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IEEE International Conference on Mechatronics and Automation

作者： Wenqiang Zhang Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5Zhongguancun South Street Beijing China

As a medical device used in surgery, the vascular interventional surgical robot itself needs to have good control accuracy to ensure the safety of the surgery process. Given this security problem, this paper selects the Line Active Disturbance Rejection Control (LADRC) as the control strategy of the vascular interventional robot, aiming at improving the master-slave tracking accuracy of the vascular interventional robot. This article compares the LADRC and PID(Proportional-Integral-Derivative) control strategies through simulation and experiments. The experimental results show that LADRC has good control performance for master-slave tracking and can be applied to the vascular interventional surgical robots.

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A Remotely Driven Finger Rehabilitation robot for Passive and Active Rehabilitation 12

A Remotely Driven Finger Rehabilitation Robot for Passive an...

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12th International Conference on CYBER technology in Automation, Control, and Intelligent Systems, CYBER 2022

作者： Wang, Hongbo Du, Jiazheng Zhang, Yongshun Tian, Yu Zhang, Dagan Ning, Yuansheng Niu, Jianye Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao066004 China Academy for Engineering and Technolgy Fudan University Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China Yanshan University Key Laboratory of Advanced Forging and Stamping Technology Science of Ministry of Education Qinhuangdao066004 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In this paper, a finger rehabilitation robot with flexion/extension function is developed. This device consists of a four-finger mechanism and a thumb mechanism. The four-finger mechanism is modular designed, and consists of the metacarpophalangeal joint mechanism and the proximal interphalangeal joint mechanism. The thumb mechanism has an active degree of freedom (DoF). The hardware system and software system of the finger rehabilitation robot were built, and preliminary experiments were carried out, including the passive and active movement of the single joint and the multi-finger movement. The results show the range of motion of this robot can meet the requirements of the rehabilitation, and it is able to carry out active rehabilitation training by means of the human-machine contact force, and it has the ability to realize occupational therapy training for grasping objects in different shapes. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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A Loopback Network for Explainable Microvascular Invasion Classification

A Loopback Network for Explainable Microvascular Invasion Cl...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Shengxuming Zhang Tianqi Shi Yang Jiang Xiuming Zhang Jie Lei Zunlei Feng Mingli Song Zhejiang University Alibaba Group Zhejiang University of Technology Shanghai Institute for Advanced Study of Zhejiang University Zhejiang Provincial Key Laboratory of Service Robot

Microvascular invasion (MVI) is a critical factor for prognosis evaluation and cancer treatment. The current diagnosis of MVI relies on pathologists to manually find out cancerous cells from hundreds of blood vessels, which is time-consuming, tedious, and subjective. Recently, deep learning has achieved promising results in medical image analysis tasks. However, the unexplainability of black box models and the requirement of massive annotated samples limit the clinical application of deep learning based diagnostic methods. In this paper, aiming to develop an accurate, objective, and explainable diagnosis tool for MVI, we propose a Loopback Network (LoopNet) for classifying MVI efficiently. With the image-level category annotations of the collected Pathologic Vessel Image Dataset (PVID), LoopNet is devised to be composed binary classification branch and cell locating branch. The latter is devised to locate the area of cancerous cells, regular non-cancerous cells, and background. For healthy samples, the pseudo masks of cells supervise the cell locating branch to distinguish the area of regular non-cancerous cells and background. For each MVI sample, the cell locating branch predicts the mask of cancerous cells. Then the masked cancerous and non-cancerous areas of the same sample are input back to the binary classification branch separately. The loopback between two branches enables the category label to supervise the cell locating branch to learn the locating ability for cancerous areas. Experiment results show that the proposed LoopNet achieves 97.5% accuracy on MVI classification. Surprisingly, the proposed loopback mechanism not only enables LoopNet to predict the cancerous area but also facilitates the classification backbone to achieve better classification performance.

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Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control

arXiv

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arXiv 2022年

作者： Amatucci, Lorenzo Kim, Joon-Ha Hwangbo, Jemin Park, Hae-Won The Humanoid Robot Research Center Korea Advanced Institute of Science and Technology Daejeon34141 Korea Republic of

In this work, a non-gaited framework for legged system locomotion is presented. The approach decouples the gait sequence optimization by considering the problem as a decision-making process. The redefined contact sequence problem is solved by utilizing a Monte Carlo Tree Search (MCTS) algorithm that exploits optimization-based simulations to evaluate the best search direction. The proposed scheme has proven to have a good trade-off between exploration and exploitation of the search space compared to the state-of-the-art Mixed-Integer Quadratic Programming (MIQP). The model predictive control (MPC) utilizes the gait generated by the MCTS to optimize the ground reaction forces and future footholds position. The simulation results, performed on a quadruped robot, showed that the proposed framework could generate known periodic gait and adapt the contact sequence to the encountered conditions, including external forces and terrain with unknown and variable properties. When tested on robots with different layouts, the system has also shown its reliability. Copyright © 2022, The Authors. All rights reserved.

关键词： Model predictive control

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Design of a Capsule robot System for Gastric Hemorrhage Detection using Luminol

Design of a Capsule Robot System for Gastric Hemorrhage Dete...

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IEEE International Conference on Mechatronics and Automation

作者： Yuchen Mao Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Application Complicated Systems and Intelligent Robot Laboratory School of Electrical Engineering and Automation Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing China

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system.

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Design, simulation and experimentation of a biomimetic wall-climbing robot with tracked spines

Design, simulation and experimentation of a biomimetic wall-...

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2020 IEEE International Conference on Power, Intelligent Computing and Systems, ICPICS 2020

作者： Shi, Jia Xu, Linsen Liu, Jinfu Cheng, Gaoxin Liang, Xingcan Liu, Lei Chen, Shouqi Xu, Hong Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Cas University of Science and Technology of China Changzhou City Jiangsu Province China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Cas Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Changzhou City Jiangsu Province China

ISBN: (数字)9781728198743

ISBN: (纸本)9781728198736

This paper presents a novel cooperative grasping wheeled wall-climbing robot with the ability to climb concrete, brick walls using tracked-spines arrays located around the track. The robot uses a combination of the crank-link mechanism and gear transmission to control the tracked spines on both sides of the robot to grasp the asperities. The kinematic and dynamic analysis of the crank-link mechanism and the simulation demonstrate that the motion state of the robot is stable in the climbing process. By means of wireless communication, the control information is transmitted to the main controller, which drives the motors to make each mechanism work together. Finally, the prototype is fabricated and several experiments are carried out to verify the climbing performance of the robot. © 2020 IEEE.

关键词： Biomimetics

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Leaf-Inspired FSR Array and Insole-Type Sensor Module for Mobile Three-Dimensional Ground Reaction Force Estimation

Leaf-Inspired FSR Array and Insole-Type Sensor Module for Mo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Taeyeon Kim Eunseok Song Seongbin An Hyunjin Choi Kyoungchul Kong Exoskeleton Laboratory the Department of Mechanical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Department of Human Intelligence and Robot Engineering Sangmyung University Chungcheongnam-do Republic of Korea

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents an insole-type sensor module with a novel leaf-inspired force-sensitive resistor (FSR) array for accurate three-dimensional ground reaction force (GRF) estimation during human’s various motions. Joint torque analysis, essential for numerous applications in biomechanics and wearable robotics, necessitates the measurement of three-dimensional GRF vector information, traditionally achieved in indoor environments using costly force plates. To overcome these limitations, this study proposes an alternative method by incorporating FSRs on three inclined planes within the insole. A vector scaling process transforms the force values from the FSRs into the three-dimensional force vector, enabling continuous and user-independent estimation of GRF. The sensor module is integrated with machine learning, demonstrating its accuracy and usability in various motion scenarios. The results confirm the effectiveness of the leaf-inspired FSR array, giving the possibilities for portable and cost-effective motion analysis systems.

关键词： Training Force measurement Accuracy Protocols Force Estimation robot sensing systems

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Probabilistic Spiking Neural Network for robotic Tactile Continual Learning

Probabilistic Spiking Neural Network for Robotic Tactile Con...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Senlin Fang Yiwen Liu Chengliang Liu Jingnan Wang Yuanzhe Su Yupo Zhang Hoiio Kong Zhengkun Yi Xinyu Wu City University of Macau Macau China The Department of Intelligent Systems and Robot Learning Lab ISRL Group SIAT Branch Institute of Artificial Intelligence and Robotics for Society Shenzhen Institute of Advanced Technology Shenzhen

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The sense of touch is essential for robots to perform various daily tasks. Artificial Neural Networks have shown significant promise in advancing robotic tactile learning. However, due to the changing of tactile data distribution as robots encounter new tasks, ANN-based robotic tactile learning suffers from catastrophic forgetting. To solve this problem, we introduce a novel continual learning (CL) framework called the Probabilistic Spiking Neural Network with Variational Continual Learning (PSNN-VCL). In this framework, PSNN introduces uncertainty during spike emission and can apply fast Variational Inference by optimizing the uncertainty through backpropagation, which significantly reduces the required model parameters for VCL. We establish a robotic tactile CL benchmark using publicly available datasets to evaluate our method. Experimental results demonstrated that, compared to other CL methods, PSNN-VCL not only achieves superior performance in terms of widely used CL metrics but also achieves at least a 50% reduction in model parameters on the robotic tactile CL benchmark.

关键词： Continuing education Measurement Uncertainty Spiking neural networks Learning (artificial intelligence) Benchmark testing robot sensing systems

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Structural design and simulation analysis of an orthodontic wire bending robot

Structural design and simulation analysis of an orthodontic ...

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IEEE International Conference on Mechatronics and Automation

作者： Liu Han Jiang Jingang Li Yanze Zhang Yongde Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology No.52 of Xuefu Road Harbin Heilongjiang Province China Foshan Baikang Robot Technology Co. Ltd Room B429 Block B Nanhai Industrial Think Tank City Phase I Taoyuan Road Foshan City Guangdong Province China

Based on the manual orthodontic wire bending motion, the type and number of degrees of freedom required for bending complex closed gap curves were analysed, and the resulting degrees of freedom were processed and calculated as the basic requirements for the structural design of the robot, while the current problem of the orthodontic wire bending robot not being able to continuously feed the wire was solved by using the counter-rotating collet feeding mechanism, which improved the operational efficiency of the robot. The kinematic model of the robot was established using the D-H method, and the kinematic analysis and simulation of the robot were carried out using MATLAB to verify the smoothness of the robot’s motion. At the same time, ANSYS simulation software was used to verify the stiffness characteristics of the robot during operation, completing the verification of feasibility.

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Elastic Collision Based-Interactive Path Planning System for Vascular Intervention robots

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Procedia Computer Science 2024年 250卷 244-249页

作者： Sheng Cao Shuxiang Guo Jian Guo Jian Wang Bin Wang Mingchao Ding Aerospace Center Hospital & the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology School of Life Science & Ministry of Industry and Information Technology Beijing Institute of Technology Beijing 100081 China Shenzhen Institute of Advanced Biomedical Robot Company Limited Shenzhen 518000 Guangdong Province China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong 518055 China

As population aging intensifies, the incidence of cardiovascular and cerebrovascular diseases has continued to rise. Vascular interventional surgery, known for its minimal trauma, rapid recovery, and clear effectiveness, requires doctors to perform procedures in radiation environments while wearing lead aprons. The advent of vascular intervention robots has provided a system-level solution to protect doctors from radiation and enhance outcomes. Currently, preoperative path planning for these robots predominantly relies on automatically generated paths, calculated by setting constraints and minimizing costs. However, this method lacks incorporation of physicians' expertise and consideration of elastic collision. Therefore, this study has designed an interactive path planning system for vascular intervention robot based on elastic collision. By establishing a simulation environment, doctors can use a manipulator to control virtual catheters and guidewires. While considering deformations, they maneuver the guidewire to the target position and record the current motion trajectory to guide the procedure in actual surgeries. Experimental tests have been conducted, confirming the system's effectiveness and feasibility.

关键词： Elastic Collision Interactive Path Planning Vascular Intervention robot

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