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9th IFAC Symposium on Biological and Medical systems, BMS 2015

作者： Ambrosini, E. Schauer, T. Klauer, C. Pedrocchi, A. Ferrigno, G. Ferrante, S. NeuroEngineering and Medical Robotics Laboratory NearLab Department of Electronics Information and Bioengineering Politecnico di Milano Italy Control Systems Group Technische Universität Berlin Germany Physical Medicine and Rehabilitation Unit Scientific Institute of Lissone Institute of Care and Research Salvatore Maugeri Foundation IRCCS Lissone Italy

To increase the rehabilitation outcomes of stroke patients with weak residual muscle activity, a novel control strategy for Functional Electrical Stimulation (FES) was designed and tested during a tracking task. The system includes an electromyography (EMG)-based feedback controller and a trial-to-trial adaptation of the FES support. The first modulates the stimulation intensity to achieve a desired amount of FES-evoked muscle activity corresponding to a desired FES-induced angular support trajectory. The second iteratively updates this trajectory in order to minimize the error between the target displayed to the patient and the measured angle trajectory. This support adaptation only takes place in case the subject actively contributes to the movement. If the estimated volitional effort is too low, FES support is quickly withdrawn to remind the subject to actively contribute to the tracking task. The EMG signal of the stimulated muscle is used to estimate both the FES-induced and the volitional muscle activity. The feasibility of the proposed control scheme was experimentally investigated in one healthy subject by stimulating the medial deltoid muscle to support shoulder abduction. First, the controller was tested simulating different volitional contributions of a potential patient. The control system adjusted the amount of FES-support as expected. Then, the compensation of muscle fatigue by the feedback controller was demonstrated by repeatedly applying the same desired FES-induced angular trajectories, while the subject was asked to be relaxed. As a result, the control system was able to provide the desired support for about 7 minutes until the stimulation intensity saturated. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Electromyography

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Development and characterization of a dynamic smart structure providing multi-axis force sensing for robotic applications

Development and characterization of a dynamic smart structur...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Davinson Castaño-Cano Mathieu Grossard Arnaud Hubert CEA Interactive Robotics Laboratory Gif-sur-Yvette France Automatic Control and Micro-Mechatronic Systems Department ENSMM-UTBM-CNRS Besancon France Sorbonne Universites Electromechanical Laboratory (LEC) Compiegne CEDEX CS France

When considering force-controlled robots, one key-point to sense the arm-environment interaction is the availability of cheap but sufficiently precise multi-axis force sensors. Even if resonant sensors can overcome some well-known limitations such as noise and drift issues, designing multi-axial resonant force sensor is still non-intuitive due to dynamical nature and multiple modes interaction. This paper presents the development of an integrated three-component force sensing resonant structure, which may be used to simultaneously estimate, all the three components of the force applied on it, for the first time. The sensor principle relies on one single pre-stress composite plate where actuation and measurement are achieved with piezoelectric transducers. Feedback control based on Phase-Locked Loop is used to measure resonances, then estimate the applied forces. Multiple smart design strategies, such as modal superposition, spatial modal filtering using optimal transducers placement and intelligent signal conditioning, limit the electronic treatment and reduce the controller complexity. Experimental comparisons with other calibrated force sensors have shown that the applied force can be efficiently estimated with accuracy, demonstrating the interest of our approach to design integrated and inexpensive multi-axis force sensor solution for robotic applications.

关键词： Force Resonant frequency Force sensors Robot sensing systems Phase locked loops Frequency measurement

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IEEE International Conference on Mechatronics and Automation

作者： Ying Wu Qiang Huang Xuechao Chen Zhangguo Yu Libo Meng Gan Ma Peisen Zhang Weimin Zhang Intelligent Robotics Institute Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

ISBN: (纸本)9781479970995

This paper introduces the similarity evaluation on humanoid facial expression. For the purpose of understanding easily, firstly, the process of designing humanoid robot's facial expressions is explored in brief. Then, a similarity function is proposed to evaluate the similarity of the robot facial motion compared with the human being quantitatively based on both the kinematics and dynamics factors, also including how to select the key value of parameter in similarity function. Finally, the effectiveness of the similarity function is confirmed by an experiment of facial expressions based on BHR-4 robot.

关键词： Joints Kinematics Dynamics Trajectory Humanoid robots Rhythm

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Dynamic modeling and control simulation of a modified delta manipulator

Dynamic modeling and control simulation of a modified delta ...

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2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics

作者： Hao, Jianlong Xie, Xiaoliang Bian, Guibin Feng, Zhenqiu Gao, Zhanjie Hou, Zengguang Yu, Hongnian Vladareanu, Luige State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Faculty of Science and Technology Bournemouth University Poole DorsetBH12 5BB United Kingdom Robotics and Mechatronics Department Institute of Solid Mechanics Romanian Academy 15 C-tin Mille Street Bucharest 1 Romania

ISBN: (纸本)9781467391047

The delta parallel mechanism has proven to be a very successful parallel robot design and a number of variants have been proposed in the literature. Taking advantage of its simple construction and the intrinsic features such as high stiffness and accuracy, delta robots play an important role both in the fields of industrial robots and academical fields. In this paper, dynamic modeling and control simulation of a cable-driven modified delta manipulator for haptic interface are discussed. For the parallel mechanism is highly coupled and nonlinear, the dynamic model is of great importance for model-based controller to achieve a satisfactory performance. Based on the principle of virtual work, the dynamic equations of this manipulator are established. The proportional-derivative (PD) computed torque control scheme is proposed for trajectory tracking. With the help of the virtual prototype builded in ADAMS software and used in MATLAB software, the co-simulation is accomplished and the results validate the performance of the controller proposed in this paper. © 2015 IEEE.

关键词： Manipulators

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Dynamic modeling and control simulation of a modified delta manipulator

Dynamic modeling and control simulation of a modified delta ...

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International Conference on Information and Automation (ICIA)

作者： Jianlong Hao Xiaoliang Xie Guibin Bian Zhenqiu Feng Zhanjie Gao Zengguang Hou Hongnian Yu Luige Vladareanu State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Faculty of Science and Technology Bournemouth University Poole Dorset UK Robotics and Mechatronics Department Romanian Academy Romian

ISBN: (纸本)9781467391054

关键词： Manipulator dynamics Joints Mathematical model Computational modeling Prototypes Trajectory

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Biomimetic inspiration for PKM torso design in humanoid robots

Biomimetic inspiration for PKM torso design in humanoid robo...

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IEEE International Conference on Mechatronics and Automation

作者： Hulin Huang Ceccarelli Marco Weimin Zhang Qiang Huang Zhangguo Yu Xuechao Chen Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Italy Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479970995

A new torso design of humanoid robot is proposed as a 3-DOF PKM (Parallel Kinematic Manipulator) structure by using results of a biomimetic analysis of torso in humans and animals. Main characteristics of torso in nature are presented from which design requirements are outlined for a solution in humanoid robot. The PKM torso is consist of two platforms and four UPU mechanisms. The usefulness of such a biomimetic inspiration is proved by a numerical simulation of the proposed PKM torso in its basic movements.

关键词： Torso Humanoid robots Joints Thorax Horses Payloads

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Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Shared control for teleoperation enhanced by autonomous obst...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Xinyu Wang Chenguang Yang Hongbin Ma Long Cheng Centre for Robotics and Neural Systems Plymouth University Plymouth UK State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Manipulators Collision avoidance Robot kinematics Trajectory Kinematics Robot sensing systems

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[email protected] : Analysis and results of evolving competitions for domestic and service robots

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Artificial Intelligence 2015年 229卷 258-281页

作者： Luca Iocchi Dirk Holz Javier Ruiz-del-Solar Komei Sugiura Tijn van der Zant Department of Computer Control and Management Engineering Sapienza University of Rome Italy Autonomous Intelligent Systems Group University of Bonn Germany Department of Electrical Engineering & Advanced Mining Technology Center Universidad de Chile Chile Information Services Platform Laboratory National Institute of Information and Communications Technology Japan Cognitive Robotics Laboratory University of Groningen The Netherlands

Scientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences. One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions. In this article, we present the [email protected] competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that [email protected] robots can solve but also the increased performance for all of the functionalities addressed in the competition. We believe that the methodology used in [email protected] for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and robotics.

关键词： Robotic competitions Artificial intelligence and robotics Benchmarking

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control system for neuro-prostheses integrating induced and volitional effort ∗

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IFAC-PapersOnLine 2015年第20期48卷 327-332页

作者： E. Ambrosini T. Schauer C. Klauer A. Pedrocchi G. Ferrigno S. Ferrante NeuroEngineering And Medical Robotics Laboratory NearLab Department of Electronics Information and Bioengineering Politecnico di Milano Italy Control Systems Group Technische Universität Berlin Germany Physical Medicine and Rehabilitation Unit Scientific Institute of Lissone Institute of Care and Research Salvatore Maugeri Foundation IRCCS Lissone Italy

关键词： Signal processing Medical systems Biomedical control Rehabilitation Functional Electrical Stimulation Electromyography

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A Largely Model Independent Solution for the Position control of a Typical Inverted Pendulum System 33

A Largely Model Independent Solution for the Position Contro...

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第三十三届中国控制会议

作者： GAO Qiang CHEN Shasha LI Yi LI Junfang Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electrical EngineeringTianjin University of Technology Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781479947249

An Active Disturbance Rejection based solution is proposed for the position control of a standard inverted pendulum system, demonstrating a largely model independent design that is distinctly different from existing model-based designs from classical as well as modern control theory. The quality of the control loop is further improved with a unique double disturbance observer design, which rejects independently the disturbance and uncertainty in both the pendulum itself and the cart that carries it. This proposed approach offers a promising and practical solution because it's intuitive to understand and easy to tune, in addition to its strong performance and effectiveness shown in both simulation study and real time experimentation.

关键词： ADRC LESO Inverted pendulum Real-time control

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