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2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Xu, Yang Xiao, Yang Ma, Yue Zheng, Liangsheng He, Yong Chongqing University of Posts and Telecommunications School of Automation Chongqing400065 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781665436786

The exoskeleton robot is an auxiliary device to help the disabled people walk, and the self-balancing exoskeleton robot is one which is to keep balance without the assistance of external crutches. In order to keep the balance of the self-balancing exoskeleton robot, it is necessary to get the position of the Zero Moment Point by measuring the pressure of the footplate, and make the position of ZMP in range of supporting area. In this experiment, the footplate is used with the double-deck structure, this structure is compared with the single-deck structure, the double-dack structure will not lose the information of the collected ZMP without direct touch with the sensor, and it is lighter than another structure with dozens of sensors. But there is an inevitable structural coupling in the double-deck structure, which makes the ZMP have a large measurement error. In order to solve this problem, a novel idea is proposed, with the help of the powerful processing and learning capabilities of the neural network, four kinds of neural networks are used to calibrate measured position of ZMP so that reducing error of the measured ZMP. By comparing position of the actual ZMP before and after the calibration with the ideal position of ZMP and computing the errors to judge the effect of the calibration. Through experimental comparison, it is concluded that the different neural networks eliminate error of the measured ZMP in different extent. When the GRNN neural network is used to calibrate position of ZMP, the effect is the most ideal. © 2021 IEEE.

关键词： Errors

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Enhanced memory network: The novel network structure for symbolic music generation

arXiv

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arXiv 2021年

作者： Li, Jin Liu, Haibin Yan, Nan Wang, Lan CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Chinese Academy of Sciences Beijing China

Symbolic melodies generation is one of the essential tasks for automatic music generation. Recently, models based on neural networks have had a significant influence on generating symbolic melodies. However, the musical context structure is complicated to capture through deep neural networks. Although long short-term memory (LSTM) is attempted to solve this problem through learning order dependence in the musical sequence, it is not capable of capturing musical context with only one note as input for each time step of LSTM. In this paper, we propose a novel Enhanced Memory Network (EMN) with several recurrent units, named Enhanced Memory Unit (EMU), to explicitly modify the internal architecture of LSTM for containing music beat information and reinforces the memory of the latest musical beat through aggregating beat inside the memory gate. In addition, to increase the diversity of generated musical notes, cosine distance among adjacent time steps of hidden states is considered as part of loss functions to avoid a high similarity score that harms the diversity of generated notes. Objective and subjective evaluation results show that the proposed method achieves state-of-the-art performance. Code and music demo are available at https://***/qrqrqrqr/EMU. Copyright © 2021, The Authors. All rights reserved.

关键词： Long short-term memory

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Transformer-Based Fusion of RGB and Depth Images for Terrain Recognition

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Procedia Computer Science 2024年 250卷 22-29页

作者： Hui Chen Chunjie Chen Zhuo Wang Fangliang Yang Heng Pan Xinyu Wu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen 518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human–Machine Intelligence-Synergy Systems Shenzhen 518055 China

This research aims to explore key issues in the field of walking robots and exoskeletons. By using a depth camera to record human walking data in different terrains and employing RGB and depth information for image classification, our approach utilizes both early fusion and late fusion methods to explore their impact on terrain classification. This approach achieved fast and accurate performance in recognizing terrain. We captured data for walking upstairs, downstairs, upward ramps, downward ramps and level ground and used the vision transformer for data fusion. This work compares the performance of unimodal RGB model, unimodal deep model, Pre-Fusion model and Post-Fusion model in terms of accuracy, recall and processing frequency, with accuracies of 0.954, 0.934, 0.976, and 0.976, respectively. The results show that the Post-Fusion model slightly outperforms the Pre-Fusion model in terms of accuracy and recall with more reliable classification performance. To understand the attention mechanism better, we've been visualizing the weights of the model, observing how different attention heads may capture different features of the data from various dimensional perspectives. The visualization helps in interpreting the model's focus and how it distinguishes between features of different nature, such as color texture and spatial depth. These findings can inform the ongoing refinement of terrain classification systems for applications in robotics and autonomous navigation.

关键词： Multimodal fusion terrain recognition vision transformer depth camera

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Bone Layer Perception in Milling Process Based on Video Sequence Images during Robot-assisted Laminectomy*

Bone Layer Perception in Milling Process Based on Video Sequ...

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IEEE International Conference on Robotics and Biomimetics

作者： Haiyang Li Meng Li Xiaozhi Qi Yuanyuan Yang Ying Hu Chinese Academy of Sciences Haiyang Li is with Shenyang Aerospace University and also with Shenzhen Institute of Advanced Technology Shenzhen China Chinese Academy of Sciences Meng Li is with Harbin Institute of Technology and also with Shenzhen Institute of Advanced Technology Shenzhen China Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen China Chinese Academy of Sciences Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen China

ISBN: (纸本)9781665481106

To optimize the operation ability of the autonomous robot under the background of complex surgery, this paper extracted the state features of milling video sequence images to realize bone layer perception and improve the perception ability of the spinal robot. The bone layer sensing algorithm mainly consists of four parts: improved moving object detection algorithm, moving object tracking algorithm, state feature extraction algorithm and bone layer recognition algorithm. Aiming at the shortcomings of the existing moving target detection methods, this paper proposes an improved moving target detection algorithm based on the existing Background Subtractor MOG algorithm, which is suitable for milling video sequences. The grinding machine state obtained by the improved algorithm is used as the input of the moving target tracking algorithm, and the kernel correlation filter (KCF) is used to realize the target tracking. According to the tracking of the moving target, the state features of the milling area are extracted and the bone layer is identified, so as to realize the bone layer perception in the milling process.

关键词： Target tracking Video sequences Process control Milling Object detection Bones Feature extraction

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Design of magnetorheological brake with adjustable interdigitated comb for lower limb prostheses and exoskeletons *

Design of magnetorheological brake with adjustable interdigi...

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IEEE International Conference on Robotics and Biomimetics

作者： Qiuyu Shi Xuan Zhao Haisu Liao Yongji Lin Ruisen Huang Xinyu Wu Fei Gao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Shatin China

Magnetorheological (MR) fluids-based devices such as MR dampers and brakes can output a continuously controllable damping force via modulating the magnitude of the applied magnetic field. Owing to low energy consumption and fast response, recently vast MR dampers and brakes are widely studied and explored for lower limb prostheses and exoskeletons. This paper proposed a novel MR brake with adjustable interdigitated comb for lower limb prostheses. Through actively adjusting the area the of the comb engagement, the maximum viscous and field-induced damping torque can be increased or decreased. Because of that, the dynamic adjustment interval of the output damping torque can be increased to meet the function requirements of the prosthetic knee in different walking modes. Magnetic analysis via ANSYS is performed to check the magnetic density of the MR fluid under different excitations. Mathematical models of the damping torque are built. Finally, a prototype of the novel MR brake is fabricated.

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A Learning human-Based Method For Peg-In-Hole Assembly Using ELM

A Learning Human-Based Method For Peg-In-Hole Assembly Using...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Juyi Sheng Sheng Liu Bing Zhu Chi Zhu Yongsheng Ou Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China University of Chinese Academy of Sciences Beijing China Maebashi Institute of Technology Japan Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems (#2019B121205007)

This paper focuses on using sensor information to adjust the position for assembly in the presence of uncertainty error in vision. Firstly, a human demonstration of the peg-in-hole assembly is provided, and the data is collected for the next step of training. We start with a human demonstration and collect training data. A network is trained with 6D Force/Torque sensor (F/T sensor) as input and a strategy of which direction the robot end-effector needs to move as output. An algorithm using Extreme Learning machines (ELM) search is proposed. This is a human-like method of searching for holes. We validated the effectiveness of our method on a KUKA iiwa 7 robot arm.

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A New Dynamic Routing Network for Monocular Depth Estimation 12

A New Dynamic Routing Network for Monocular Depth Estimation

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Luo, Zhehao Luo, Sijin Liang, Guoyuan Wu, Xinyu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China University of Chinese Academy of Sciences Beijing China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences Guangdong Province Shenzhen China Guangdong Provincial Key Laboratory of Computer Vision and Virtual Reality Technology Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Depth estimation is an essential task for understanding the geometry of 3D scenes. Compared with multi-view-based methods, monocular depth estimation is more challenging for the requirement of integrating not only global information but also local cues from various parts. Recently, numerous Convolutional Neural Networks (CNNs) based approaches relying on pre-defined static architectures have been reported. Although many of them have achieved remarkable improvements in accuracy, there remains problem with the generality of the static model when it comes to diverse scenes. In this paper, a novel deep network with dynamic routing architecture is proposed with a dynamically adjustable structure with respect to different inputs, therefore leading to not only improvements on both accuracy and generality but also decrease of the model parameters. Extensive experiments of monocular depth estimation have been conducted on two well-known challenging datasets (i.e., NYUD-v2 and Make3D) as well as the mixed dataset, and have verified the effectiveness of the proposed dynamic framework. © 2022 IEEE.

关键词： Deep neural networks

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A smart wearable device for capturing biomechanical energy from human knee motion

A smart wearable device for capturing biomechanical energy f...

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

作者： Hugo Hung-Tin Chan Haisu Liao Xuan Zhao Junrui Liang Wei-Hsin Liao Xinyu Wu Fei Gao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin Hong Kong China School of Information Science and Technology ShanghaiTech University Shanghai China

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

Sustainable power supply is a challenge for portable and wearable electronic devices such as cell phones and headsets. To address this, researchers proposed capturing biomechanical energy from human motion to generate electricity. This paper proposed and developed a lightweight wearable device to capture the biomechanical energy from the human knee motion. To reduce the effect of inertial force on human gait, we developed a lightweight and compact transmission chain to convert the bidirectional rotation of the knee to a unidirectional rotation of the generator. Two input bevel gears with opposite one-way bearings on the same shaft are engaged with a single output bevel gear of the generator thereby only one input bevel gear is engaged for each input direction, achieving unidirectional output. In addition, to reduce velocity fluctuation and further minimize the effect of inertial force, a flywheel was fixed to the motor shaft via a gearbox. A prototype of the wearable device was developed and tested on a subject walking on a treadmill. Experimental results shows the flywheel enabled the harvester to achieve a continuous output while halving voltage fluctuations compared to a conventional harvester. The harvesters average power output can reach 0.11 W with minimal effects on the subject’s walking gait.

关键词： Knee Legged locomotion Biomechanics Shafts Fluctuations Voltage fluctuations Torque

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Terrain recognition and gait cycle prediction using IMU

Terrain recognition and gait cycle prediction using IMU

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2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Wang, Zhuo Zhang, Yu Ni, Jiangpeng Wu, Xinyu Liu, Yida Ye, Xin Chen, Chunjie Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China SZ DJI Technology Co. Ltd. Shenzhen China

ISBN: (纸本)9781665436786

It is well known that terrain recognition and gait cycle prediction are important for powered exoskeleton. However, only a few works have focused on the concerns of complexity of the control system caused by using redundant sensors. In this paper, only two IMU sensors are applied to collect information of the angle and angular velocity of the hip joint in the situation of level-ground walking, ramp ascent, and ramp descent. Based on information acquired from these two IMU sensors, two methods are proposed to achieve terrain recognition. One method uses the angle of the hip joint when the two legs intersect as the threshold of terrain recognition. It can identify the terrain (level-ground walking, ramp ascent, ramp descent) during stable walking, but it cannot recognize the transitional terrain (from level-ground walking to ramp ascent, from ramp ascent to ramp descent, and so on) and its robustness is limited. The other method selects the angle and angular velocity of the hip joints as the eigenvector, and uses SVM for terrain recognition. The accuracy of terrain recognition is improved from 69.7% to 100% after introducing the Gaussian kernel function instead of Linear kernel function. For gait cycle prediction, Wiener one step prediction is applied in predicting the GC. Compared to actual GC, the error from predicted GC based on mean prediction is more than 8.0%, while the error from Wiener on step prediction is less than 4.35%. © 2021 IEEE.

关键词： Forecasting

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Enhancement of Upper Limb Movement Classification based on Wiener Filtering Technique

Enhancement of Upper Limb Movement Classification based on W...

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International Conference on e-health Networking, Applications and Services (HealthCom)

作者： Yazan Ali Jarrah Asogbon Mojisola Grace Oluwarotimi Williams Samuel Mingxing Zhu Xin Wang Alberto López Delis Weimin Huang Shixiong Chen Guanglin Li CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen College of Advanced Technology UCAS Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Medical Biophysics Center Oriente University Cuba Shenzhen Children's Hospital Shenzhen Guangdong China

ISBN: (数字)9781728162676

ISBN: (纸本)9781728162683

Electromyogram pattern recognition (EMG-PR) is considered a potential method for upper limb prosthesis control. In principle, the feature extraction technique has been ranked the most influential factor that affect the EMG-PR method's performance. Despite the progress made thus far, there are inevitable interferences that could not be handled by the usual signal filtering approaches that are applied to enhance the extracted features. To address this issue, this study proposed a technique based on Wiener filtering for the preprocessing of EMG signals towards increasing the classification performance of EMG-PR systems. The performance of the proposed approach was investigated with recordings of high-density surface EMG which was obtained from four transhumeral amputees who performed five classes of limb movements. Then, features of five time-domain were analyzed in terms of their decoding accuracy, sensitive, and F1-score, with and without the application of the proposed for linear discriminant analysis and support vector machine classifiers techniques. Experimental results showed that by applying the proposed technique to the different feature sets, significant improvements in classification accuracy, sensitivity, and F1-score were observed across all subjects and classifiers. The proposed method improved the average classification accuracy by an increase of approximately 6.24% compared with the conventional method, while an increment as high as 16.77% was recorded for individual classes of movements. The outcomes of this study indicate that Wiener filtering may potentially boost the performance of EMG-PR systems in practical applications.

关键词： Support vector machines Wiener filters Sensitivity Feature extraction Electromyography Time-domain analysis Prosthetics

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