检索结果-内蒙古大学图书馆

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

作者： Tanin Boka M. Navid Nikkhah S. Ali A. Moosavian Dept of Mechanical Engineering K. N. Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Laboratory Toosi University of Technology Tehran Tehran Iran Dept of Mechanical Engineering K. N. Toosi University of Technology Tehran Tehran Iran

This paper introduces an innovative advancement in the field of wearable assistive technology by presenting a revolutionary portable soft robotic glove designed to assist individuals with hand impairments during rehabilitation exercises and daily tasks. The glove offers both active finger flexion and passive extension to aid in hand support and rehabilitative training. It achieves this by utilizing integrated soft actuators, including a variable stiffness layer and a pneumatic-driven layer, which guide specific bending, twisting, and extending movements when air pressure is applied. Notably, the variable stiffness layer takes inspiration from pangolins, whose scales are pliable during daily activities but become rigid when facing threats. To provide increased power with enhanced stiffness, a toothed pneumatic actuator is specially designed. The three-finger soft glove is manufactured by molding super-elastic material, creating the actuator mold using a 3D printer. The glove’s grasping abilities have been thoroughly tested, and experimental results demonstrate that, when compared to previously developed elastomeric-based actuators, these actuators can generate substantial force and torque to facilitate finger flexion even at lower air pressure levels. This capability allows the glove to grasp a wide range of objects, assisting individuals in their rehabilitative training. Furthermore, a control system for grasping has been developed, which includes motion processing unit sensors for collecting feedback signals aligned with the actuators, along with a closed-loop controller for regulating the pressure. In contrast to existing devices, this glove, thanks to its portable design, has the potential to significantly enhance user autonomy and independence.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Dynamics Modelling and Parameters Estimation for Nonlinear-Model Predictive control of Underwater Robots

Dynamics Modelling and Parameters Estimation for Nonlinear-M...

引用

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

作者： S. Ali A. Moosavian Mohammad Jamali Omid Mahdizadeh Vahid Akbari 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)9781665420952

Underwater robots are to be extensively used in various submerged missions. A few research works have been conducted to investigate the nonlinear dynamical behavior of such systems in ocean flows. In this paper, dynamics modeling and parameters estimation for these complicated systems are developed for using model-based predictive control. It is begun by presenting the nonlinear equations governing the dynamics of an underwater robot in an ocean open flow. Additionally, the movement of the diving and depth motion of the robot in such cases is analyzed. A method to estimate hydrodynamic and other parameters of an underwater robot is presented and compared with experimental data. This method consists of close-to-reality simulation using a CFD subsystem of the ANSYS software. Finally, these parameters are used to design a model-based controller. Numerical simulations are carried out to evaluate the performance of the controllers. Among all the model-based controllers, nonlinear Model Predictive control (nonlinear-MPC) with constraints will be able to follow the setpoints within less time and less control effort. The experimental data confirm the simulation results, proving the underwater robot's capability for path-following in an ocean open flow.

关键词： Autonomous underwater vehicles Parameter estimation Oceans Simulation Predictive models Mathematical models Software

来源：评论

学校读者我要写书评

暂无评论

RoboWalk Trajectory Planning Based on the Human Gait Prediction Using LSTM

RoboWalk Trajectory Planning Based on the Human Gait Predict...

引用

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

作者： S. Ali. A. Moosavian Amin Kiani Vahid Akbari Mahdi Nabipour Sina Ghanaat 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)9781665420952

The increasing demand for rehabilitation robots alongside the complexity of such devices have made their designing procedure a challenging task. One of the challenges is generating a walking pattern for lower limb exoskeletons in such a way that tasks like load carrying or rehabilitation can be performed with minimum disturbance to the human normal gait. This paper presents a deep learning method to predict the next step of RoboWalk joint angle patterns using previous trajectories of former steps. Six different gait data from an individual are chosen as the learning and test dataset. The human joint trajectories during each of the six considered gaits and the augmented human-RoboWalk kinematic model are used to extract RoboWalk’s joint trajectories. The Long-Short-Term Memory (LSTM) network is then used for predicting the future trajectory and classifying the phase of walking. The accuracy for the prediction is about 98.5 percent and the overall error in all the gait modes is less than 5 degrees.

关键词： Legged locomotion Training Performance evaluation Trajectory planning Kinematics Rehabilitation robotics Trajectory

来源：评论

学校读者我要写书评

暂无评论

A Modified Dempster Shafer Approach to Classification in Surgical Skill Assessment

A Modified Dempster Shafer Approach to Classification in Sur...

引用

Iranian Conference on Electrical Engineering (ICEE)

作者： Arash Iranfar Mohammad Soleymannejad Behzad Moshiri Hamid D. Taghirad School of Electrical and Computer Engineering University College of Engineering University of Tehran Tehran Iran Department of Electrical and Computer Engineering University of Waterloo Waterloo Canada Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran

Artificial intelligence systems are usually implemented either using machine learning or expert systems. Machine learning methods are usually more accurate and applicable to a broader range of applications. Expert systems, on the other hand, require much less data for training and generate more comprehensible results. These characteristics are typically desired in the fields of surgery and medicine because there isn't much data available. In order to give a machine's decisions a deeper level of semantics, it is also advantageous to incorporate a doctor's expertise into it. Furthermore, it is safer to understand the reasoning behind a machine's choices. In this paper, a Dempster-Shafer Theory (DST) based expert system is suggested for the task of surgical training skill assessment. An interval-based probabilistic feature analysis was applied to the data to assign values to the mass functions. Zhang's rule of combination was applied to handle the conflicting evidence in the prediction phase. The performance of the proposed method was compared to another DST classifier, SVM, and XGBoost. Our method outperforms SVM and other DST classifiers, but it is not as precise as XGBoost. By reducing the size of the dataset, the added benefit of using an expert system as opposed to a machine learning method was explored further. The performance of the suggested method is not adversely affected by the size of the dataset, whereas the XGBoost classifier is.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Towards an Efficient Computational Framework for Surgical Skill Assessment: Suturing Task by Kinematic Data

Towards an Efficient Computational Framework for Surgical Sk...

引用

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

作者： Parisa Hasani Faraz Lotfi Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781665420952

During the course of the residency, novice surgeons develop specific skills before they perform actual surgical procedures. Manual feedback and assessment in basic robotic-assisted minimally invasive surgery (RMIS) training take up much of the expert surgeons’ time, while it is very favorable to automatically feedback to all surgeons in various skill levels. Towards this end, we use the surgical robot kinematic dataset named JIGSAWS, a public database collected from Da Vinci robot operated by 7 surgeons, to extract 49 metrics for the suturing task using three types of features, namely time and motion-based, entropy-based, and frequency-based. To find out the most relevant metrics in skill assessment, we perform and compare two feature selection/reduction methods, namely principal component analysis (PCA) and relief algorithm. We separately reduce the features based on these two methods, while using a combination method. Although resulting in an acceptable accuracy of 84% when using each separately, the combination method results in 92% particularly noteworthy accuracy.

关键词： Measurement Training Time-frequency analysis Minimally invasive surgery Medical robotics Kinematics Feature extraction

来源：评论

学校读者我要写书评

暂无评论

Hierarchical Whole-body control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation

Hierarchical Whole-body Control of the cable-Suspended Aeria...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Yuri S. Sarkisov Andre Coelho Maihara G. Santos Min Jun Kim Dzmitry Tsetserukou Christian Ott Konstantin Kondak Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Robotics and Mechatronics Group University of Twente Enschede The Netherlands Dextrous Robotics Inc. Memphis United States Instituto Tecnológico de Aeronáutica São José dos Campos Brazil Intelligent Robotic Systems Lab Korea Advanced Institute of Science and Technology (KAIST) Daejeon Korea Automation and Control Institute TU Wien Vienna Austria

During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against such disturbances because of possible overheating and high power consumption. To overcome this issue, in this paper we propose a winch-based actuation for the crane-stationed cable-suspended aerial manipulator. Three winch-controlled suspension rigging cables produce a desired cable tension distribution to generate a wrench that reduces the effect of gravitational torque. In order to coordinate the robotic arm and the winch-based actuation, a model-based hierarchical whole-body controller is adapted. It resolves two tasks: keeping the robotic arm end-effector at the desired pose and shifting the system center of mass in the location with zero gravitational torque. The performance of the introduced actuation system as well as control strategy is validated through experimental studies.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Next-Generation Prosthetic Hand:from Biomimetic to Biorealistic

引用

Research 2021年第1期2021卷 222-225页

作者： Ning Lan Manzhao Hao Chuanxin MNiu He Cui Yu Wang Ting Zhang Peng Fang Chih-hong Chou Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghaiChina Laboratory of Neurorehabilitation Engineering School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghaiChina Department of Rehabilitation Medicine Ruijin HospitalSchool of MedicineShanghai Jiao Tong UniversityShanghaiChina Center for Excellence in Brain Science and Intelligent Technology Chinese Academy of SciencesShanghaiChina School of Biological Science and Medical Engineering Beihang UniversityBeijingChina Beijing Advanced Innovation Center for Biomedical Engineering School of Biological Science and Medical EngineeringBeihang UniversityBeijingChina i-lab Key Laboratory of Multifunctional Nanomaterials and Smart SystemsSuzhou Institute of Nano-Tech and Nano-BionicsChinese Academy of SciencesSuzhouChina Shenzhen Institute of Advanced Technology Chinese Academy of SciencesShenzhenChina

Integrating a prosthetic hand to amputees with seamless neural compatibility presents a grand challenge to neuroscientists and neural engineers for more than half *** anatomical structure or appearance of human hand does not lead to improved neural connectivity to the sensorimotor system of *** functions of modern prosthetic hands do not match the dexterity of human hand due primarily to lack of sensory awareness and compliant ***,progress in restoring sensory feedback has marked a significant step forward in improving neural continuity of sensory information from prosthetic hands to ***,little effort has been made to replicate the compliant property of biological muscle when actuating prosthetic ***,a full-fledged biorealistic approach to designing prosthetic hands has not been contemplated in neuroprosthetic *** this perspective article,we advance a novel view that a prosthetic hand can be integrated harmoniously with amputees only if neural compatibility to the sensorimotor system is *** ongoing research supports that the next-generation prosthetic hand must incorporate biologically realistic actuation,sensing,and reflex functions in order to fully attain neural compatibility.

关键词： neural compatibility primarily

来源：评论

学校读者我要写书评

暂无评论

RoboGlove: Design of a Tendon-Driven Robotic Glove with Differential Mechanisms

RoboGlove: Design of a Tendon-Driven Robotic Glove with Diff...

引用

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

作者： Mehran Abbasi S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

Stroke and spinal cord injury (SCI) are two main causes of human upper-limb movement impairments. In this paper, the design of a soft robotic glove with tendon actuation for rehabilitation purposes of the human hand is presented. This robotic glove called KNTU RoboGlove is designed based on differential mechanisms. To help patients, the glove makes grasping objects with different geometries be possible using a single DC motor. To this end, the differential mechanisms are first presented, which are used in two parts of the system. The actuation unit actuates all fingers with a motor, while uses differential gears that can produce the flexion or extension motions without facing singularities. Finally, the functionality of RoboGlove is evaluated in performing two different tasks. First one is grasping a cylindrical object, while the second consists of grasping an irregular-shaped object. Obtained results reveal the merits of the proposed robotic glove.

关键词： Thumb Tendons Robots Ligaments Joints Electron tubes

来源：评论

学校读者我要写书评

暂无评论

Human Body Modeling for Ground Contact Force Estimation of RoboWalk

Human Body Modeling for Ground Contact Force Estimation of R...

引用

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

作者： Farshid Absalan S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

RoboWalk is a lower limb rehabilitation robot for Human body weight assistance. To achieve a proper design of RoboWalk, there is a need to understand the dynamics of human and foot contact forces with the ground that is the focus of this paper. In fact, an important component of human-Robo Walk forward dynamics simulation is foot-ground contact modelling. Different models have been proposed to simulate the contact of the foot with the ground. In this study, the dynamic equations of human body is developed with 19 degrees of freedom, while three points of collision with the ground are considered for each foot. Next, the kinematics information obtained from the experimental data are introduced to the dynamical equations, and the joint torques are estimated by solving the inverse dynamics of the human model. The results are compared to the experimental data for model validation. However, it is assumed that the numerical value of the foot contact model parameters are not available, so the pelvis is constrained in such a way that the human model foot does not hit the ground. Therefore, these uncertain parameters does not affect the validation results. Next, a model is selected from the existing models to express the foot contact behavior with the ground, while such models should provide stable walking with selecting the appropriate parameters. To determine the shear and normal contact force, numerical values of the parameters are required while these values depend on the shoe and the ground material and surface. Then, the path traveled by the pelvis in the human dynamic model was compared with the path of the actual pelvic motion and their difference was used to form a cost function to determine the parameters. In the next step, by choosing appropriate values for the contact parameters of the foot and the springs and the damping of the toe joint, the path of the pelvis becomes closely identical to the actual pelvis motion. Finally, after the human gait stabilized, the de

关键词： Mathematical model Dynamics Foot Force Friction Computational modeling Robots

来源：评论

学校读者我要写书评

暂无评论

Deep Learning Approach For Object Tracking Of RoboEye

Deep Learning Approach For Object Tracking Of RoboEye

引用

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

作者： Ahmad Moori Javad Khoramdel S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

RoboEye is a spherical 3RRR parallel robot which has been developed for its high precision. It can provide high speeds, so can be used for fast tracking tasks. To this end, in this paper proper deep learning approaches are combined with classical control methods. Deep learning algorithms are employed to detect an object of interest among various ones in a monocular image, and then obtain an estimatation of the distance to the camera. So, simultaneous depth estimation, and object detection with a monocular camera for real time implementation is proposed here. For fast calculations, also to overcome manufacturing uncertainties, inverse kinematic equations are computed by a multi-layer perceptron (MLP) network based on real data. Finally, a classical PID controller can perform a fast tracking of the object.

关键词： Cameras Estimation Kinematics Mathematical model Object detection Robot vision systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：