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Path Planning for Robot Assisted Steerable Bevel-Tip Needle in 3D Dynamic Environment

IEEE robotics and Automation Letters 2025年第6期10卷 5887-5894页

作者： Halder, Kaushik Orlando, M. Felix Indian Institute of Technology Roorkee Advanced Robotics Laboratory Department of Electrical Engineering Roorkee247667 India

In Minimally Invasive Surgery (MIS), achieving target-reaching accuracy without colliding with anatomical obstacles is the most crucial aspect. However, due to the non-holonomic constraints within the tissue environment and the dynamic behavior during needle insertion, planning an appropriate path presents a significant and complex challenge. In order to address the above-mentioned challenges, this study introduces a novel path-planning approach for a robot-assisted flexible bevel-tip needle within the tissue region. The primary contribution of this path planner is its ability to incorporate a dynamic 3D environment, which includes multiple targets and obstacles with varying locations. In the literature, there are several methods for planning obstacle-free paths within the tissue region. Among them, the Rapidly-Exploring-Random-Trees (RRT) based path planner methodology is advantageous due to its reduced computational time and suitability for high-dimensional spaces. The proposed algorithm builds upon the RRT technique, enhancing it with a greediness concept to handle multiple dynamic targets. Additionally, extensive simulations and experimental studies have been conducted to demonstrate the efficacy of the proposed method, with a view toward future clinical tests. Statistical analysis of the proposed path planner methodology has also been performed, focusing on computational time for finding feasible paths and the length of the planned trajectory. © 2016 IEEE.

关键词： Robot programming

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Disordered hyperuniformity and thermal transport in monolayer amorphous carbon

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Science China(Physics,Mechanics & Astronomy) 2025年第2期68卷 145-152页

作者： Nianjie Liang Yuxi Wang Bai Song Department of Energy and Resources Engineering Peking UniversityBeijing 100871China Department of Advanced Manufacturing and Robotics Peking UniversityBeijing 100871China

Disordered hyperuniformity(DHU)is a recently discovered novel state of amorphous systems characterized by strongly suppressed density fluctuations at large length scales as in crystalline materials,which offers great potential for achieving unusual mechanical,electronic,and photonic ***,despite the fundamental and technological importance of thermal transport in amorphous solids,the effect of DHU remains largely ***,we theoretically study thermal transport in a class of two-dimensional DHU materials—monolayer amorphous carbon(MAC).Beginning with a perfect graphene lattice,we continuously apply Stone-Wales transformations to generate a series of MAC models with varied degrees of disorder and defects,which are quantified through comprehensive structural analysis including the so-called hyperuniformity index(H),where a smaller H indicates a higher degree of ***,we conduct molecular dynamics simulations to obtain the thermal conductivity(κ).A significant correlation between the thermal transport behavior and degree of hyperuniformity is observed,with the room-temperatureκdecreasing from 26.3 to 5.3 W m^(-1)K^(-1)while H is tuned from 0.0004 to ***,two distinct transport regimes are identified,including a nearly-DHU regime at small H(<0.005)whereκdrops sharply and a non-DHU region at larger H whereκbecomes relatively ***-resolved analysis reveals longer lifetime and higher participation ratio for the heat carriers in nearly-DHU MAC,implying that the hidden long-range correlations could support extended modes that enhance *** work highlights the impact of DHU on the thermal properties of amorphous materials and represents a conceptual advancement that is worthy of future exploration.

关键词： disordered hyperuniformity thermal transport amorphous material two-dimensional monolayer amorphous carbon

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Neural Network-Based Indirect Adaptive Force Control of a Two-Fingered Hand Exoskeleton Toward Robust Grasping Assistance

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3614-3629页

作者： Halder, Kaushik Roy, Arnab Felix Orlando, M. Indian Institute of Technology Roorkee Advanced Robotics Laboratory Department of Electrical Engineering Roorkee247667 India Indian Institute of Technology Roorkee Department of Electrical Engineering Roorkee247667 India

Grasping task is one of the crucial objectives in activities of daily living. However, elderly human subjects are facing significant challenges when attempting to perform grasping task. In this regard, a hand exoskeleton with a proper force control strategy is necessary to improve the performance of assistive technology. In this article, a lightweight, size-adjustable, underactuated, and force-controllable two-fingered exoskeleton prototype is developed for grasping assistance. A novel radial basis function network-based indirect adaptive force controller for robust grasping assistance is proposed along with the prototype design. We have conducted real-time grasping experiments on six elderly human subjects to verify the feasibility of the developed exoskeleton with a novel grasping force control strategy. Furthermore, we have performed force trajectory tracking experiment to validate the efficacy of the proposed force control scheme. Moreover, the robustness of the proposed grasping force control strategy has been validated through a disturbance rejection experiment. Extensive simulation and experimental studies with the developed kinematic model and feasibility tests involving elderly human subjects show that the newly developed hand exoskeleton with the proposed robust intelligent control strategy is efficient for object-grasping tasks aimed at the assistance of elderly human subjects. © 2025 IEEE.

关键词： Radial basis function networks

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A Soft Glove with Proprioceptive Sensing and Multi-modal Haptic Feedback for VR and Telerobotic Applications

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Journal of Bionic engineering 2025年第2期22卷 684-702页

作者： Debadrata Sarkar Amit Kumar Aman Arora Human Centered Robotics and Cybernetics Group CSIR-Central Mechanical Engineering Research InstituteDurgapur713209West BengalIndia Advanced Design and Analysis Group CSIR-Central Mechanical Engineering Research InstituteDurgapur713209West BengalIndia

This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinaesthetic aspects while prioritizing wearability and natural finger movements. The glove employs custom-designed flexible bend sensors with carbon-impregnated film for in-situ joint angle tracking, simplifying the sensing system and enhancing portability. A multi-modal haptic feedback approach includes an innovative pneumatically actuated tactile feedback technique and a motor-tendon-driven kinaesthetic feedback system, providing exceptional realism in virtual object manipulation. The glove’s kinaesthetic feedback lets users perceive virtual objects’ size, shape, and stiffness characteristics. Psychophysical investigations demonstrate how readily the users acclimate to this hardware and prove each module’s effectiveness and synergistic operation. This soft VR glove represents a minimalist, lightweight, and comprehensive solution for authentic haptic interaction in virtual environments, opening new possibilities for applications in various fields.

关键词： Virtual reality and interfaces Tactile feedback Haptics and haptic interfaces Soft sensors and actuators

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A Data-driven Comparison of Resistive-Viscoelastic Models for a 3D-Printed Conductive Solid

A Data-driven Comparison of Resistive-Viscoelastic Models fo...

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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Mukherjee, Sourajit Takaki, Takeshi Hiroshima University Smart Robotics Lab Graduate School of Advanced Science and Engineering Hiroshima Japan

ISBN: (纸本)9798331531614

Conductive polymer composites with piezoresistive properties have found extensive use in force sensing applications, such as strain gauges. Polylactic acid filled with carbon black nano-fillers is one such easily available and inexpensive material. The piezoresistive properties of conductive polymers have been shown to share an equivalence with the linear viscoelastic relationship between stress and strain. In this study, we examine six progressively complex resistive-viscoelastic models based on this relationship. After empirically determining the model parameters, we compared their stress prediction outputs using resistance data as input, which had been recorded while subjecting a 3D-printed conductive solid to a compressive force. We observed the model performances for two cases: when model parameters are determined from the complete test cycle and when they are determined phase-wise. Phase-wise coefficients showed a much better prediction accuracy and it was also observed that simpler models gave a better performance than more complex models. © 2025 IEEE.

关键词： Conductive materials

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High-precision trajectory calibration for robot surface machining by meta-heuristic search algorithm from local error in machining area

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International Journal of advanced Manufacturing Technology 2025年第5期138卷 2281-2295页

作者： Bi, Guangde Lu, Lei Zhang, Lei Fan, Cheng Sun, Lining School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Industrial robots used in complex surface machining are gradually increasing because of their high flexibility and large workspace. However, due to their low geometric accuracy, their application in high-precision surface machining is hindered. In order to improve the machining accuracy, a high-precision robot trajectory calibration method for complex surface machining is proposed. In the machining process, the machining trajectory is usually only within a certain machining area. In the method, high-precision standard balls are set at the boundary of the machining area. Based on the precise position information of these standard balls, the trajectory of the robot in the machining area is calibrated. Compared with the global robot calibration method, the proposed method can calibrate the robot trajectory in the machining area through standard parts, which will improve the trajectory accuracy of the machining robot to the level of repeated positioning accuracy. In this method, a large amount of standard ball data is obtained by the in-place measuring device before the machining process. Then, based on these data, a meta-heuristic search algorithm is used to calibrate the kinematic deviation of the robot measurement and the machining system. The trajectory of the machining robot is adjusted by the kinematic deviation after calibration, and it is applied to the motion control of the machining process to improve the positioning accuracy of the machining trajectory. In the end, to verify the accuracy and practicability of the machining trajectory obtained by this method, measurement and machining experiments are carried out. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Industrial robots

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FWAF-VID: A Flapping-Wing Aggressive Flight Benchmark Dataset for Visual-Inertial Localization

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IEEE robotics and Automation Letters 2025年第6期10卷 6328-6335页

作者： Jiang, Jizhou Pan, Erzhen Xu, Wenfu Sun, Wei Ye, Jingyang Harbin Institute of Technology School of Robotics and Advanced Manufacture Shenzhen518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China Guangdong Biomimetic Intelligent Unmanned System Engineering Technology Research Center Shenzhen518052 China

Accurate state estimation of micro aerial vehicles (MAVs) in high-speed and dynamic environments poses a significant challenge for visual-inertial odometry (VIO) algorithms. Flapping-wing aerial vehicles (FWAVs), as an emerging flight platform, have attracted significant attention for stealth capabilities and efficient flight characteristics. Despite the availability of numerous MAV visual-inertial datasets for six-degree-of-freedom (6-DoF) state estimation, these datasets are not applicable for FWAVs with pronounced vibrations and agile maneuverability. To address this gap, we propose a large-scale flapping-wing aggressive flight visual-inertial dataset FWAF-VID. It contains diverse integrations of synchronized onboard cameras and IMU sensors. A total of 28 sequences include static flapping, calibration, and real-world flights collected in outdoor and indoor environments. The 17 flight sequences feature variations in illuminations, speeds, trajectories, camera perspectives, and flight modalities. We provide precisely aligned ground truth RTK and UWB measurements for algorithm evaluation. Furthermore, a comprehensive benchmark comparison is conducted, qualitatively and quantitatively evaluating the positioning accuracy of state-of-the-art VIO algorithms. The experimental results indicate that despite the degradation in localization accuracy in high-dynamic environments, FWAF-VID can effectively support the further development of VIO algorithms for FWAVs. To the best of our knowledge, this is the first onboard benchmark dataset tailored for aggressive flight in flapping-wing airborne platforms. © 2025 IEEE.

关键词： Micro air vehicle (MAV)

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Force visualization system integrating moiré fringe with fiber optic plates to eliminate parallax error

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ROBOMECH Journal 2025年第1期12卷 1-12页

作者： Zuo, Jinrun Takaki, Takeshi Hiroshima University Smart Robotics Laboratory Graduate School of Advanced Science and Engineering 1-4-1 Kagamiyama Hiroshima Higashi-hiroshima739-8527 Japan

A mechanism for visualizing the magnitude of force is proposed. The mechanism displays the magnitude of the force to be measured as a stripe pattern or character of the principle of Moiré fringe. The structure of the visualization mechanism is extremely simple. The mechanism does not require strain gauges, amplifiers, cables, or other electrical elements. Although errors owing to hysteresis and parallax caused by structural issues have occurred in visualization devices developed to date, these problems have been resolved using a fiber optic plate and diffuse reflection. A method for acquiring the magnitude of force by photographing the mechanism with a camera and performing image processing to obtain a numerical value is also proposed. The performance of the improved force visualization mechanism was verified experimentally. It was demonstrated that the mechanism successfully displayed the appropriate characters corresponding to the magnitude of applied force, allowing the information to be captured as images. Furthermore, the sensor showed no observable hysteresis, while effectively eliminating parallax errors, using a fiber optic plate (FOP) and diffuse reflection. Compared to the acrylic optic plate (ALEC) method, force errors were significantly reduced at different rotation angles, with the FOP maintaining a force error around 0 N, while the ALEC method reached a force error of 24 N at a 30∘ rotation angle. © The Author(s) 2025.

关键词： Photointerpretation

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Robust Universal Adversarial Perturbation Attacks on Renewable Energy Forecasting

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IEEE Internet of Things Journal 2025年第11期12卷 18451-18454页

作者： Ruan, Jiaqi Wang, Liliang Chen, Shi Zang, Tianlei Qiu, Yiwei Liang, Gaoqi Zhou, Buxiang Sichuan University College of Electrical Engineering Chengdu610064 China Beihang University School of Instrumentation and Optoelectronic Engineering Beijing100191 China Harbin Institute of Technology School of Robotics and Advanced Manufacture Shenzhen518055 China

Recent advances reveal that renewable energy forecasting (REF) models, particularly AI-driven approaches, may be vulnerable to adversarial attacks, potentially inducing substantial forecasting errors and disrupting power system operations. However, existing studies focused only on customized attack schemes tailored to specific REF models, single-time inputs, and predefined locations, which are computationally expensive and often suboptimal within practical dispatch intervals. To fill this gap, we first propose a universal adversarial perturbation attack method, formulated in a fully offline manner, which can degrade REF performance across different REF model architectures and spatiotemporal scenarios. To enhance attack robustness, we further develop a robust universal adversarial perturbation generation method tailored for black-box settings through ensemble proxy models. Our findings reveal the new vulnerability of advanced REF technologies to fixed yet small perturbations, which can significantly amplify forecasting errors and severely compromise prediction accuracy, emphasizing the critical need for further investigation. © 2014 IEEE.

关键词： Perturbation methods Forecasting Computational modeling Renewable energy sources Predictive models Data models Closed box Wind forecasting Optimization Artificial intelligence

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Waliner: Lightweight and Resilient Plugin Mapping Method with Wall Features for Visually Challenging Indoor Environments

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IEEE robotics and Automation Letters 2025年第6期10卷 5799-5806页

作者： Noh, Dongki Lee, Byunguk Kim, Hanngyoo Lee, Seunghwan Kim, Hyunsung Kim, Juwon Choi, Jeongsik Baek, Seungmin LG Electronics Inc. Advanced Robotics Laboratory CTO Division Seoul07796 Korea Republic of Kumoh National Institute of Technology School of Electronic Engineering Gumi39177 Korea Republic of

Vision-based indoor navigation systems have been proposed previously for service robots. However, in real-world scenarios, many of these approaches remain vulnerable to visually challenging environments such as white walls. In-home service robots, which are mass-produced, require affordable sensors and processors. Therefore, this letter presents a lightweight and resilient plugin mapping method called Waliner, using an RGB-D sensor and an embedded processor equipped with a neural processing unit (NPU). Waliner can be easily implemented in existing algorithms and enhances the accuracy and robustness of 2D/3D mapping in visually challenging environments with minimal computational overhead by leveraging a) structural building components, such as walls;b) the Manhattan world assumption;and c) an extended Kalman filter-based pose estimation and map management technique to maintain reliable mapping performance under varying lighting and featureless conditions. As verified in various real-world in-home scenes, the proposed method yields over a 5 % improvement in mapping consistency as measured by the map similarity index (MSI) while using minimal resources. © 2016 IEEE.

关键词： Extended Kalman filters

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