao Peng, Gaoliang Xie, Tao Dong, Xin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

The present work aims to design a new polarized piezoelectric sensor actuator. This sensor actuator not only can achieve sensing and execution at the same time, but also has the advantages of small size and high integration. A mathematical model of stack displacement with input voltage and number of layers was established. The relationship between the charge generated by quartz crystal and external force was numerically analysed. The static and modal analysis of the structure were carried out to obtain the measured force range and the maximum working frequency. The transient simulation is used to verify the follow-up law of the actuator to the alternating signal. The Electric field interference analysis of the piezoelectric sensor actuator was performed to eliminate the interference from the electric field generated by the actuator. The results show that the measured force range of the actuator is up to 1 kN, with the maximum working frequency is 1000 Hz, and the actuator can follow the drive voltage signal well, with an almost negligible electric field interference in the sensor part. This paper provides a new method and theory for the study of self-sensing actuators. © Published under licence by IOP Publishing Ltd.

关键词： Piezoelectricity

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Real-time dynamic grasping force optimization of multi-fingered dextrous hand

Real-time dynamic grasping force optimization of multi-finge...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Liu, Ziqi Jiang, Li Yang, Bin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9781728163215

A technique for real-time dynamic grasping force optimization is presented in this article. The force optimization is divided into online and offline two parts. The improved linear constrained gradient flow algorithm reduces the dimension of the description matrix based on the traditional gradient flow, and the non-negative linear combination method is introduced to optimize the initial force of the algorithm. Relatively optimal initial grasping force and dimensionality reduction gradient flow algorithm improve the calculating efficiency online. The corresponding illustrative examples are made to verify that the proposed method to obtain both optimal grasping force and faster convergence rate in the dynamic grasp process is feasible. © 2019 IEEE.

关键词： Constrained optimization

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Reducing the drag of underwater vehicle in the shape of a small boat by using piezoelectric transducers 2

Reducing the drag of underwater vehicle in the shape of a sm...

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2nd International Conference on Modeling in Mechanics and Materials

作者： Zhang, Lu Shan, Xiaobiao Liu, Yingxiang Peng, Gaoliang Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Reducing the flow resistance of moving underwater vehicles can improve their performance and reduce the energy consumption. This paper presents a method to interfere the turbulent boundary layer for achieving the drag reduction by using piezoelectric transducers. The transducer produces ultrasonic traveling waves vibration near the hull surface. The working frequency and the maximum vibration amplitude of the transducers placed in different locations were obtained through the structural dynamic analysis. The fluid-solid coupling simulations were performed to explore the reduction drag performance. The simulation results show that better drag reduction performance can be obtained when the angle between the vibration direction of the piezoelectric transducer and the flow direction is 67.62. The method of using piezoelectric transducer vibration for drag reduction is proved to be feasible. The present work provides a valuable reference for the study of drag reduction of underwater vehicles. © Published under licence by IOP Publishing Ltd.

关键词： Piezoelectricity

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Revised Kinematics of Rope–Bar Variable Geometry Truss Manipulator

Revised Kinematics of Rope–Bar Variable Geometry Truss Mani...

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作者： Li, Chuanyang Yan, Huiyin Guo, Hongwei Tang, Dewei Liu, Rongqiang Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

This paper presents a design of rope–bar variable geometry truss manipulator, which consists of two models. Then, the revised kinematics with the n-module manipulator is analyzed. Based on the revised kinematic model, the workspace of a manipulator is solved. These results could be potentially applied to the engineering application. © 2019, Springer Nature Switzerland AG.

关键词： Manipulators

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A novel visual odometer assisted pose tracking method for mobile robots

A novel visual odometer assisted pose tracking method for mo...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Yuan, Rupeng Zhang, Fuhai Zhu, Ying Fu, Yili Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781728163215

Pose tracking is very crucial for robot's autonomous navigation. LIDAR based pose tracking algorithms are widely used due to its high cost-effective advantage. However these methods are likely to give back wrong result if the environment is blocked by the obstacles. In this paper, a visual odometer assisted pose tracking method is proposed to increase the robustness of pose tracking. Statistical index is introduced to evaluate the samples' score of LIDAR based pose tracking. If the result is not credible, the result of visual odometer will compensate the error along the maximum error direction. The experiment shows that the proposed method is able to track the robot correctly if the environment is blocked by obstacles. © 2019 IEEE.

关键词： Mobile robots

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Parameters Analysis of SMA Bimetallic Strip Smart Actuator

Parameters Analysis of SMA Bimetallic Strip Smart Actuator

引用

作者： Li, Chuanyang Tang, Dewei Guo, Hongwei Yan, Huiyin Ouyang, Weimin Liu, Rongqiang Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

This paper presents a study on the bimetallic strip smart actuator with six parameters. The impacts of these parameters on characteristics of the actuator, namely, driving torque, output displacement, and stiffness are analyzed. Then, the finite element analysis of the smart actuator is conducted and the natural frequency of the actuator is discussed. These analyses are expected to be applied for optimal design of this smart actuator. © 2019, Springer Nature Switzerland AG.

关键词： Actuators

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A novel grasping control method for dexterous prosthesis based on eye-tracking

A novel grasping control method for dexterous prosthesis bas...

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Li, Jie Shi, Chunyuan Yang, Dapeng Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150081 China

ISBN: (纸本)9781728163215

The state-of-art dexterous prosthetic hand with multi-degree-of-freedom urgently requires a control method to match its dexterity. The purpose of this paper is to develop a method on rapid grasp control of prosthetic hand based on eye-tracking and verify its effectiveness by experiments. Firstly, an interactive experiment platform was established. Based on the platform, the operator can select the necessary grasping pattern from a graphic interface through eye movement and trigger the selected pattern by gazing the target for a short time (~300ms). The selected grasp pattern will be fed back to the operator during the hand prosthesis performing reach-and-grasp tasks. Finally, to verify the effectiveness of this method, experiments were conducted by an able-bodied participant wearing the prosthesis to grasp some daily-used objects. Our result shows that, by adopting the eye tracking technology in the human visual channel, the grasp control of the prosthesis can be supervised and regulated in real-time and thus an effective interaction between the dexterous prosthesis and the operator can be achieved. © 2019 IEEE.

关键词： Eye tracking

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