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Correction to: Utilizing an Emotional Robot Capable of Lip-Syncing in Robot-Assisted Speech Therapy Sessions for Children with Language Disorders

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International Journal of Social robotics 2023年第2期15卷 185-186页

作者： Esfandbod, Alireza Rokhi, Zeynab Meghdari, Ali F. Taheri, Alireza Alemi, Minoo Karimi, Mahdieh Social and Cognitive Robotics Laboratory Center of Excellence in Design Robotics and Automation (CEDRA) Sharif University of Technology Tehran Iran Fereshtegaan International Branch Islamic Azad University Tehran Iran Department of Humanities Islamic Azad University Tehran Iran Mahan Learning Disorders Center Tehran Iran

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Classification of Lower Limb Electromyographical Signals Based on Autoencoder Deep Neural Network Transfer Learning

Classification of Lower Limb Electromyographical Signals Bas...

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

作者： F.H. Daryakenari M. Mollahossein A. Taheri G.R. Vossoughi Mechanical Engineering Department Center of Excellence in Design Robotics and Automation Mechatronic Research Lab Sharif University of Technology Tehran Iran

ISBN: (纸本)9781665454537

In this paper we aim to propose an Artificial Neural Network (ANN) model in order to classify lower limb surface Electromyographical signals, without applying any pre-processing to the inputs. To this end, first three different autoencoder models have been proposed in order to choose the autoencoder architecture with the best performance. Then encoder layers of the best autoencoder model transferred to a classification network. This network aims to classify raw input sEMG signals into three categories, namely; sitting, standing and walking. After training the classification network, we were able to successfully classify input sEMG signals and reach to 81.51% accuracy for all the classes and 91% and 94% accuracy for the first two classes, with the unseen subjects. The major difference of this research with previous ones lies in fact that evaluation of our network occurs in a realistic scenario, where data from test and validation subjects is not seen by the network before and also our transferred network uses unlabeled raw sEMG signals for extracting features from signal, which gives us the ability to transfer this model in situations where labeled data is not available.

关键词： Training Adaptation models Transfer learning Noise reduction Neurons Artificial neural networks Feature extraction

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Fast mapping in word-learning: A case study on the humanoid social robots' impacts on Children's performance

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International Journal of Child-Computer Interaction 2023年 38卷

作者： Esfandbod, Alireza Rokhi, Zeynab Meghdari, Ali F. Taheri, Alireza Soleymani, Zahra Alemi, Minoo Karimi, Mahdie Social and Cognitive Robotics Laboratory Center of Excellence in Design Robotics and Automation (CEDRA) Sharif University of Technology Tehran Iran Fereshtegaan International Branch Islamic Azad University Tehran Iran Department of Speech Therapy School of Rehabilitation Tehran University of Medical Sciences Tehran Iran Department of Humanities West Tehran Branch Islamic Azad University Tehran Iran Mahan Learning Disorders Center Tehran Iran

The evolution of robotic technology has heightened the demands for robots capable of social interaction with humans, also known as social robots. The encouraging prospects of deploying this advanced assistive tool in entertainment, healthcare, and education have, in turn, promoted substantial growth in studies conducted on the human-robot interaction (HRI) topic. One hot HRI subject is the examination of social robots' efficacy within various educational scenarios, e.g., word learning. In the context of word learning, fast mapping (FM) is a well-established technique through which novel words are taught by contrasting them with previously known words. The concept of this approach originates from how infants comprehend new vocabularies' referents. In this study, we investigated the potential benefits of utilizing social robots during educational interventions, based on the FM strategy, by means of two measures, alternative forced-choice (AFC) test and gaze data analysis. The first metric explores participants' retention after a 10-min and a one-week delay, while the second is concerned with scrutinizing their gaze focus during training sessions. Our findings indicate that the utility of social robots during FM interventions could enhance children's engagement, attention, and retention of novel words. © 2023 Elsevier B.V.

关键词： Child-robot interaction (CRI) Fast mapping Social robots Word-learning

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Some improvements on the one-step inverse isogeometric analysis by proposing a multistep inverse isogeometric methodology in sheet metal stamping processes

arXiv

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arXiv 2020年

作者： Reza Isazadeh, Amir Shamloofard, Mansoor Assempour, Ahmad Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology Azadi Avenue P.O. Box 11365-9567 Tehran Iran

The isogeometric methodology has been successfully implemented in one-step inverse analysis of sheet metal stamping processes. However, these models are not capable of analyzing forming processes that require severe deformation and several forming stages. This paper presents a multistep inverse isogeometric methodology to enhance the precision of one-step models in predictions of the initial blank, strain distributions, and drawability of the formed parts. This methodology deals with the minimization of potential energy, deformation theory of plasticity, and considering membrane elements. The presented methodology utilizes the NURBS basis functions to create the final, middle, and blank geometries and also to analyze sheet metal deformation. The characteristics of the applied formulations make it possible to simultaneously observe the effects of changing part parameters on its formability. One advantage of this approach is that the linear system of governing equations is solved without concerning about the convergence. Besides, the presented methodology can successfully generate the middle geometry and to restrict the movements of physical nodes along the middle surface, by presenting a new NURBS-based mapping and sliding constraint technique. The performance of the presented model is experimentally and numerically evaluated under two classical problems, including the forming of a rectangular box and a two-step drawing of a circular cup. Results comparisons indicate the credibility of the presented model in prediction of forming parameters at a low computation time. Copyright © 2020, The Authors. All rights reserved.

关键词： Potential energy

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Study on Photocatalytic, Electric, and Sensing Behavior of Co- and Ag- Codoped Tin Dioxide (Sno2) Nano Particles

SSRN

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SSRN 2023年

作者： Zhang, Qiang Zou, Xiao Wang, Yan Habibi, Mostafa Shaanxi Key Laboratory of Catalysis School of Chemistry and Environmental Science Shaanxi University of Technology Shaanxi Hanzhong723001 China School of Pharmacy Shaanxi Institute of International Trade & Commerce Shaanxi Xianyang712046 China Faculty of Architecture and Urbanism UTE University Calle Rumipamba S/N and Bourgeois Quito Ecuador Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology Azadi Avenue P.O. Box 11365-9567 Tehran Iran Department of Biomaterials Saveetha Dental College and Hospital Saveetha Institute of Medical and Technical Sciences Chennai600 077 India

The role of Co and Ag codoping on the electric, optical, and sensing performance of tin dioxide nano particles was investigated. Co-Ag codoping reduced particle size from 51.8 nm to 41.6 nm and the unit cell dimensions changed. Overall, Co and Ag resulted in significant rise in oxygen vacancy of SnO2 so that defects compensate unbalanced electron charge induced by dopants. It was also figured out that Co-Ag codoping improved the conductivity of SnO2 at low and high temperatures. Doping Led to decrement in the band gap energy of SnO2 from 3.66 eV to 3.07 eV, which shows improved optical properties of the compound. Study on photodegradation activity of SnO2 showed up to 97. % enhancement due to Co-Ag co-doping. Finally, the sensor response of the compound revealed that the response intensity of tin dioxide increased significantly when 4 wt.% Co and 2 wt. % Ag are doped into it. © 2023, The Authors. All rights reserved.

关键词： Photocatalytic activity

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Virtual Reality Robot for Rehabilitation of Children with Cerebral Palsy (CP)

Virtual Reality Robot for Rehabilitation of Children with Ce...

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

作者： M. Shahab M. Raisi M. Hejrati A.R. Taheri A. Meghdari Social & Cognitive Robotics Laboratory Center of Excellence in Design Robotics and Automation (CEDRA) Sharif University of Technology Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

Children with Cerebral Palsy (CP) suffer from sequential movement disorders during their life. One of the common methods in CP's rehabilitation is physiotherapy that can be accelerated by means of modern technology. Virtual reality (VR) is one of the emerging technologies that has various applications in rehabilitation and therapy nowadays. It has been illustrated that utility of this technology can improve the physical skills of children with cerebral palsy. In this paper, we have presented a novel VR therapy game in which the children get motivated to do different activities according to their physiotherapy schedule and finally the child's behavior was automatically assessed. The game consists of a virtual playground with a virtual robot that guides the children between different items and encourages them to do their best during the designed assignments. Furthermore, we managed a pilot game-session to study the acceptance of the VR game and we observed that the acceptance rate is about 75% among children with cerebral palsy, while all of the typically developing children attending the session enjoyed the game. Finally, by investigating the results, it is indicated that the performance of CPs in all the activities was significantly weaker than their typically developing peers.

关键词： Games Robots Pediatrics Virtual reality Muscles Neck Software

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design, Fabrication, and Evaluation of the “Maya” Social Robot

Design, Fabrication, and Evaluation of the “Maya” Social R...

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

作者： Elham Ranjkar Raman Rafatnejad Ali Amoozandeh Nobaveh Ali Meghdari Minoo Alemi Islamic Azad University West-Tehran Branch Social & Cognitive Robotics Laboratory Center of Excellence in Design Robotics and Automation (CEDRA) Sharif University of Technology Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

In the past few years, social robots have attracted researchers' attention from leading countries in this field. These robots can play a potential role in human life, such as entertainment, therapy, and education. This paper covers the design process and fabrication of a robot called “Maya”, whose purpose is to act as an intermediary in children's medical treatment progress. Maya is an intelligent toy embedded with multimedia devices with the capability for self-presentation and other behaviors. Two of the most important factors of this type of social robots are their acceptance into everyday life and the capability to be used with children, in particular during their medical treatment process. In this study, a scenario was designed for the robot, including a poem, story, and music, to evaluate these two aspects. The results indicated that the robot has both the potential to be therapeutic and the ability to be used in the entertainment and education of children.

关键词： Pediatrics Robot sensing systems Fabrication Hospitals

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Human-Robot Interaction based on Facial Expression Imitation

Human-Robot Interaction based on Facial Expression Imitation

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

作者： Alireza Esfandbod Zeynab Rokhi Alireza Taheri Minoo Alemi Ali Meghdari Social & Cognitive Robotics Laboratory Center of Excellence in Design Robotics and Automation (CEDRA) Sharif University of Technology Tehran Iran Islamic Azad University name West-Tehran Branch Iran

The following topics are dealt with: mobile robots; medical robotics; control system synthesis; nonlinear control systems; variable structure systems; position control; patient rehabilitation; robot dynamics; manipula... 详细信息

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

关键词： Robots Feature extraction Face recognition Emotion recognition Face Education Computers

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Magnetic Continuum Robot for Intelligent Manipulation in Medical Applications

SmartBot

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SmartBot 2025年

作者： Yuanbiao Ma Xuanyu An Qijun Yang Mingxue Cai Zhiqiang Tang Jinke Chang Veronica Iacovacci Tiantian Xu Li Zhang Qianqian Wang Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments School of Mechanical Engineering Southeast University Nanjing China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Mechanical Engineering National University of Singapore Queenstown Singapore Department of Engineering Science University of Oxford Oxford UK Department of Surgical Biotechnology Division of Surgery & Interventional Science Centre for Biomaterials in Surgical Reconstruction and Regeneration University College London London UK BioRobotics Institute Scuola Superiore Sant’Anna Pisa Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Chow Yuk Ho Technology Center for Innovative Medicine The Chinese University of Hong Kong Hong Kong China Multi-Scale Medical Robotics Center Hong Kong Science Park Hong Kong China

Magnetic continuum robots (MCRs) have garnered substantial attention as a new class of flexible robotic systems capable of navigating complex and confined spaces with remarkable dexterity. By combining continuous, deformable structures with remotely applied magnetic fields, MCRs achieve contactless, remote manipulation, making them well-suited for medical applications. This review introduces recent advances in MCR research, focusing on design principles, structural configurations, and control strategies. Various MCR designs and structures, including those integrated with permanent magnets, magnetic matter, ferromagnetic sphere, and micro coil, are discussed. Furthermore, different magnetic actuation platforms are introduced, and the level of MCR automation is classified based on control strategies. Key intelligent manipulation capabilities of MCRs, including navigation, delivery, printing, grasping, imaging, and sensing are explored. Finally, future development priorities and directions are identified to provide insights for advancing intelligent robotic systems.

关键词： intelligent manipulation magnetic actuation magnetic continuum robot medical application

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THE EXPLICIT GIBBS-APPELL EQUATIONS of MOTION for RIGID-BODY CONSTRAINED MECHANICAL SYSTEM 6

THE EXPLICIT GIBBS-APPELL EQUATIONS of MOTION for RIGID-BODY...

引用

6th RSI International Conference on robotics and Mechatronics, IcRoM 2018

作者： Mohammad Mirtaheri, S. Zohoor, Hassan Department of Mechanical Engineering South Tehran Branch Islamic Azad University Tehran Iran Center of Excellence in Design Robotics and Automation Sharif University of Technology Tehran Iran

ISBN: (纸本)9781728101279

The present paper aims to provide a direct formulation for rigid body dynamics in terms of quasi-velocities. The general form of explicit equations of motion was provided for mechanical systems subjected to holonomic and nonholonomic constraints by using Gibbs-Appell method. The proposed method aimed to select quasi-velocities which satisfy all constraint conditions, eliminate the Lagrange multipliers, and reduce the number of equations. This method was used in the presence of both holonomic and nonholonomic constraints. Finally, the suggested approach was employed to derive the equations of motion for a rolling disk as an illustrative example and compare the results with Udwadia-Kalaba method. © 2018 IEEE.

关键词： Equations of motion

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