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检索条件"机构=Advanced Robotics and Automated Systems lab."

共 45 条记录，以下是1-10 订阅

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Development of a Lower Limb Gait Asymmetry Index with Cyclogram Analysis Using Image Processing 12

Development of a Lower Limb Gait Asymmetry Index with Cyclog...

引用

12th RSI International Conference on robotics and Mechatronics, ICRoM 2024

作者： Etaati, Sepideh Javaherat, Fatemeh Delrobaei, Mehdi K. N. Toosi University of Technology Faculty of Electrical Engineering Department of Mechatronics Tehran Iran K. N. Toosi University of Technology Advanced Robotics and Automated Systems lab. Faculty of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798331529734

Ahstract- This study focuses on developing a gait asymmetry index and applying image processing techniques to cyclogram analysis. We evaluated gait asymmetry under different walking conditions, specifically examining the effects of wearing a knee brace and holding a weight in hand. Using inertial measurement units (IMUs), we collected gait data to analyze knee, hip, and ankle angles in the sagittal plane. The joint kinematics data were assessed using our proposed asymmetry index, which combines image processing techniques and linear regression models. The proposed asymmetry index incorporates cyclogram area, trend symmetry, and the longest length of the cyclogram shape, effectively capturing variations in symmetry and providing a comprehensive measure. The results demonstrate that the proposed asymmetry index can effectively distinguish between different gait conditions. The findings potentially offer insights for researchers and clinicians in human biomechanics, aiding in the planning of interventions and the assessment of motion patterns, as well as for developers of bipedal walking robots in the field of robotic locomotion, enhancing their ability to design hardware and evaluate motion patterns. © 2024 IEEE.

关键词： Robot programming

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Kinematic and Kinetic Analysis of 3-RRS Parallel Manipulator

Kinematic and Kinetic Analysis of 3-RRS Parallel Manipulator

引用

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

作者： Sara Ashrafi S. Ali A. Moosavian Department of Mechanical Engineering Advanced Robotics and Automated Systems (ARAS) Lab. Center of Excellence in Robotics and Control K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

This paper presents the Kinematic and Kinetic properties of the 3-RRS parallel manipulator that has been designed and prototyped at the ARAS lab. together with an extensive experimental setup. Inverse and forward kinematics of the mechanism are studied, which leads to the attainment of eight possible solutions in each case, of which just one is physically acceptable and maintains its consistency in both analyses. In addition, the Jacobian matrix of the manipulator is derived for various operational scenarios. In this most recent update, a linear actuator under the moving platform is added to cancel the effect of the mass of the plate and the ball for enhancing the responsiveness of the system. Dynamic and kinetic equations are updated based on reduced gravitational effects.

关键词： Jacobian matrices Actuators Mechatronics System dynamics Dynamics Kinematics Kinetic theory Manipulator dynamics

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Shape Estimation of Continuum Arms Based on Inverse Kinematics Data-Driven Modeling

Shape Estimation of Continuum Arms Based on Inverse Kinemati...

引用

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

作者： Saeedeh Shekari S. Ali A. Moosavian Dept of Mechanical Engineering Advanced Robotics and Automated Systems (ARAS) Lab. Center of Excellence in Robotics and Control K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

In recent decades, soft robotic arms inspired by biological organisms with flexible structures have enabled significant advancements in robotics, particularly by allowing robots to navigate in complex and unknown environments. Tendon-driven continuum robotic arms, as a type of such systems, are characterized by their infinite degrees of freedom and the inherent complexity of their nonlinear systems, while the analysis of their configurations is highly challenging. In this study, a data-driven inverse kinematics model is developed to estimate the shape of a two-segment continuum robot called RoboArm in ARAS lab. The robot's final configuration was recorded using two cameras, and the shape estimation was performed by tracking the position of each segment's end along a given dynamic path. The experimental results were compared with software simulations which demonstrate high accuracy in predicting the arm's configuration. By comparing the estimated shapes from the simulations with the robot's actual shape during movement, we validated the effectiveness of this approach for accurately modeling the robot's configuration in real-time.

关键词： Data-driven modeling Accuracy Shape Tracking Estimation Kinematics Soft robotics Real-time systems Software Continuum robots

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Motion Planning of a Rehabilitation Robotic Arm using Brain data & Deep Learning

Motion Planning of a Rehabilitation Robotic Arm using Brain ...

引用

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

作者： Ali Soltani S. Ali A. Moosavian Advanced Robotics and Automated Systems (ARAS) Lab K. N Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

The Brain-Computer Interface (BCI) technology has emerged as an innovative tool in the field of rehabilitation, aimed at restoring and improving patient motor and sensory functions. The motivation for using BCI in rehabilitation is primarily based on the ability of these systems to establish a direct correlation between brain activity and external devices, such as motor prostheses or assistive robots. This technology aids patients with spinal cord injuries, strokes, or neurological diseases in regaining lost functionality by directly controlling assistive devices. The primary objective of research in this area is to enhance the quality of life for individuals with motor impairments and to improve the efficiency of rehabilitation methods, potentially leading to the development of models for automation in clinics and rehabilitation centers. In this study, to utilize the BCI as an automated system for controlling rehabilitation devices or functional prostheses, a series of experiments were designed and conducted to record electroencephalography (EEG) data from healthy individuals during a variety of hand motions, while simultaneously the motion is captured with two webcams. The initial data was collected and analyzed, and the results indicate that increasing the number of test subjects and employing more advanced equipment for signal recording could lead to more accurate results and the development of a more comprehensive model. Obtained model can then be used to command a rehabilitation arm according to the patient brain signals.

关键词： Webcams Stroke (medical condition) Motors Brain modeling Assistive robots Robot sensing systems Electroencephalography Brain-computer interfaces Recording Spinal cord injury

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Intelligent Gait Mode Detection in Wearable Robots

Intelligent Gait Mode Detection in Wearable Robots

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

作者： Morteza Ghafoori S. Ali A. Moosavian Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

This paper investigates machine learning approaches for gait mode detection in lower limb exoskeletons. Five gait modes (level walking, stair ascent, stair descent, ramp ascent, and ramp descent) are identified using a limited set of sensor data (IMU and heel motion markers) to ensure fast and accurate detection. The performance of 31 classification models trained on two different datasets is studied and four of the best models in terms of accuracy are demonstrated and discussed. Results show that a Bilayered Neural Network (BNN) trained on equalized data achieves the best performance with a success rate of 97.57% in real-time simulation. The BNN outperforms a similar Multi-Layer Perceptron Neural Network (MLPNN) model used in previous research, demonstrating its potential for robust gait mode detection in wearable robots.

关键词： Support vector machines Accuracy Robot control Wearable robots Machine learning Stairs Robot sensing systems Data models Real-time systems Multi-layer neural network

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Design and Manufacturing of an Intelligent Ping-Pong Robot (RoboPing)

Design and Manufacturing of an Intelligent Ping-Pong Robot (...

引用

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

作者： S. Ali A. Moosavian Arian D. Farahani Ali Karimi Advanced Robotics and Automated Systems (ARAS) Lab. Dept of Mechanical Engineering Center of Excellence in Robotics and Control K. N. Toosi University of Technology Tehran Iran

robotics and artificial intelligence (AI) are rapidly transforming many industries and aspects of our lives, and sport activities are no exception. Robots and AI are already being used in a variety of sports, including training and performance analysis. This paper introduces a new assistant ping-pong robot (RoboPing) that shoots ping-pong balls with different speeds and spins, besides using AI to analyze training sessions and providing useful insights into the game. RoboPing represents a significant advancement in mechanical design over previous versions, offering enhanced functionality. Being equipped with a precise vision system makes RoboPing more advanced compared to existing versions.

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Test-Stand Experimental Analysis of RoboWalk Weight Assisting Performance

Test-Stand Experimental Analysis of RoboWalk Weight Assistin...

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

作者： Morteza Ghafoori S. Ali A. Moosavian Dept 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

The increment in elder population has been the main cause of exoskeletons and rehabilitation robots development. Studies have proven that assistive robots are more effective in limb empowerment and rehabilitation than traditional ways. A lower-limb assistive robot called RoboWalk has been designed in ARAS lab.at K. N. Toosi University of Technology to help compensate user weight when moving. This study reviews the RoboWalk weight assisting robot and illustrates its Test-Stand more thoroughly with updated modifications and parts. Test-Stand system features and operational specifications are then described. Then, system kinetics and kinematics are also explained. Finally, the weight assisting performance of RoboWalk is analyzed. Results show that the gait generating mechanism creates a singularity in Test-Stand system that causes a decrease in the assisting force. It is concluded that this issue is only related to the Test-Stand and does not appear in the actual RoboWalk robot. Nevertheless, Solutions to avoid this in Test-Stand including back and forth simulation of the gait and maximum motor torque limitation are also suggested.

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Mechanism Improvement of RoboWalk Rehabilitation Device to Adjust the Assistive Force Direction

Mechanism Improvement of RoboWalk Rehabilitation Device to A...

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

作者： Shahin Naeemi Omid Mahdizadeh S. Ali A. Moosavian 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

The growing need for assistive and rehabilitative robots requires more understanding of interactions between the human and such robots. RoboWalk is one of such robotic assistive devices to help users in walking. One of the challenges in using RoboWalk is the horizontal component which undesirably appears besides the desirable assistive vertical force for weight compensation. This horizontal component can disrupt the user’s gait and cause discomfort and stability disturbances. This is due to the fact that the current design of RoboWalk does not allow for any displacement due to the singularity of the robot’s inverse kinematics. This paper proposes a few solutions to solve this problem in redesigning the motion mechanism. Analyses using Adams software show the effects of each solution on enhancing RoboWalk’s functionality. Obtained results reveal that the proposed solutions are feasible and have the potential to significantly improve the user experience.

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Dynamics Modeling of Continuum Robots Using Screw Theory for Real-time Control

Dynamics Modeling of Continuum Robots Using Screw Theory for...

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

作者： Saeedeh Shekari S. Ali A. Moosavian Dept 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

Modeling the dynamics of continuum robotic arms is challenging due to the highly nonlinear nature and uncertain and complicated inherent structure. This affects the application of continuum arms in various aspects, such as inverse kinematics, path generation, optimization, and control. This paper deals with the dynamics modeling of continuum robotic arms using screw theory to develop a suitable model with high accuracy, speed, and low computational load to achieve real-time control. By using the representation of the Lie group of screws in the screw theory, which simplifies the mathematics of the problem, it is possible to achieve a real-time integrated representation of the dynamics of the deformation of the body of continuum robotic arms. This provides the possibility of accurately predicting the system behavior even in the presence of external forces acting on the end-effector. The experimentally validated results for circular and infinite motion trajectories show the model effectiveness in enhancing the trajectory tracking performance and ability to estimate configuration shape changes under external loads. The integration of this model in soft robotic arms has the potential to revolutionize their application in a wide range of industries and medical applications.

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Improved Aerodynamic Performance of Ornithopter Aerial Robot Using Spatial Mechanism Compared to Planar Design

Improved Aerodynamic Performance of Ornithopter Aerial Robot...

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

作者： Sina Hallajian S. Ali A. Moosavian 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

Ornithopter’s research can be categorized into two parts. First, aerodynamics analysis of the flying robot including designing the body and choosing the robot’s material based on the analysis. Second, design and analysis of the mechanism which makes the wings move. So far, most of the researches has been focused on the first subject, i. e., aerodynamics analysis; even some books were published on this topic. However, there is little research about the mechanisms while most of the previous works are based on the patterns verified before. This paper will propose the design of a new spatial mechanism. Besides, three common planar mechanisms will be modeled and simulated to analyze and compare to the proposed mechanism in terms of aerodynamics forces for one wing beat cycle. These results reveal that the proposed 3D mechanism works more promising than others.

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