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

作者： Mohammad Javad Javanbakht Mohammad Reza Fouji Amin Akhavan Saffar Mohammad- R. Akbarzadeh-T Alireza Akbarzadeh Dept. of Electrical Engineering Center of Advanced Rehabilitation and Robotics Research (FUM CARE) Ferdowsi University of Mashhad Mashhad Iran Dept. of Computer Engineering Center of Advanced Rehabilitation and Robotics Research (FUM CARE) Ferdowsi University of Mashhad Mashhad Iran Dept. of Electrical Engineering Center of Excellence on Soft Computing and Intelligent Information Processing Ferdowsi University of Mashhad Mashhad Iran Dept. of Mechanical Engineering Center of Advanced Rehabilitation and Robotics Research (FUM CARE) Ferdowsi University of Mashhad Mashhad Iran

Muscle fatigue assessment is key for optimizing physiotherapy, rehabilitation, and exercise. Muscle fatigue detection not only helps in reducing rehabilitation discomfort but also assists athletes in working out efficiently. The main motivation behind this research is to address the pressing need for a precise and reliable tool to assess muscle fatigue during physical activities. In addition to enhancing therapeutic interventions, this approach improves microtears-induced muscle strengthening by advancing the understanding of muscle fatigue levels. Previous studies have mainly employed supervised approaches to detect fatigue by processing surface electromyography (sEMG) signals through traditional methods in the Time, Frequency, and Time-Frequency domains. These approaches are vulnerable to challenges, such as signal sensitivity, noise interference, and inter-individual variability. Thus, the proposed method uses the spring energy model of the sEMG signal because of its excellent approximation with muscle characteristics. In order to handle noisy and ambiguous data, this paper employs a self-supervised Deep Convolutional Neural Network (DeepCNN) Autoencoder for feature extraction and K-means clustering due to their strong performance. Five healthy participants carried out two experiments using a knee rehabilitation robot (FUM-Physio). The results showcase a well-ordered clustering that closely mirrors the progression of muscle fatigue during these experiments. This indicates the robustness and generality of the proposed method.

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Visual Tracking of Needle Tip in 2D Ultrasound based on Global Features in a Siamese Architecture

Visual Tracking of Needle Tip in 2D Ultrasound based on Glob...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Wanquan Yan Qingpeng Ding Jianghua Chen Kim Yan Raymond Shing-Yan Tang Shing Shin Cheng Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Department of Medicine and Therapeutics and Institute of Digestive Disease The Chinese University of Hong Kong Hong Kong Department of Mechanical and Automation Engineering T Stone Robotics Institute Shun Hing Institute of Advanced Engineering Multi-Scale Medical Robotics Center and Institute of Medical Intelligence and XR The Chinese University of Hong Kong Hong Kong

Ultrasound (US) is widely used in image-guided needle procedures. Correctly tracking the needle tip position in US images during the procedure plays an important role in improving the needle targeting accuracy and patient safety. This paper presents a leaning-based visual tracking network with a Siamese architecture, which makes full use of the attention mechanism to explore the potential of global features and takes advantage of an online target model prediction module to robustly track the needle tip in US images. Several self- and cross-attention modules are applied to learn global features from the whole US image. A discriminative target model is also learned as a complementary part to improve the discriminability of the proposed tracker. The template used during the tracking is updated frequently according to the tracking results to ensure that the tracker can always capture the latest characteristics of the appearance of the needle tip. Experimental results in both phantom and tissue showed that the proposed tracking network was more robust than other state-of-the-art visual trackers. The mean success rates of the proposed tracker are 7.1% and 9.2% higher than the second best performing visual tacker when the needle was inserted by motors and human hands in the tissue experiments.

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mechanically Induced Piezotronic Effect in Flexible Two-Dimensional Pdse2 Thin Films

SSRN

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SSRN 2024年

作者： Shim, Jaesool Mallem, Siva Pratap Reddy Puneetha, Peddathimula Lee, Dong-Yeon An, Sung Jin Advanced Material Research Center Kumoh National Institute of Technology Gumi39177 Korea Republic of Department of Robotics and Intelligent Machine Engineering College of Mechanical and IT Engineering Yeungnam University Gyeongsan38541 Korea Republic of School of Mechanical Engineering Yeungnam University Gyeongsan38541 Korea Republic of Department of Materials Science and Engineering Kumoh National Institute of Technology Gumi39177 Korea Republic of

Flexible devices with the capacity to develop adaptive and ideal interactions between machines and humans are valuable in healthcare, artificial intelligence, and the Internet of Things (IoTs). In this study, we fabricated a flexible strain-sensitive sensor using graphene and a two-dimensional PdSe2 thin film through chemical vapor deposition (CVD) and placed it onto a PET film. mechanically induced piezotronic effect in compressive and tensile modes was used to control the Schottky barrier height based on piezoelectric charge polarization, and therefore, to synergistically modulate the current conduction process. The piezotronic device exhibited seamless performance with a strain-gauge value of 715 at a compressive strain of -0.24%, which is 9.48 times more than that of a typical strain-gauge value. Furthermore, at low temperatures (240 K) the device showed a larger gauge factor at an applied strain of 0.24% owing to the decreased screening effect that underlays the increase in piezocharges. Our findings provide evidence for the mechanically induced piezotronic effect in PdSe2 thin films, a significant structure that enable versatile functionalities in innovative micro- and nanoelectromechanical systems and devices. © 2024, The Authors. All rights reserved.

关键词： Thin films

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Test-Stand Development and Performance Analysis of RoboWalk Assistive Device

Test-Stand Development and Performance Analysis of RoboWalk ...

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

作者： S. Ali A. Moosavian Omid Mahdizadeh Vahid Akbari Mahdi Nabipour Sina Ghanaat Shahin Naeemi Sina Hallajian Arash T. Beydokhti Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781665454537

Robotic devices are increasingly studied for the rehabilitation purposes of the lower limb disabilities. Wearable assistive devices such as exoskeletons have been recognized as a practical solution to increase the power and maneuverability of human beings in industries, as well as rehabilitation, elderly care, and sports exercises. RoboWalk is a lower limb assistive device that has been designed in ARAS lab at KNTU. To guarantee its proper performance, a Test-Stand is designed and manufactured with extended toolkit options. To validate the simulation results of various scenarios, is the main goal of developing this Test-Stand. Also, to examine the electronics boards and subsystems, the correct interaction between the sensors and the actuators, and investigate the performance of the main control loop, and so on, the Test-Stand is highly useful. In this paper, these various aspects of design and manufacturing of RoboWalk test stand are presented. Stress analyses in SOLIDWORKS software showed that the design of the proposed device is capable to handle the required tasks. Finally, a positioning task is implemented, which reveals the merits of the designed Test_Stand.

关键词： Performance evaluation Simulation Exoskeletons Software Sensors Manufacturing Assistive devices

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Flexible Sweat pH Sensors Based on TiO2-SnO2 Composite Films Prepared by Micro-arc Oxidation for Wearable Systems

SSRN

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SSRN 2025年

作者： Pan, Mingqiang Luo, Suhui Gao, Fei Ye, Jialu Yao, Jinchao Liu, Jizhu Ling, Mingxiang Wang, Yangjun Sun, Lining School of Mechanical and Electric Engineering Soochow University Suzhou215123 China Jiangsu Provincial Key Labor Atory of Advanced Robotics Soochow University Suzhou215123 China DFH Satellite Co. Ltd. Beijing100094 China

This study presents a novel flexible pH sensor based on a dual-electrode configuration, which features a flexible titanium wire micro-arc oxidized electrode as the working electrode and a screen-printed Ag/AgCl reference electrode. The working electrode is coated with a TiO2-SnO2 composite film, which exhibits a highly porous and rugged surface morphology, enhancing the adsorption of electrochemically active species and improving the sensor sensitivity. The screen-printed Ag/AgCl reference electrode demonstrates excellent stability, reversibility, and electrochemical performance, offering a cost-effective alternative to traditional reference electrodes. The sensor exhibits a high sensitivity of 59.74 mV/pH over a wide pH range of 2.00 to 12.00, with a rapid response time of 1 second, low potential hysteresis, and negligible potential drift. Furthermore, the sensor demonstrates good repeatability, stability, and selectivity against common interfering ions, and shows minimal temperature dependence. Its performance remains consistent even after 100 cycles of 45° and 90° bending, highlighting its potential for integration into wearable devices. In a proof-of-concept experiment, the sensor successfully monitored sweat pH on human skin, with results comparable to those obtained using a commercial glass electrode. This study demonstrates the significant potential of the developed flexible pH sensor for wearable technology applications. © 2025, The Authors. All rights reserved.

关键词： Titanium dioxide

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Kinematic and Dynamic Analysis of CPR-A: An Aerial Cable Suspended Parallel Robot

Kinematic and Dynamic Analysis of CPR-A: An Aerial Cable Sus...

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

作者： A. Rashvand Ehsan Damghani H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Faculty of Electrical Engineering K.N. Toosi University of Technology Tehran Iran Faculty of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

This paper presents a comprehensive analysis of the kinematics, dynamics, and inverse dynamic control of the Cable-Suspended Parallel Robot (CPR-A). The CPR-A system is a cable-driven robot employing two ropes fixed at the upper corners of a 3D workspace. By controlling the angular positions of three motors, the robot can precisely manipulate the motion of a camera carrier in Cartesian space. The study defines the desired trajectory of the camera’s motion and analyzes the system’s kinematics. The inverse kinematics problem is solved, and a closed-form solution for forward kinematics is given, contributing to the novelty of this research. The paper investigates the Jacobian analysis, which is essential for understanding the relationship between joint variable velocities and the robot’s end-effector motion. The dynamic analysis focuses on deriving the mass matrix, Coriolis and centrifugal, and gravity vectors for the CPR-A system. The study incorporates the mass of cables to achieve more accurate dynamics results. Furthermore, the implications of inverse dynamic control in shaping error free tracking performances are explored. Simulation results validate the analytical solutions, showcasing accurate tracking of desired trajectories.

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Self-Tuning Robust Tracking Control for Autonomous Underwater Vehicles

Self-Tuning Robust Tracking Control for Autonomous Underwate...

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

作者： Nima Maghooli Fahimeh S. Tabatabaee-Nasab S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics … Automated Systems (ARAS) Laboratory K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781665454537

This paper addresses the control design problem for a nonlinear and nonholonomic dynamics model of an autonomous underwater vehicle. The kinematics control algorithm is a PID controller while a self-tuning control method is used for trajectory tracking. The kinetics control algorithm is based on an integral sliding mode technique that is robust against time-varying disturbances. The obtained results presented here use the Remote Environmental Monitoring UnitS (REMUS) underwater vehicle model and show the high performance of the controller. Based on the results demonstrated for the two designated trajectories, the tracking quality of self-tuning robust control, despite the significant similarity of the control input of both algorithms for x, y, and z, is much better than the sliding mode control. As a result, AUV was able to follow the desired trajectory, and tracking errors converged to zero. It is worth noting that at non-derivative points of the path (1 st trajectory), tracking errors were entirely within response quality limits (y = ±0.05[m]). The order of control efforts of the proposed control is suitable and can be implemented in the physical system.

关键词： Robust control Autonomous underwater vehicles Mechatronics Trajectory tracking Heuristic algorithms Robot kinematics Trajectory

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Motion-Guided Dual-Camera Tracker for Endoscope Tracking and Motion Analysis in a mechanical Gastric Simulator

arXiv

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arXiv 2024年

作者： Zhang, Yuelin Yan, Kim Lam, Chun Ping Fang, Chengyu Xie, Wenxuan Qiu, Yufu Tang, Raymond Shing-Yan Cheng, Shing Shin Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Shenzhen International Graduate School Tsinghua University China Department of Medicine and Therapeutics Institute of Digestive Disease The Chinese University of Hong Kong Hong Kong Department of Mechanical and Automation Engineering T Stone Robotics Institute Shun Hing Institute of Advanced Engineering Multi-Scale Medical Robotics Center Institute of Medical Intelligence and XR The Chinese University of Hong Kong Hong Kong

Flexible endoscope motion tracking and analysis in mechanical simulators have proven useful for endoscopy training. Common motion tracking methods based on electromagnetic tracker are however limited by their high cost and material susceptibility. In this work, the motion-guided dual-camera vision tracker is proposed to provide robust and accurate tracking of the endoscope tip’s 3D position. The tracker addresses several unique challenges of tracking flexible endoscope tip inside a dynamic, life-sized mechanical simulator. To address the appearance variation and keep dual-camera tracking consistency, the cross-camera mutual template strategy (CMT) is proposed by introducing dynamic transient mutual templates. To alleviate large occlusion and light-induced distortion, the Mamba-based motion-guided prediction head (MMH) is presented to aggregate historical motion with visual tracking. The proposed tracker achieves superior performance against state-of-the-art vision trackers, achieving 42% and 72% improvements against the second-best method in average error and maximum error. Further motion analysis involving novice and expert endoscopists also shows that the tip 3D motion provided by the proposed tracker enables more reliable motion analysis and more substantial differentiation between different expertise levels, compared with other trackers. Project page: https://***/PieceZhang/MotionDCTrack © 2024, CC BY.

关键词： Motion tracking

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Robot Manipulator Trajectory Tracking with Uncertainties Based on Adaptive Sliding Control

Robot Manipulator Trajectory Tracking with Uncertainties Bas...

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IEEE International Conference on Unmanned Systems (ICUS)

作者： Haiqing Li Baojun Yang Shu Jiang Jiufei Luo School of Advanced Manufacturing Engineering Chongqing University of Posts and Telecommunications Chongqing China Chongqing Huashu Robotics Co. Ltd. Chongqing China College of Mechanical and Vehicle Engineering Hunan University Changsha China

Trajectory tracking control with uncertainties has been challenging for robot manipulators. To deal with issue, this study proposes an adaptive fuzzy compensation sliding control method that considers system friction and disturbance to improve the accuracy of trajectory tracking control for robotic manipulators. First, the adaptive control rate is designed based on a fuzzy approximation to process the uncertainty problems, and the stability is analyzed based on the Lyapunov algorithm. Then, an adaptive robust controller based on adaptive fuzzy compensation sliding control (AFCSC) is designed for a robot manipulator with system friction and disturbance. Finally, the effectiveness of the proposed trajectory tracking controller is demonstrated by the simulation. Simulation results show that the manipulator works with higher accuracy and is more stable compared with adaptive fuzzy friction compensating control.

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Design of a Parallel Elastic Actuator with a Continuously-Adjustable Equilibrium Position

arXiv

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arXiv 2022年

作者： Chatziandreou, Evangelos Mathews, Chase W. Braun, David J. Advanced Robotics and Control Laboratory Center for Rehabilitation Engineering and Assistive Technology Department of Mechanical Engineering Vanderbilt University NashvilleTN37235 United States

In this paper, we present an adjustable-equilibrium parallel elastic actuator (AE-PEA). The actuator consists of a motor, an equilibrium adjusting mechanism, and a spring arranged into a cylindrical geometry, similar to a motor-gearbox assembly. The novel component of the actuator is the equilibrium adjusting mechanism which (i) does not require external energy to maintain the equilibrium position of the actuator even if the spring is deformed and (ii) enables equilibrium position control with low energy cost by rotating the spring while keeping it undeformed. Adjustable equilibrium parallel elastic actuators resolve the main limitation of parallel elastic actuators (PEAs) by enabling energy-efficient operation at different equilibrium positions, instead of being limited to energy-efficient operation at a single equilibrium position. We foresee the use of AE-PEAs in industrial robots, mobile robots, exoskeletons, and prostheses, where efficient oscillatory motion and gravity compensation at different positions are required. © 2022, CC BY-NC-ND.

关键词： Actuators

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