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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Yellewa, Mwayi E Mohamed, Abdelfatah Ishii, Hiroyuki Assal, Samy F. M. Department of Mechatronics and Robotics Engineering Egypt Waseda University Japan Tanta University Faculty of Engineering Department of Production Engineering and Mechanical Design Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Wrist rehabilitation robotic devices have delivered the repetitive and gradual training necessary to rehabilitate individuals with wrist impairments properly. Generally, there are two approaches for the design of the wrist rehabilitation devices. In one approach, the motors are placed on the forearm with complex transmission mechanisms to reduce the weight and inertia. In the other approach, rotary motors are placed close to the wrist joints with simple design, and this leads to high weight and inertia. In this paper, a simple design of two-degrees of freedom compliant and balanced wrist rehabilitation device is proposed. It can provide the radial-ulnar deviation and flexion-extension rehabilitation motions. In the proposed design, the servomotors that are placed close to the wrist joints are counterweight balanced to reduce the inertia and the required torques. The balancing is carried out by optimizing the center of mass of the device in the SolidWorks model. A custom design series elastic unit is proposed to be coupled to the servomotor to achieve the compliance for safe human-robot interaction. Based on the device dynamics modeled by ADAMS software, hybrid position and force tracking impedance control is developed for position and force tracking through the different therapeutic exercises. The device is shown to be capable of achieving the different therapeutic exercises compliantly such as the passive, active-assisted and isometric exercises. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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Inverse Origami design Model for Soft Robotic Development

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Soft robotics 2024年第1期11卷 131-139页

作者： Hu, Qiqiang Li, Junyang Tao, Jian Dong, Erbao Sun, Dong Department of Biomedical Engineering City University of Hong Kong Hong Kong Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China Hefei China Department of Electronic Engineering Ocean University of China Qingdao China CAS Key Laboratory of Mechanical Behavior and Design of Materials School of Engineering Science University of Science and Technology of China Hefei China Centre for Robotics and Automation Shenzhen Research Institute of City University of Hong Kong Shenzhen China

Origami provides an opportunity to construct a wide range of 3D functional structures by folding a flat sheet. It can be used to develop various soft functional robots by combining soft smart actuators. However, a simple and an effective model that can address the challenging problem of designing origami patterns to connect origami design with robotics is lacking, thereby greatly increasing the threshold of soft origami robots and hindering its development. This study proposes an easy-to-use inverse origami design model to generate the flat crease pattern from the desired folded shape automatically while simulating origami morphing by simply providing the shape parameters or 2D shape graphics. This method overcomes the difficulty of origami design and enables a close connection between origami and robotics. Through this method, various soft origami robots can be developed with low design complexity and time cost to achieve different functions, thereby promoting the development of soft origami robots. © 2024 Mary Ann Liebert Inc.. All rights reserved.

关键词： Robots

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From Teleoperation to Autonomous Robot-assisted Microsurgery:A Survey

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Machine Intelligence Research 2022年第4期19卷 288-306页

作者： Dandan Zhang Weiyong Si Wen Fan Yuan Guan Chenguang Yang Department of Engineering Mathematics University of BristolBristol BS81THUK Department of Engineering Design and Mathematics University of the West of EnglandBristol BS161QYUK Bristol Robotics Laboratory Bristol BS161QYUK

Robot-assisted microsurgery(RAMS)has many benefits compared to traditional *** platforms with advanced control strategies,high-quality micro-imaging modalities and micro-sensing systems are worth developing to further enhance the clinical outcomes of *** only a few decades,microsurgical robotics has evolved into a rapidly developing research field with increasing attention all over the *** the appreciated benefits,significant challenges remain to be *** this review paper,the emerging concepts and achievements of RAMS will be *** introduce the development tendency of RAMS from teleoperation to autonomous *** highlight the upcoming new research opportunities that require joint efforts from both clinicians and engineers to pursue further outcomes for RAMS in years to come.

关键词： Robot-assisted microsurgery(RAMS) imaging and sensing teleoperation cooperative control robot learning.

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Control design for A Thin 3-DOF Dielectric Elastomer Actuator and Application

Control Design for A Thin 3-DOF Dielectric Elastomer Actuato...

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2023 International Conference on Advanced Mechatronic Systems, ICAMechS 2023

作者： Kadokawa, Masafumi Jiang, Changan Yu, Wei Osaka Institute of Technology Graduate School of Robotics & Design Osaka528-8648 Japan Osaka Institute of Technology Department of Robotics Osaka528-8648 Japan Hebei University of Technology School of Mechanical Engineering Tianjin300401 China

ISBN: (纸本)9798350307474

In this study, a device for writing letters is developed and designed using a thin dielectric elastomer actuator with three degrees of freedom. The 3-DOF thin dielectric elastomer actuator is capable of being driven in three directions (X, Y, and Z). Conventionally, the reserve elongation was adjusted with a weight, which is very inconvenient. A force-measured pre-stretch mechanism is developed to apply pre-stretch to the 3-DOF thin dielectric elastomer actuator. The pre-stretch mechanism with force measurement can easily apply pre-stretch and monitor it in real-time. The effectiveness of the device is verified through experiments on actual equipment, where a control system with feedback control is designed. © 2023 IEEE.

关键词： Feedback control

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Invited Paper: Ultra-Efficient Edge AI Using FeFET-based Monolithic 3D Integration 42

Invited Paper: Ultra-Efficient Edge AI Using FeFET-based Mon...

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42nd IEEE/ACM International Conference on Computer-Aided design, ICCAD 2023

作者： Kumar, Shubham Chauhan, Yogesh Singh Amrouch, Hussam Stuttgart Germany Indian Institute of Technology Kanpur Department of Electrical Engineering India Ai Processor Design Germany Munich Institute of Robotics and Machine Intelligence Tum Germany

ISBN: (纸本)9798350315592

Monolithic three-dimensional (M3D) integration signifies a notable technological leap by providing solutions of high density and energy efficiency, particularly for ultra-efficient edge AI solutions. Among emerging technologies, ferroelectric thin-film transistors (FeTFTs) have attracted substantial interest due to their potential in neuromorphic computing and their compatibility with back-end-of-the-line (BEOL) fabrication processes. Nevertheless, the challenge of M3D integrated circuits lies in elevated temperatures resulting from limited heat dissipation across various stacked tiers, subsequently exerting adverse effects on system reliability. In this work, we explore how compute-in-memory (CIM) architectures can be realized using BEOL FeTFT to accelerate deep learning applications. We demonstrate how generated temperature impacts the reliability and ultimately degrade the inference accuracy. To achieve that, we have modified the open-source '3D+NeuroSim' framework to introduce FeTFT and then employed it to estimate the key figures of merit, such as throughput, power density, area, etc. Then, we perform a comprehensive thermal analysis for the simulated M3D architecture to explore how the DNN accuracy will be impacted due to the generated heat. We also demonstrate how FeTFT devices can be accurately modeled using TCAD simulations and how run-time variability (due to temperature effects) and design-time variability (due to process variation) impact the reliability of FeTFT transistors. © 2023 IEEE.

关键词： Thermoanalysis

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RCM Constrained Task Space Trajectory Generation for Autonomous Robotic Surgeries

RCM Constrained Task Space Trajectory Generation for Autonom...

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IEEE International Conference on Cyborg and Bionic Systems (CBS)

作者： G Andal Amirthavarshini Asokan Thondiyath Department of Engineering Design Robotics Laboratory Indian Institute of Technology Madras Chennai India

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

As the field of Surgical robotics progresses towards achieving autonomy, there has been a noticeable increase in the utilization of generic serial manipulators for these applications. For Minimally Invasive Surgeries, it is required to impose a motion constraint with respect to the incision point on the patient. This brings up a complexity in their motion control complying to the constraint. With the requirements of having the least violation of this Remote Centre of Motion (RCM) constraint and accuracy of the end-effector, several control strategies have been put forth and evaluated using different manipulators. However, trajectory generation in the surgical environment remains a challenge to be addressed for autonomous robotic surgeries that are minimally invasive. In this paper, we propose an RCM constrained task space trajectory generation algorithm for autonomous MIS applications. The algorithm, independent of the manipulator kinematics, utilizes unevenly distributed visual point cloud data in task space for path generation and follows a uniform displacement per unit time step approach for trajectory generation and tracking. The proposed algorithm is implemented on a KUKA LBR iiwa robot using simulated visual data that effectively illustrates the surgical scenario. The key validation metrics, RCM violation error and tool-tip tracking error are well within the acceptable range for the test case implemented.

关键词： Point cloud compression Visualization Minimally invasive surgery Trajectory planning Machine vision Kinematics Aerospace electronics Real-time systems Trajectory Motion control

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Azimuth Axis Electric Drives for Telescopes and Radio Telescopes: Review and Analysis

Azimuth Axis Electric Drives for Telescopes and Radio Telesc...

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2024 Conference of Young Researchers in Electrical and Electronic engineering, ElCon 2024

作者： Ershov, Kirill K. Blagodarnii, Nikolay S. Belov, Mikhail P. Kundyukov, Oleg A. Saint Petersburg State University of Industrial Technologies and Design Department of Automated Electric Drive and Electrical Engineering Saint-Petersburg Russia Saint Petersburg Electrotechnical University 'LETI' Department of Robotics of Automated Production Systems Saint-Petersburg Russia

ISBN: (纸本)9798350360646

The article deals with the electric drives of telescopes and radio telescopes tracking systems. Requirements to electric drives of azimuthal axis of these mechanisms are given. Various kinematic schemes and types of electric motors used in these drives are considered. At the end the requirements to control systems for drives with different motors and kinematic schemes are formed. © 2024 IEEE.

关键词： control system electric drive kinematic scheme telescope

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Self-Evolving Fuzzy-Based Control of Soft Pneumatic Rotary Actuators

Self-Evolving Fuzzy-Based Control of Soft Pneumatic Rotary A...

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IEEE International Conference on robotics and Biomimetics

作者： Adil Mohammed Kizhakkethil Siddhant Panigrahi Kumar Surjdeo Singh Avinash S Pramod Naveenreddy V Varala Ansari Usama Asokan Thondiyath Department of Engineering Design Robotics Lab Indian Institute of Technology Madras Chennai India Department of Engineering Design Indian Institute of Technology Madras Chennai India

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Physical environments in the real world are complex, unstructured, and often delicate. Pneumatic soft actuators draw inspiration from the adaptability of living organisms, enabling them to operate effectively in collaborative environments. Due to their compliant nature, the soft actuators present a solution for robots to interact safely with human co-workers and their surroundings. Multiple challenges arise while designing these actuators such as modelling, sensing, and controlling their continuously deformable structures. To address these issues, this research presents the dynamic modelling and self-evolving fuzzy-based closed-loop control for Soft Bidirectional Bending Actuator (SBBA) using visual feedback. This study discusses the hyper-elastic modelling of SBBA for bidirectional actuation, establishing a non-linear relationship between applied pressure and bending angle. Exteroceptive feedback is obtained from colour markers, which is integrated with the proposed control method to regulate the input pressure to the actuator. Experimental results demonstrate that the proposed control methodology can render the desired angle with an improvement of 22.97% in rise time, 33.61% in peak overshoot, and 30.35% in peak time, resulting in faster response and lower energy consumption.

关键词： Deformable models Actuators Visualization Energy consumption Soft robotics Pneumatic systems Bending Robot sensing systems Organisms Sensors

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Development of Detection Kidney Function Stand Alone System and design based on Oral Ammonia Levels 7

Development of Detection Kidney Function Stand Alone System ...

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7th International Conference of Computer and Informatics engineering, IC2IE 2024

作者： William Hansen, Natasha Angeline Mariana, Yosica Sitepu, Elioenai Astuti, Winda Siswanto, Melinda Bina Nusantara University Binus Aso School of Engineering Automotive and Robotics Program Computer Engineering Department Jakarta11480 Indonesia Bina Nusantara University Binus Aso School of Engineering Product Design Program Industrial Engineering Department Jakarta11480 Indonesia Bina Nusantara University Binus Graduate Program Industrial Engineering Department Jakarta11480 Indonesia Bina Nusantara University Biotechnology Engineering Department Jakarta11480 Indonesia

ISBN: (纸本)9798331505530

The development of detection kidney function system at the first prototype have problem with the dependence on the internet, which make not practical in the development of the system and the initial design was not ergonomic. In this work the development of the second step is done with the improvement of accuracy compared with other methods. In this work the new design of the embedded system is also applied and in term of algorithm, the system applied for woman patient. Three different types of machine learning techniques, namely K-nearest neighbors (KNN), Decision Tree and Random Forest are applied and compared. The AI-based kidney failure severity identification system with KNN algorithm had an average accuracy of 90% and 91% for training and testing accuracy, respectively. The design of the embedded system also renews with stylist, simple and practical. © 2024 IEEE.

关键词： Support vector machines

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Collaborative Fall Detection and Response Using Wi-Fi Sensing and Mobile Companion Robot

Collaborative Fall Detection and Response Using Wi-Fi Sensin...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Chen, Yunwang Kang, Yaozhong Zhao, Ziqi Hong, Yue Meng, Lingxiao Meng, Max Q.-H. Southern University of Science and Technology Shenzhen Key Laboratory of Robotics Perception and Intelligence Shenzhen518055 China SUSTech Department of Electrical and Electronic Engineering Shenzhen China School of System Design and Intelligent Manufacturing SUSTech Shenzhen China

ISBN: (纸本)9781665481090

This paper presents a collaborative fall detection and response system integrating Wi-Fi sensing with robotic assistance. The proposed system leverages channel state information (CSI) disruptions caused by movements to detect falls in non-line-of-sight (NLOS) scenarios, offering non-intrusive monitoring. Besides, a companion robot is utilized to provide assistance capabilities to navigate and respond to incidents autonomously, improving efficiency in providing assistance in various environments. The experimental results demonstrate the effectiveness of the proposed system in detecting falls and responding effectively. © 2024 IEEE.

关键词： Fall detection

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