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Bilateral Tele-Rehabilitation System using Electrical Stimulation applying Modulated Time-Domain Passivity control

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IFAC-PapersOnLine 2019年第15期52卷 79-84页

作者： Yasunori Kawai Koshiro Shibano Hiroyuki Kawai Takanori Miyoshi Masayuki Fujita Department of Electrical Engineering National Institute of Technology Ishikawa College Ishikawa 929-0392 Japan Department of Robotics Kanazawa Institute of Technology Ishikawa Japan Department of System Safety Nagaoka University of Technology Niigata Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan

This paper considers a bilateral tele-rehabilitation system by using an electrical stimulation based on a scattering matrix method by applying a modulated time-domain passivity control for a human lower limb. The scattering matrix method includes a scattering transformation, a phase control filter, and a wave filter. In our previous works, a non-passive approach based on a scattering matrix method has been applied to the bilateral tele-rehabilitation system. However, variable long time delay affects the control performance in the experiment through the Internet. Because the feedforward control with the phase-lead filter is used in the patient side, the feedforward controller may provide the large control input force for the tired patient’s lower limb. The main contribution of this paper is to apply the modulated time-domain passivity control to improve the control performance of the bilateral tele-rehabilitation system. In the previous bilateral tele-rehabilitation with the modulated time-domain passivity control, the velocity and the force are communicated between the therapist and the patient. In this paper, the position and the force are communicated in the proposed bilateral tele-rehabilitation system, and the improvement of the tracking performance is expected. The proposed bilateral tele-rehabilitation system is verified in the experiment with the variable time delay. It can be confirmed that the control performance is improved by using the modulated time-domain passivity control.

关键词： control applications Teleoperation Telerobotics Human-machine interface Biomedical control

Towards an intelligent wearable ankle robot for assistance to foot drop

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Towards an intelligent wearable ankle robot for assistance t...

IEEE International Conference on Systems, Man and Cybernetics

作者： Uriel Martinez-Hernandez Adrian Rubio-Solis Victor Cedeno-Campos Abbas A. Dehghani-Sanij Department of Electronic and Electrical Engineering and the Centre for Autonomous Robotics (CENTAUR) the University of Bath Bath UK Department of Automatic Control and Systems Engineering and the Department of Mechanical Engineering the University of Sheffield Sheffield UK School of Mechanical Engineering the University of Leeds Leeds UK

ISBN: (纸本)9781728145709

A wearable ankle robot prototype for assistance to foot drop is presented in this work. This device is built with soft and hard materials and employs one inertial sensor. First, the ankle robot uses a high-level method, developed with a Bayesian formulation, for recognition of walking activities and gait periods. Second, a low-level method, with a proportional-integral-derivative controller (PID), controls the wearable device to operate in assistive and transparent modes. In an assistive mode, activated by the toe-off detection, the wearable device assists the human foot in dorsiflexion orientation to reduce the effect of foot drop abnormality. In a transparent mode, activated by the heel-contact detection, the robot device follows the movements performed by the human foot. The wearable prototype is validated with experiments, in simulation and real-time modes, for recognition of walking activity and control of assistive and transparent modes during walking. Experiments achieved 99.87% and 99.20% accuracies for recognition of walking activity and gait periods. Results also show the ability of the wearable robot to operate according to the gait period recognised during walking. Overall, this work offers a wearable robot prototype with the potential to assist the human foot during walking, which is important to allow subjects to recover their confidence and quality of life.

关键词： Legged locomotion Foot Robot sensing systems Bayes methods Wearable robots Angular velocity

The conceptual approach of system for automatic vehicle accident detection and searching for life signs of casualties 5th

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The conceptual approach of system for automatic vehicle acci...

5th International Doctoral Symposium on Applied Computation and Security Systems, ACSS 2018

作者： Lupinska-Dubicka, Anna Tabedzki, Marek Adamski, Marcin Rybnik, Mariusz Omieljanowicz, Miroslaw Omieljanowicz, Andrzej Szymkowski, Maciej Gruszewski, Marek Klimowicz, Adam Rubin, Grzegorz Saeed, Khalid Faculty of Computer Science Bialystok University of Technology Bialystok Poland Faculty of Mathematics and Informatics University of Bialystok Bialystok Poland Faculty of Mechanical Engineering Department of Automatic Control and Robotics Bialystok University of Technology Bialystok Poland Faculty of Computer and Food Science Lomza State University of Applied Sciences Lomza Poland

ISBN: (纸本)9789811337017

The European eSafety initiative aims to improve the safety and efficiency of road transport. The main element of eSafety is the pan-European eCall project—an in-vehicle system which idea is to inform about road collisions or serious accidents. As estimated by the European Commission, the implemented system will reduce services’ response time by 40%. This will save 2,500 people a year. In 2015, the European Parliament adopted the legislation that from the end of March 2018 all new cars from the EU should be equipped with the eCall system. The limitation of this idea is that only small part of cars driven in UE are brand new (about 3.7% brand new cars were sold in 2015). This paper presents the first concept of an onboard eCall device which can be installed at the owners’ request in used vehicles. The proposed system will be able to detect a road accident, indicate the number of vehicle’s occupants, report their vital functions, and send that information to dedicated emergency services via duplex communication channel. © Springer Nature Singapore Pte Ltd. 2019.

关键词： Emergency services

A Robust Ensemble Algorithm for Ischemic Stroke Lesion Segmentation: Generalizability and Clinical Utility Beyond the ISLES Challenge

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arXiv 2024年

作者： de la Rosa, Ezequiel Reyes, Mauricio Liew, Sook-Lei Hutton, Alexandre Wiest, Roland Kaesmacher, Johannes Hanning, Uta Hakim, Arsany Zubal, Richard Valenzuela, Waldo Robben, David Sima, Diana M. Anania, Vincenzo Brys, Arne Meakin, James A. Mickan, Anne Broocks, Gabriel Heitkamp, Christian Gao, Shengbo Liang, Kongming Zhang, Ziji Siddiquee, Md Mahfuzur Rahman Myronenko, Andriy Ashtari, Pooya Van Huffel, Sabine Jeong, Hyun-Su Yoon, Chi-Ho Kim, Chulhong Huo, Jiayu Ourselin, Sebastien Sparks, Rachel Clèrigues, Albert Oliver, Arnau Lladó, Xavier Chalcroft, Liam Pappas, Ioannis Bertels, Jeroen Heylen, Ewout Moreau, Juliette Hatami, Nima Frindel, Carole Qayyum, Abdul Mazher, Moona Puig, Domenec Lin, Shao-Chieh Juan, Chun-Jung Hu, Tianxi Boone, Lyndon Goubran, Maged Liu, Yi-Jui Wegener, Susanne Kofler, Florian Ezhov, Ivan Shit, Suprosanna Hernandez Petzsche, Moritz R. Menze, Bjoern Kirschke, Jan S. Wiestler, Benedikt Department of Quantitative Biomedicine University of Zurich Zurich Switzerland Department of Informatics Technical University Munich Germany Icometrix Leuven Belgium ARTORG Center for Biomedical Research University of Bern Bern Switzerland Department of Radiation Oncology University Hospital Bern University of Bern Switzerland University of Bern Bern Switzerland Chan Division of Occupational Science and Occupational Therapy University of Southern California Los AngelesCA United States Stevens Neuroimaging and Informatics Institute Department of Neurology Keck School of Medicine University of Southern California United States University Institute of Diagnostic and Interventional Neuroradiology Inselspital Bern Switzerland University Institute of Diagnostic and Interventional Neuroradiology University Hospital Bern Inselspital University of Bern Bern Switzerland Department of Diagnostic and Interventional neuroradiology University Medical Center Hamburg-Eppendorf Hamburg Germany Department of Medical Imaging Radboud University Medical Center Institute for Health Sciences Nijmegen Netherlands Deepwise AI Lab Beijing China Beijing University of Posts and Telecommunications Bejing China School of Computing and Augmented Intelligence Arizona State University TempeAZ United States NVIDIA Santa ClaraCA United States STADIUS Center for Dynamical Systems Signal Processing and Data Analytics KU Leuven Leuven Belgium Pohang Korea Republic of School of Biomedical Engineering & Imaging Sciences King’s College London United Kingdom Institute of Computer Vision and Robotics University of Girona Spain Wellcome Centre for Human Neuroimaging University College London London United Kingdom Laboratory of Neuro Imaging Stevens Institute for Neuroimaging and Informatics Keck School of Medicine University of Southern California Los Angeles United States KU Leuven Leuven Belgium CREATIS Université Lyon1 CNRS UMR5220 INSERM U1206 INSA-Lyon Villeurbanne696

Diffusion-weighted MRI (DWI) is essential for stroke diagnosis, treatment decisions, and prognosis. However, image and disease variability hinder the development of generalizable AI algorithms with clinical value. We address this gap by presenting a novel ensemble algorithm derived from the 2022 Ischemic Stroke Lesion Segmentation (ISLES) challenge. ISLES’22 provided 400 patient scans with ischemic stroke from various medical centers, facilitating the development of a wide range of cutting-edge segmentation algorithms by the research community. By assessing them against a hidden test set, we identified strengths, weaknesses, and potential biases. Through collaboration with leading teams, we combined top-performing algorithms into an ensemble model that overcomes the limitations of individual solutions. Our ensemble model combines the individual algorithms’ strengths and achieved superior ischemic lesion detection and segmentation accuracy (median Dice score: 0.82, median lesion-wise F1 score: 0.86) on our internal test set compared to individual algorithms. This accuracy generalized well across diverse image and disease variables. Furthermore, the model excelled in extracting clinical biomarkers like lesion types and affected vascular territories. Notably, in a Turing-like test, neuroradiologists consistently preferred the algorithm’s segmentations over manual expert efforts, highlighting increased comprehensiveness and precision. Validation using a real-world external dataset (N=1686) confirmed the model’s generalizability (median Dice score: 0.82, median lesion-wise F1 score: 0.86). The algorithm’s outputs also demonstrated strong correlations with clinical scores (admission NIHSS and 90-day mRS) on par with or exceeding expert-derived results, underlining its clinical relevance. This study offers two key findings. First, we present an ensemble algorithm that detects and segments ischemic stroke lesions on DWI across diverse scenarios on par with expert (neuro)rad

关键词： Diagnosis

Position tracking for continuum robots with joint limit constraints

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Position tracking for continuum robots with joint limit cons...

2019 IEEE International Conference on Unmanned Systems and Artificial Intelligence, ICUSAI 2019

作者： Lin, Dengliang Dong, Xin Yang, Chenguang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Nottingham University Department of Mechanical Materials and Manufacturing Engineering NottinghamNG7 2RD United Kingdom Bristol Robotics Laboratory University of the West of England BristolBS16 1QY United Kingdom

ISBN: (纸本)9781728158594

This paper presents a novel tip-following approach for real-time position tracking and avoiding obstacle of continuum robots with joint limit constraints. This type of hyper-redundant robot, which is more flexible and compliant to explore in complex and constrained environments, such as in pipeline or narrow entrance. However, tradictional method based on inverse kinematic model is difficult to control the end-effector of continuum robot to avoid abstcales in the constrained circumstance. Therefore a new tip-following method based on forward kinematic model is proposed to control the robot and make it inspect the environment. For the method, we use nonliner progamming approach to solve the optimization problem, which is used to find minimum of constrained nonlinear objective function to ensure that the end-effector of the robot follow the desired position with minimal error. In this paper, we employ a 24 DoF continuum robot with continuous backbone and compliant joint to the simulation, and it is testified that the proposed approch can ensure joint limit avoidance, track the end postion in real time and minimize the tracking errors. © 2019 IEEE.

关键词： End effectors

Front Cover: Micrometer-Sized Liposome-Based Systems: A Hierarchical Breakdown (ChemSystemsChem 3/2025)

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ChemSystemsChem

ChemSystemsChem 2025年第3期7卷

作者： Prof. Dr. Shogo Hamada Dr. Hironori Sugiyama Prof. Dr. Yiting Zhang Prof. Dr. Shoji Iwabuchi Soichiro Hiroi Toshiki Maruyama Yuktesh Balaji Sota Kumagai Prof. Dr. Satoshi Murata Prof. Dr. Taro Toyota Department of Computer Science School of Computing & Department of Systems and Control Engineering School of Engineering Institute of Science Tokyo 4259 Nagatsuta-cho Midori-ku Yokohama-city Kanagawa 226-8501 Japan These authors contributed equally. Department of Applied Chemistry Graduate School of Engineering The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-8656 Japan Department of Chemistry College of Science Rikkyo University 3-34-1 Nishi-Ikebukuro Toshima-ku Tokyo 171-8501 Japan Department of Biotechnology and Life Science Tokyo University of Agriculture and Technology 2-24-16 Naka-cho Koganei-shi Tokyo 185-8588 Japan Department of Basic Science Graduate School of Arts and Sciences The University of Tokyo 3-8-1 Komaba Meguro-ku Tokyo 153-8902 Japan Department of Robotics Graduate School of Engineering Tohoku University 6-6-01 Aramaki-Aza Aoba Aoba-ku Sendai Miyagi 980-8579 Japan Universal Biology Institute The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-0033 Japan

Symbolic regression for constructing analytic models in reinforcement learning

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arXiv 2019年

作者： Derner, Erik Kubalík, Jiří Ancona, Nicola Babuška, Robert Czech Institute of Informatics Robotics and Cybernetics Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Prague16000 Czech Republic Czech Institute of Informatics Robotics Cybernetics Czech Technical University Prague Prague16000 Czech Republic Cognitive Robotics Delft University of Technology Delft2628 CD Netherlands

Reinforcement learning (RL) is a widely used approach for controlling systems with unknown or time-varying dynamics. Even though RL does not require a model of the system, it is known to be faster and safer when using models learned online. We propose to employ symbolic regression (SR) to construct parsimonious process models described by analytic equations for real-time RL control. We have tested our method with two different state-of-the-art SR algorithms which automatically search for equations that fit the measured data. In addition to the standard problem formulation in the state-space domain, we show how the method can also be applied to input-output models of the NARX (nonlinear autoregressive with exogenous input) type. We present the approach on three simulated examples with up to 14-dimensional state space: an inverted pendulum, a mobile robot, and a biped walking robot. A comparison with deep neural networks and local linear regression shows that SR in most cases outperforms these commonly used alternative methods. We demonstrate on a real pendulum system that the analytic model found enables RL to successfully perform the swing-up task, based on a model constructed from only 100 data samples. Copyright © 2019, The Authors. All rights reserved.

关键词： Reinforcement learning

Passivity-based decentralized control of multi-robot systems with delays using control barrier functions

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arXiv 2019年

作者： Notomista, Gennaro Cai, Xiaoyi Yamauchi, Junya Egerstedt, Magnus Institute for Robotics and Intelligent Machines Georgia Institute of Technology AtlantaGA United States Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo Japan

In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot system remains dissipative. This is achieved by encoding the dissipativity-preserving condition as a set invariance constraint. This constraint is then included in an optimization problem, whose objective is that of modifying, in a minimally invasive fashion, the nominal input to the robots. The formulated optimization problem is decentralized in the sense that, in order to be solved, it does not require the individual robots to have access to global information. Moreover, owing to its convexity, each robot can solve it using fast and efficient algorithms. The effectiveness of the proposed control framework is demonstrated through the implementation of a formation control algorithm in presence of delays on a team of mobile robots. Copyright © 2019, The Authors. All rights reserved.

关键词： Industrial robots

Visual area coverage with attitude-dependent camera footprints by particle harvesting

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arXiv 2019年

作者： Mansouri, Sina Sharif Sopasakis, Pantelis Georgoulas, George Gustafsson, Thomas Nikolakopoulos, George Robotics Group Control Engineering Division Department of Computer Electrical and Space Engineering Luleå University of Technology LuleåSE-97187 Sweden Belfast Northern Ireland United Kingdom DataWise Data Engineering LLC

In aerial visual area coverage missions, the camera footprint changes over time based on the camera position and orientation - a fact that complicates the whole process of coverage and path planning. This article proposes a solution to the problem of visual coverage by filling the target area with a set of randomly distributed particles and harvesting them by camera footprints. This way, high coverage is obtained at a low computational cost. In this approach, the path planner considers six degrees of freedom (DoF) for the camera movement and commands thrust and attitude references to a lower-layer controller, while maximizing the covered area and coverage quality. The proposed method requires a priori information of the boundaries of the target area and can handle areas of very complex and highly non-convex geometry. The effectiveness of the approach is demonstrated in multiple simulations in terms of computational efficiency and coverage. Copyright © 2019, The Authors. All rights reserved.

关键词： Motion planning