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Simultaneous Estimation of Human Motion Intention and Time-Varying Arm Stiffness for Enhanced Human-Robot Interaction

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IEEE Transactions on Cognitive and Developmental systems 2024年第3期17卷 510-524页

作者： Wu, Huayang Zhu, Chengzhi Cheng, Long Yang, Chenguang Li, Yanan University of Sussex Department of Engineering and Design BrightonBN1 9RH United Kingdom South China University of Technology Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering Guangzhou510640 China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China University of Liverpool Department of Computer Science LiverpoolL69 3BX United Kingdom

Recent advances in physiological human motor control research indicate that human endpoint stiffness magnitude increases linearly with grasp force. Based on these findings, a scheme was proposed in this paper to integrate the linear quadratic estimation (LQE) filter with the stiffness model inferred from grasp force, which can simultaneously estimate the human arm's stiffness and motion intention. Then, an online variable impedance controller (VIC) was designed based on previous estimations for physical human-robot interaction (pHRI). The proposed stiffness model and estimation method were validated through experiments using a planar robotic interface. In order to assess its performance in practical pHRI tasks, the implementation of human arm stiffness and intention estimation combining with VIC was extended to a teleoperation peg-in-hole and robot-assisted rehabilitation tasks. The experimental results demonstrate that the proposed method can effectively estimate human motion intention and arm stiffness simultaneously. Compared to existing methods, the proposed VIC enhances pHRI in terms of increased flexibility, effective guidance, and reduced human effort. © 2016 IEEE.

关键词： Human robot interaction

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Simulation of thin catheter behavior considering acoustic radiation force on elastic tube

Transactions of Japanese Society for Medical and Biological ...

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Transactions of Japanese Society for Medical and Biological engineering 2021年第Proc期Annual 59卷 791-792页

作者： Ichikawa, Yuki Akutsu, Ryota Kobayashi, Yataro Takano, Junya Masuda, Kohji Department of Bio-Functions and Systems Science Graduate School of Bio-Applications and Systems Engineering Tokyo University of Agriculture and Technology Japan

The purpose of this study is elucidating the mechanism of acoustic radiation force, which acts on a thin catheter to be bend, by referring a theory of previous research considering an elastic tube. To reproduce the behavior of thin catheter, acoustic radiation function, acoustic intensity, and the ::ze of the catheter should be taken into account to calculate acoustic radiation force. We found that there was a condition lo obtain stable acoustic radiation torce when the robe was filled with a specific gas according to the wall thickness. In addition, we succeeded to reproduce similar tendencies as the preceding experimental results In oar laboratory. In this study, we were able to theoretically confirm the conditions to obtain acoustic force on thin catheter more effectively © 2021, Japan Soc. of Med. Electronics and Biol. engineering. All rights reserved.

关键词： Catheters

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Impact of Morphological and Structural Properties of Submicron Core-Shell Fe-Silica Particles on High-Current Power Converter Performance in Electronics

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ACS Omega 2025年第22期10卷 23387-23396页

作者： Ratnasari, Delyana Septiani, Eka Lutfi Nandiyanto, Asep Bayu Dani Cao, Kiet Le Anh Hirano, Tomoyuki Okuda, Nobuhiro Matsumoto, Hiroyuki Ogi, Takashi Chemical Engineering Program Department of Advanced Science and Engineering Graduate School of Advanced Science and Engineering Hiroshima University 1-4-1 Kagamiyama Hiroshima Higashi-Hiroshima 739-8527 Japan Program Studi Teknik Kimia Fakultas Pendidikan Matematika dan Ilmu Pengetahuan Alam Universitas Pendidikan Indonesia Jl. Setiabudhi No. 229 West Java Bandung 40154 Indonesia Materials Research Center Technology & Intellectual Property HQ TDK Corporation 570-2 Matsugashita Minami-Hadori Chiba Narita 286-8588 Japan

As the demand for energy-efficient solutions grows in industries such as electric vehicles and renewable energy systems, the need for high-current power converters, powder core inductors, has become increasingly critical. These converters are essential for managing the flow of energy while maintaining efficiency under demanding conditions. However, achieving the necessary performance, particularly in terms of energy storage and minimizing energy losses, requires advanced materials with tailored magnetic properties. This study addresses these needs by introducing a novel class of magnetic materials, i.e., submicrometer-sized silica-coated iron (Fe@SiO₂) particles. These particles are produced through a one-step aerosol process, enabling precise control over particle morphology, size, and structural characteristics. The tuned Fe@SiO₂ particles demonstrated improved packing density and saturation current as well as reduced eddy current losses, significantly boosting the stability and efficiency of power converters to meet the demands of modern high-current electronic systems. This research highlights the importance of advanced magnetic materials in the ongoing evolution of power electronics, offering new possibilities for more efficient and reliable power conversion systems in a range of applied electronic technologies. © 2025 The Authors. Published by American Chemical Society.

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systems science in the new era: intelligent systems and big data

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science China(Information sciences) 2024年第3期67卷 308-310页

作者： Wenwu YU Duxin CHEN Hongzhe LIU He WANG Jinde CAO Zengru DI Xiaojun DUAN Bin JIA Xiaodong DING Yiguang HONG School of Mathematics Southeast University Purple Mountain Laboratories International Academic Center of Complex Systems Beijing Normal University College of Science National University of Defense Technology School of Systems Science Beijing Jiaotong University Business School University of Shanghai for Science and Technology Department of Control Science and Engineering Tongji University

This study introduces the emergence, research challenges,and future development of intelligent systems and big data(ISBD) and discusses the significance of ISBD to systems science. To this end, an overview of systems science is first presented, followed by the conclusion that the development of artificial intelligence(AI) has promoted the derivation and development of intelligent systems(ISs).

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Optimal Linear Deception Attacks on Remote State Estimation with Constrained Alarm Rates: A Low-Dimensional Case 63

Optimal Linear Deception Attacks on Remote State Estimation ...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Shang, Jun Zhang, Hanwen Zhou, Jing Chen, Tongwen Tongji University Shanghai Research Institute for Intelligent Autonomous Systems National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Department of Control Science and Engineering Shanghai200092 China University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering Beijing100083 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada

ISBN: (纸本)9798350316339

This study addresses linear attacks on remote state estimation within the context of a constrained alarm rate. Smart sensors, which are equipped with local Kalman filters, transmit innovations instead of raw measurements through a wireless communication network. This transmission is vulnerable to malicious data interception and manipulation by attackers. The aim of this research is to identify the optimal attack strategy that degrades the system performance while adhering to stealthiness constraints. A notable innovation of this paper is the direct association of the attack's stealthiness with the alarm rate, diverging from traditional approaches that rely on the covariance of the innovation or the Kullback-Leibler divergence, which are conventional metrics that have been extensively explored in previous studies. Our findings reveal that the optimal attack strategy exhibits some structural characteristics in systems of low dimensions. The performance of the proposed attack strategy is demonstrated through numerical examples. © 2024 IEEE.

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A Study on the Effectiveness of Interactive systems Using Electromyography

A Study on the Effectiveness of Interactive Systems Using El...

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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Hanawa, Shinnosuke Ho, Yihsin Kobayashi, Iciro Sato-Shimokawara, Eri Shibata, Hiroki Obo, Takenori Takushoku University Graduate School of Engineering 815-1 TatemachiHachioji Tokyo Japan Takushoku University Faculty of Engineering 815-1 TatemachiHachioji Tokyo Japan Tokyo Metropolitan University Department of Computer Science 6-6 AsahigaokaHino Tokyo Japan Tokyo Metropolitan University Department of Mechanical Systems Engineering 6-6 AsahigaokaHino Tokyo Japan

ISBN: (纸本)9798331531614

The paper presented an intuitive control system using electromyography (EMG) data that is obtained from the Myo gesture control armband. The aim of this study is to enable users to control multiple devices with a single EMG device in an intuitive way. The presented system shows the ability of EMG-based gestures to control Phillips Hue that allow user to control light bulb by simple hand movements. Moreover, the authors also developed new functionalities, which is according to users' preferences, to register gestures. These functions aim to improve the usability and enhance the naturalness of operations. Additionally, unique gestures, which less common in everyday life, is defined to reduce misrecognition when switching between different devices. Furthermore, to achieve reliable and accurate recognition of multiple gestures, the Support Vector Machine (SVM) models is considered to be a machine learning method for training processed EMG data. The experiment results demonstrate significant improvements in user experience and practical applicability in various interactive scenarios. © 2025 IEEE.

关键词： Support vector machines

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Adaptive Decentralized Asymptotic Tracking control for Large-Scale Nonlinear systems With Unknown Strong Interconnections

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 173-186页

作者： Ben Niu Jidong Liu Ding Wang Xudong Zhao Huanqing Wang College of Information Science and Engineering Shandong Normal UniversityJinan 250014China School of Artificial Intelligence Nankai UniversityTianjin 300071China Faculty of Information Technology Beijing University of TechnologyBeijing 100124 State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Control Science and Engineering Dalian University of TechnologyDalian 116023China Department of Mathematical Science and Automatization Institute Bohai UniversityJinzhou 121000China

An adaptive decentralized asymptotic tracking control scheme is developed in this paper for a class of large-scale nonlinear systems with unknown strong interconnections,unknown time-varying parameters,and ***,by employing the intrinsic properties of Gaussian functions for the interconnection terms for the first time,all extra signals in the framework of decentralized control are filtered out,thereby removing all additional assumptions imposed on the interconnec-tions,such as upper bounding functions and matching ***,by introducing two integral bounded functions,asymptotic tracking control is ***,the nonlinear filters with the compensation terms are introduced to circumvent the issue of“explosion of complexity”.It is shown that all the closed-loop signals are bounded and the tracking errors converge to zero *** the end,a simulation example is carried out to demonstrate the effectiveness of the proposed approach.

关键词： Adaptive decentralized control asymptotic tracking control large-scale nonlinear systems unknown strong interconnections

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Motion Analysis of Simple Walking Models Driven by Minimalistic Periodic Input 8

Motion Analysis of Simple Walking Models Driven by Minimalis...

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8th IEEE International Conference on advanced Robotics and Mechatronics, ICARM 2023

作者： Yan, Cong Asano, Fumihiko Ritsumeikan University Department of Mechanical Engineering 1-1-1 Nojihigashi Kusatsu Shiga525-8577 Japan Graduate School of Advanced Science and Technology Japan Advanced Institute of Science and Technology 1-1 Asahidai Nomi Ishikawa923-1292 Japan

ISBN: (纸本)9798350300178

In dynamic bipedal walking, it is generally expected that simple and efficient control methods can generate stable limit cycle gaits. Therefore, we assume that well-designed periodic inputs can achieve excellent walking performance while maintaining stability without relying on feedback. This study compares two typical bipedal walker models, namely the rimless wheel(RW) and the biped, to validate this assumption. The results demonstrate that both models can successfully generate a stable limit cycle gait. By fine-tuning the control parameters, we confirmed that the bipedal model with swing legs exhibited a higher susceptibility to entrainment compared to the RW model. Our work demonstrates the existence of time-symmetric input reaching spatially asymmetric results in walking robots, which has important implications for understanding symmetry breaking in nature and the behavior of complex systems. © 2023 IEEE.

关键词： Motion analysis

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Influence of Pulse Discharging on Lithium-Ion Battery

Influence of Pulse Discharging on Lithium-Ion Battery

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2023 International Electrical engineering Congress, iEECON 2023

作者： Naing, Hsu Myat Charoenphonphanich, Chinda Yamakita, Masaki Tanateerapong, Pera Kerdsup, Burin Masomtob, Manop School of Engineering King Mongkut's Institute of Technology Ladkrabang Department of Mechanical Engineering Bangkok10520 Thailand School of Engineering Tokyo Institute of Technology Department of Systems and Control Engineering Tokyo152-8552 Japan Chiangmai50180 Thailand National Science and Technology Development Agency Pathum Thani12120 Thailand National Science and Technology Development Agency Pathum Thani12120 Thailand

ISBN: (纸本)9798350332360

This paper aims to investigate the impact of switching frequencies in pulse discharging of batteries by testing with Lithium-ion cells. Applying lithium-ion batteries in high power applications is needed to be managed according to the demand of load power and current profile. The pulse current discharging technique with different frequencies is expected to improve the charging/ discharging capacity and energy of lithium-ion batteries. In this paper, lithium-ion cells were tested with pulse current at various switching frequencies with 75% duty cycle during discharging. The results of pulse discharging with different switching frequencies were compared with constant current discharging method by evaluating capacity and energy. From this research, the results indicated that pulse discharging at low frequencies generated high discharging capacity than constant current discharging. © 2023 IEEE.

关键词： Lithium-ion batteries

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Rotational Regrasping For a Stick-type Object Using Inertial Force Based on High-speed Swing-up Motion

Rotational Regrasping For a Stick-type Object Using Inertial...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Senoo, Taku Konno, Atsushi Otsubo, Hayato Ishii, Idaku Hokkaido University Course of Systems Science and Informatic Graduate School of Information Science and Technology Kita 14 Nishi 9 Kita-ku Hokkaido Sapporo060-0814 Japan Hiroshima University Smart Innovation Program Graduate School of Advanced Science and Engineering 1-4-1 Kagamiyama Hiroshima Higashi-Hiroshima739-8527 Japan

ISBN: (纸本)9798350325706

In this paper, robotic regrasping is considered with the goal of achieving dexterous manipulation. The strategy using quick wrist snap is based on human regrasping, and involves rotating the grasped object due to the inertial force while maintaining the contact state. The posture of the grasped object is measured by high-speed vision in real time and is used for posture control. Experimental results are shown where regrasping of a stick-type object in the direction contrary to gravity can be achieved by a high-speed robot hand. © 2023 IEEE.

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