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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad Moein Pourmand Hadi Tamimi Seyyed Mahdi Sarfarazi Iman Kardan Alireza Akbarzadeh Department of Mechanical Engineering Center of Advanced Rehabilitation and Robotics Research (FUM-CARE) Ferdowsi University of Mashhad Mashhad Iran Department of Computer Engineering Center of Advanced Rehabilitation and Robotics Research (FUM-CARE) Ferdowsi University of Mashhad Mashhad Iran

ISBN: (纸本)9781665454537

An appropriate trajectory generation method is a key factor in the successful performance of rehabilitation exoskeleton robots, which are increasingly used to restore movement for paraplegic people. In order to improve user comfort and provide more natural gaits, recent researches in this area are focused on the online adaptation of the reference joint trajectories, according to the user’s intended motion. Considering the existing synergy between the upper- and lower-body motions, this paper proposes to use neural networks to generate the hip and knee trajectories for the next cycle, according to the crutch trajectory in the current cycle. In this way, the user’s intention will be involved in the online trajectory generation by simply changing the crutch motion. In this work, the training data for the neural network is obtained by capturing the kinematic data of healthy subjects and their crutches. The subjects were asked to wear specially designed shoes to simulate the paraplegic motion better. A computer vision technique is also proposed to combine marker-based and markerless algorithms to extract more reliable data from the videos, recorded by ordinary phone cameras. The results show that the proposed method successfully predicts the joints angles with an MSE of 1.9% for the knee angle is and an MSE of 1.2% for the thigh angle. The results also verify that the proposed method and the trained networks can readily be used for experimental tests with rehabilitation exoskeleton robots, where the crutch angle may be obtained by computer vision, inertial measurement units, or other applicable sensors.

关键词： Knee Computer vision Measurement units Exoskeletons Neural networks Footwear Inertial navigation

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Preliminary Studies of a Model for a Robot that Creates an Interactive Communication with Elderly People to Satisfy Their Clothing Item Requests 11th

Preliminary Studies of a Model for a Robot that Creates...

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11th Italian Forum on Ambient Assisted Living, ForItAAL 2020

作者： Nocentini, Olivia Kim, Jaeseok Cavallo, Filippo Department of Excellence in Robotics and AI Sant’Anna School of Advanced Studies Piazza Martiri della Libertà 33 Pisa56127 Italy Department of Industrial Engineering University of Florence Via Santa Marta 3 Firenze50139 Italy

ISBN: (纸本)9783031088377

Robotic technology has become more and more sophisticated in the last epoch and a consequence of this revolution is the huge diffusion of robots. Currently, robots are no more relegated only to the industrial field, indeed they can be employed in houses, as assistants for several tasks, or in hospitals. In this paper, in particular, we are going to describe a possible implementation of an innovative model for an assistive robot that creates an interactive communication with elderly people to satisfy their clothing item requests. In detail, assistive robots need several skills during this kind of task, such as cloth classification, manipulation of clothes, and human-robot interaction. Concerning manipulation, the use of machine learning is increasing in this field, which develops fast and powerful grasping models and this is the reason why we would like to use one of them in the grasping phase. The reasons described before brought us to propose an innovative model for an assistive robot that satisfies clothing item requests of elderly people. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Convolutional neural networks

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Folding for Stiffening: A Novel Corrugated Electro-Adhesive Clutch

Folding for Stiffening: A Novel Corrugated Electro-Adhesive ...

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IEEE International Conference on robotics and Biomimetics

作者： Youzhan Wang Chuang Wu Xiaozheng Li Yingtian Li Xing Gao Krishna Manaswi Digumarti Chongjing Cao Research Centre for Medical Robotics and Minimally Invasive Surgical Devices Shenzhen Institute of Advanced Technology (SIAT) Chinese Academy of Sciences Shenzhen China University of Chinese Academy of Sciences Beijing China School of Electrical Engineering and Robotics QUT Centre for Robotics Queensland University of Technology Brisbane Australia

The compliance nature of soft robots permits them to effectively adapt to various challenging environments, but at the cost of poor payload carrying capabilities and lack of precision in motions. Electro-adhesive (EA) layer jamming clutches are an emerging type of active variable stiffness (VS) technique that features the advantages of structural simplicity, light-weight, rapid response speed, and low power consumption. However, current EA clutches mainly adopt a planar configuration, despite the large stiffness variations in tensional direction, they fail to exhibit effective stiffness variations in compression and bending directions due to the planar structures. To address this drawback, a novel corrugated EA clutch is proposed in this work to realize multi-directional VS. Its VS performances in tension, compression, and bending directions are benchmarked against a widely studied planar EA clutch and the effects of actuation voltage amplitude are investigated experimentally. The proposed corrugated EA clutch can effectively increase the brake forces when activated by 25, 23 and 8 folds in tension, compression and bending directions, respectively. To demonstrate its applications in soft robotics, a novel origami gripper with excellent adaptability is proposed by utilizing the corrugated EA clutch, and successful grasping on objects with various weights and morphologies is demonstrated.

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A Fabric Soft Robotic Exoskeleton with Novel Elastic Band Integrated Actuators for Hand Rehabilitation

arXiv

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arXiv 2022年

作者： Suulker, Cem Skach, Sophie Althoefer, Kaspar Centre for Advanced Robotics School of Engineering and Materials Science Queen Mary University of London United Kingdom

Common disabilities like stroke and spinal cord injuries may cause loss of motor function in hands. They can be treated with robot assisted rehabilitation techniques, like continuously opening and closing the hand with help of a robot, in a cheaper, and less time consuming manner than traditional methods. Hand exoskeletons are developed to assist rehabilitation, but their bulky nature brings with it certain challenges. As soft robots use elastomeric and fabric elements rather than heavy links, and operate with pneumatic, hydraulic or tendon based rather than traditional rotary or linear motors, soft hand exoskeletons are deemed a better option in relation to rehabilitation. © 2022, CC BY.

关键词： Linear motors

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Design of an Iot-Enabled Scalable Closed Hydroponics System with Intelligent Parameter Control and Persistent Sensing Error Resilience

SSRN

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SSRN 2024年

作者： Chowdhury, M.D. Sameer Iqbal Ronoue, Mikdam-Al-Maad Asaduzzaman, Md. Jamal, Lafifa Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka1000 Bangladesh Department of Agriculture and Food Technology Faculty of Bioenvironmental Sciences Kyoto University of Advanced Science Kyoto621-8555 Japan

The growing threat of climate change and global warming highlights the need for Controlled Climate Agriculture (CCA). Extreme weather patterns endanger the global food supply, making hydroponics an emerging alternative to traditional farming. Automated hydroponics systems with Internet of Things (IoT) capabilities have been implemented worldwide, demonstrating their potential for small and large-scale operations. Our proposed system builds on previous automated hydroponics work, monitoring and controlling key physical parameters for optimal plant growth, with the novel addition of CO2 gas supplementation and regulation for such systems. Two experimental iterations tested the system's efficacy under different weather conditions. Using data from the first experiment, we trained and tested multiple machine-learning models to create an intelligent control action classifier. The XGBoostClassifier performed best, achieving 0.98 accuracy, with 0.97 recall, 0.96 precision, and 0.96 F1-score. We also proposed and implemented a persistent error resilience algorithm developed as a constrained optimization problem. This involved a cost function and an adaptive multi-parameter λ-weighted minimization approach with update policies. Two experiments growing green leaf lettuce compared our system against soil-based and manual Deep Water Culture (DWC) methods. Results showed significantly higher fresh mass yield in our system. Our proposed system (P1) outperformed both soil-based (P2) and manual Deep Water Culture (DWC) methods (P3), with P1 producing 78.1% higher fresh mass yield than P2 and 168.8% higher than P3 in the first experiment. In the second experiment, P1's superiority was even more pronounced, with 288.1% higher yield than P2 and 141.9% higher than P3. Optimized on the first experiment data and implemented in the second, the error resilience algorithm reduced erroneous sensor data instances by approximately four times compared to conventional threshold and bandpass filte

关键词： Constrained optimization

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Using a process simulation platform for reviewing automated airport baggage handling system configurations

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Procedia CIRP 2022年 112卷 180-185页

作者： Barry Fay Aswin K Ramasubramanian Rónán Dillon Murphy Tadhg Adderley Nikolaos Papakostas Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical and Materials Engineering University College Dublin Ireland Dublin Airport Authority (DAA) Ireland

The use of digital manufacturing platforms is becoming increasingly important since they facilitate process visualisation, optimisation, and validation, allowing engineers to make informed decisions at early product and process development phases. In this paper, the potential of using process simulation platforms is explored in order to visualise and validate baggage handling processes involving robotic handling systems and human operators. Multiple baggage handling layout configurations are digitally constructed and reviewed with the aim to investigate cost, time, and flexibility performance indicators. Furthermore, the advantages of using digital manufacturing and process simulation platforms are discussed.

关键词： automated baggage handling robotic handling systems robotic system modelling process simulation AGV

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Multi-Frequency-Aware Patch Adversarial Learning for Neural Point Cloud Rendering

Multi-Frequency-Aware Patch Adversarial Learning for Neural ...

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IEEE/ASME (AIM) International Conference on advanced Intelligent Mechatronics

作者： Jay Karhade Haiyue Zhu Ka-Shing Chung Rajesh Kumar Tripathy Wei Lin Marcelo H. Ang Robotics Institute Carnegie Mellon University Pittsburgh US Singapore Institute of Manufacturing Technology (SIMTech) Agency for Science Technology and Research (A*STAR) Singapore Advanced Robotics Centre College of Design and Engineering National University of Singapore Singapore Birla Institute of Technology and Science Pilani Hyderabad India

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

We present a neural point cloud rendering pipeline through a novel multi-frequency-aware patch adversarial learning framework. The proposed approach aims to improve the rendering realness by minimizing the spectrum discrepancy between real and synthesized images, especially on the high-frequency localized sharpness information which causes image blur visually. Specifically, a patch multi-discriminator scheme is proposed for the adversarial learning, which combines both spectral domain (Fourier Transform and Discrete Wavelet Transform)discriminators as well as the spatial (RGB) domain discriminator to force the generator to capture global and local spectral distributions of the real images. The proposed multi-discriminator scheme not only helps to improve rendering realness, but also enhance the convergence speed and stability of adversarial learning. Moreover, we introduce a noise-resistant voxelisation approach by utilizing both the appearance distance and spatial distance to exclude the spatial outlier points caused by depth noise. Our entire architecture is fully differentiable and can be learned in an end-to-end fashion. Extensive experiments show that our method produces state-of-the-art results for neural point cloud rendering by a significant margin.

关键词： Point cloud compression Solid modeling Fourier transforms Wavelet domain Three-dimensional displays Rendering (computer graphics) Adversarial machine learning

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Motion-Force Interaction Performance of Parallel Robotic Mechanisms

SmartBot

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SmartBot 2025年第1期1卷 27-69页

作者： Qizhi Meng Andres Kecskemethy Xin-Jun Liu Department of Mechanical Engineering Institute of Science TokyoTokyoJapan Chair for Mechanics and Robotics Faculty of EngineeringUniversity of Duisburg-EssenDuisburgGermany State Key Laboratory of Tribology in Advanced Equipment Tsinghua UniversityBeijingChina Beijing Key Laboratory of Transformative High-End Manufacturing Equipment and Technology Department of Mechanical Engineering(DME)Tsinghua UniversityBeijingChina

Parallel robotic mechanisms have emerged as a vital subfield in robotics science and engineering over the past few decades,receiving widespread attention and undergoing significant *** extensive research encompassing type synthesis,dimension optimization,control theory,design principles,manufacturing techniques,and others,comprehensive reviews on the motion–force-related performance of parallel robotic mechanisms and their applications to real-world problems are still *** review aims to fill this gap by analyzing and summarizing significant studies on the motion–force interaction performance of parallel robotic *** the historical development of theoretical paradigms,the research of parallel robotic mechanisms began relatively late compared with their serial ***,approaches for parallel mechanisms were inherited or adopted from serial ***,many cases have demonstrated that parallel robotic mechanisms possess unique characteristics,making it infeasible to directly transfer the theories developed for serial mechanisms to parallel ***,new methodologies are needed to properly analyze and evaluate the intrinsic properties of parallel robotic mechanisms,where the interaction between motion and force plays a crucial *** paper offers an extensive and systematic review of the existing journal literature that analyzes and evaluates motion–force interaction performance of parallel robotics mechanisms,also known as motion/force transmission and constraint performance,providing a broad and detailed bibliography that will serve as a reference for the research *** work examines research strategies,evaluation methods,performance indices,and real-world applications concerning the motion–force interaction performance of parallel robotic mechanisms,offering a foundation to stimulate future research and innovation.

关键词： constraint index motion-force interaction parallel manipulators parallel mechanisms parallel robotic mechanisms performance evaluation robotic mechanisms screw theory transmission index

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Compliant actuators that mimic biological muscle performance with applications in a highly biomimetic robotic arm

Advanced Bionics

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advanced Bionics 2025年第1期1卷 2-18页

作者： Haosen Yang Guowu Wei Lei Ren Lingyun Yan Darwin Caldwell Department of Mechanical Aerospace and Civil EngineeringUniversity of ManchesterOxford RdManchester M139PLUK School of Science Engineering and EnvironmentUniversity of Salford43 CrescentSalford M54WTUK Key Laboratory of Bionic Engineering Ministry of EducationJilin UniversityNo.2699Qianjin RoadChangchun 130025China Department of Robotics Engineering School of Electrical and Electronic EngineeringShanghai Institute of Technology100 Haiquan RoadShanghai 200235China Department of Advanced Robotics Italian Institute of TechnologyVia Morego30Genova 16163Italy

This paper endeavours to bridge the existing gap in muscular actuator design for ligament-skeletal-inspired robots,thereby fostering the evolution of these robotic *** introduce two novel compliant actuators,namely the Internal Torsion Spring Compliant Actuator(ICA)and the External Spring Compliant Actuator(ECA),and present a comparative analysis against the previously conceived Magnet Integrated Soft Actuator(MISA)through computational and experimental *** actuators,employing a motor-tendon system,emulate biological muscle-like forms,enhancing artificial muscle ***,applications of the proposed actuators in a robotic arm inspired by the human musculoskeletal system are *** demonstrate satisfactory power in tasks like lifting dumbbells(peak power:36 W),playing table tennis(end-effector speed:3.2 m/s),and door opening,without compromising biomimetic *** to other linear stiffness serial elastic actuators(SEAs),ECA and ICA exhibit high power-to-volume(361×10^(3)W/m^(3))and power-to-mass(111.6 W/kg)ratios respectively,endorsing the biomimetic design’s promise in robotic development.

关键词： Artificial muscle Compact compliant actuator Series elastic actuator Biomimetic robots

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Measuring and Analyzing Human Wide-Area Contact Motion using Tactile Sensors*

Measuring and Analyzing Human Wide-Area Contact Motion using...

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IEEE-RAS International Conference on Humanoid Robots

作者： Shuang Wang Ko Ayusawa Eiichi Yoshida Department of Medical and Robotic Engineering Design Faculty of Advanced Engineering Tokyo University of Science Tokyo Japan Human Augmented Research Center (Kashiwa) Chiba CNRS-AIST JRL (Joint Robotics Laboratory) IRL Tsukuba Ibaraki Japan

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

This paper proposes a framework for measuring human motions involving surface contacts by collecting data from distributed tactile sensors and motion capture systems simultaneously. Although contacts play an important role in natural robot interaction with humans and environments, their high complexity makes contact-rich motions challenging for even advanced humanoid robots. One possible approach is to learn from humans who generate such motions with ease in their daily lives. While analysis of human contact motions can lead to understanding human motion strategy to improve robots’ motion capacity and robustness, access to human motion data including contacts is still limited. This paper addresses this issue by establishing a method for obtaining human motions with wide-area contacts. The contact information measured by the tactile sensors is mapped on the human body through position-orientation and force registration, and unified with synchronized body motion data. A series of experiments have been conducted to validate the physical quality of the force measurement and demonstrate that the proposed framework is effective in acquiring whole-body contact motions.

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