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Modelling the recovery of acute stroke survivors during adaptive rob ot-assisted training

Gait & Posture 2014年 40卷 S28-S29页

作者： Tamagnone, I. Sterpi, I. Squeri, V. Basteris, A. Casadio, M. Sanguineti, V. Sessarego, P. Dept. Informatics Bioengineering Robotics and System Engineering University of Genoa Italy Service of Rehabilitation Eng. IRCCS Salvatore Maugeri Foundation Pavia Italy Dept. of Robotics Brain and Cognitive Sciences Italian Institute of Technology Genoa Italy School of Computer Science Hertfordshire UK Rehabilitation Institute IRCCS Salvatore Maugeri Foundation Genoa Italy

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Development of parallel manipulator sit to stand assistive device for elderly people

Development of parallel manipulator sit to stand assistive d...

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2013 IEEE Workshop on Advanced robotics and Its Social Impacts, ARSO 2013

作者： Salah, Omar Asker, Ahmed Fath El-Bab, Ahmed M. R. Assal, Samy M. F. Ramadan, Ahmed A. Sessa, Salvatore Abo-Ismail, Ahmed Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Alexandria Egypt Computer and Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Dept. Egypt-Japan University of Science and Technology Egypt School of Creative Science and Engineering Waseda University Tokyo 168-8480 Japan

ISBN: (纸本)9781479923694

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of science and technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. computer simulation was built to verify the performance of the proposed system with the reference trajectory. © 2013 IEEE.

关键词： Mechanisms

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Caging Complex Objects with Geodesic Balls

Caging Complex Objects with Geodesic Balls

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Dmitry Zarubin Florian T. Pokorny Marc Toussaint Danica Kragic Machine Learning and Robotics Lab Universitat Stuttgart Stuttgart Germany Centre for Autonomous Systems Computer Vision and Active Perception Lab School of Computer Science and Communication KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781467363563

This paper proposes a novel approach for the synthesis of grasps of objects whose geometry can be observed only in the presence of noise. We focus in particular on the problem of generating caging grasps with a realistic robot hand simulation and show that our method can generate such grasps even on complex objects. We introduce the idea of using geodesic balls on the object's surface in order to approximate the maximal contact surface between a robotic hand and an object. We define two types of heuristics which extract information from approximate geodesic balls in order to identify areas on an object that can likely be used to generate a caging grasp. Our heuristics are based on two scoring functions. The first uses winding angles measuring how much a geodesic ball on the surface winds around a dominant axis, while the second explores using the total discrete Gaussian curvature of a geodesic ball to rank potential caging postures. We evaluate our approach with respect to variations in hand kinematics, for a selection of complex real-world objects and with respect to its robustness to noise.

关键词： Caging Complex Objects Geodesic Balls Gaussian curvature

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An Investigation on the Accuracy of Regional Ocean Models Through Field Trials

An Investigation on the Accuracy of Regional Ocean Models Th...

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IEEE International Conference on robotics and Automation

作者： Ryan N. Smith Kimia Nazarzadeh Jonathan Kelly Gaurav S. Sukhatme School of Electrical Engineering and Computer Science Queensland University of Technology Brisbane QLD 4001 Australia. Robust Robotics Group Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA 02142 USA. Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA 90089 USA.

ISBN: (纸本)9781467356404

Recent efforts in mission planning for underwater vehicles have utilised predictive models to aid in navigation, optimal path planning and drive opportunistic sampling. Although these models provide information at a unprecedented resolutions and have proven to increase accuracy and effectiveness in multiple campaigns, most are deterministic in nature. Thus, predictions cannot be incorporated into probabilistic planning frameworks, nor do they provide any metric on the variance or confidence of the output variables. In this paper, we provide an initial investigation into determining the confidence of ocean model predictions based on the results of multiple field deployments of two autonomous underwater vehicles. For multiple missions of two autonomous gliders conducted over a two-month period in 2011, we compare actual vehicle executions to simulations of the same missions through the Regional Ocean Modeling System in an ocean region off the coast of southern California. This comparison provides a qualitative analysis of the current velocity predictions for areas within the selected deployment region. Ultimately, we present a spatial heat-map of the correlation between the ocean model predictions and the actual mission executions. Knowing where the model provides unreliable predictions can be incorporated into planners to increase the utility and application of the deterministic estimations.

关键词： Regional Ocean Models Through Field Trials mission planning underwater vehicles

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End-Point Regulation of a Flexible Robotic Manipulator under the Unknown Spatiotemporally Varying Disturbance

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IFAC Proceedings Volumes 2013年第20期46卷 713-718页

作者： Shuang Zhang Wei He Chang Liu Deqing Huang Department of Electrical & Computer Engineering National University of Singapore Singapore 117576 Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Aeronautics Imperial College London London SW7 2AZ UK

In this paper, the end-point regulation problem is investigated for a flexible robotic manipulator under the spatiotemporally varying disturbance. By using the Hamilton's principle, the dynamics of the flexible robotic manipulator are represented by one partial differential equation (PDE) and five ordinary differential equations (ODEs). Boundary control is developed to drive the manipulator to the desired set-point and simultaneously suppress the vibrations of the flexible link. Considering the unknown spatiotemporally varying disturbance, the developed boundary control schemes achieve uniform boundedness of the steady state error between the boundary payload and the desired position. Simulations are provided to illustrate the applicability and effectiveness of the proposed control.

关键词： Flexible robotic manipulator distributed parameter system boundary control

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Snakes on a plan: Toward combining planning and control

Snakes on a plan: Toward combining planning and control

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ross L. Hatton Ross A. Knepper Howie Choset David Rollinson Chaohui Gong Enric Galceran School of Mechanical Industrial and Manufacturing Engineering Oregon State University Corvallis OR USA Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Robotics Institute Carnegie Mellon University Pittsburgh PA USA University of Girona Edifici P-IV Girona Spain

ISBN: (纸本)9781467356404

Highly articulated robot locomotion systems, such as snake robots, present special motion planning challenges. They possess many degrees of freedom, and therefore are modeled by a high dimensional configuration space which must be searched to plan a path. Kinematic and dynamic constraints further complicate the selection of effective controls. Finally, snake robots often have multiple modes of interaction with the terrain as contacts are made and broken, leading to complex and imperfect motion models. We believe that the space of useful controls that provides desirable motions, however, is much smaller. Useful net motions for such systems are often generated via gaits, or cyclic motions in the shape space. Gaits transform a high-dimensional continuum search into a relatively tractable discrete search. In this paper, we put forward a framework which allows a planner to generate paths in a low dimensional work space and select among gaits, pre-planned motions in the robot's shape space. The contribution of this paper rests on the “virtual chassis” which is a choice of body frame for the snake robot that allows the planner to efficiently select among and plan with gaits to direct the robot along the work space path. We demonstrate this planner running on a simulated snake robot navigating through a variety of clutter scenarios. The virtual chassis also has the benefit of allowing us to generalize notions of controllability to gait motions.

关键词： Robots Planning Shape Libraries Aerospace electronics Controllability Clutter

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Methodology for identifying quadrotor parameters, attitude estimation and control

Methodology for identifying quadrotor parameters, attitude e...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： M. Elsamanty A. Khalifa M. Fanni A. Ramadan A. Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Production. Engineering & Mechanical Design Department Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467353199

This paper describes a methodology to identify all the parameters of a quadrotor system including the structure parameters and rotor assembly parameters. A CAD model is developed using SOLIDWORKS to calculate the mass moment of inertia and all the missing geometrical parameters. A three simple test rigs are built and used to identify the relationship between the motor input Pulse Width Modulation (PWM) signal and the angular velocity, the thrust force, and drag moment of the rotors. A simple algorithm is implemented to an inertial measurement unit (IMU) for estimating the attitude and altitude of the quadrotor. Experimental set up is built to verify and test the accuracy of these proposed techniques. A controller is designed based on the feedback linearization method such that the quadrotor attitude can be stabilized. Finally, the experimental results show the effectiveness of the proposed techniques and the controller design.

关键词： Rotors Pulse width modulation Propellers Force Drag Angular velocity Assembly

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HRI Pioneers Workshop 2013 13

HRI Pioneers Workshop 2013

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Solace Shen Henny Admoni Caroline Harriott Yunkyung Kim Matt Marge Marynel Vázquez Astrid Rosenthal-von der Pütten Matt Beane Yasuhiko Hato Daniel Lazewatsky Robin Read Steve Vozar Department of Psychology University of Washington Seattle USA Department of Social Psychology University of Duisburg-Essen Duisburg Germany Department of Computer Science Yale University New Haven USA Sloan School of Management Massachusetts Institute of Technology Cambridge USA Department of Electrical Engineering & Computer Science Vanderbilt University Nashville USA Graduate School of Science & Technology Keio University Yokohama Japan Department of Industrial Design Korea Advanced Institute of Science and Technology Daejeon South Korea Industrial & Manufacturing Engineering Oregon State University Corvallis USA Language Technologies Institute Carnegie Mellon University Pittsburgh USA Centre for Robotics & Neural Systems University of Plymouth Plymouth UK Robotics Institute Carnegie Mellon University Pittsburgh USA Department of Mechanical Engineering University of Michigan Ann Arbor USA

ISBN: (纸本)9781467330558

The 2013 Human-Robot Interaction (HRI) Pioneers Workshop, which will be held in conjunction with the 8 th ACM/IEEE International Conference on Human-Robot Interaction, is the premiere venue for student research in the field. This highly selective workshop seeks to foster creativity, communication, and collaboration between the world's top student researchers in the field of human-robot interaction. Pioneers Workshop participants will have the opportunity to learn about the current state of HRI, to present their research, and to network with one another and with select senior researchers in a setting that is less formal and more interactive then the main conference. The theme for this year is Re-envisioning HRI: Dealing With the Elephants in Our Room. The workshop aims to bring forward difficult to discuss issues to help the field achieve more balanced perspectives and a clearer picture of what sort of future we are building.

关键词： Educational institutions Conferences Human-robot interaction Psychology computer science Service robots

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Modeling and control of a lower-limb rehabilitation robot

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4th International Conference on Social robotics, ICSR 2012

作者： Ma, Yanjiao He, Wei Ge, Shuzhi Sam Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

ISBN: (纸本)9783642341021

This paper proposes a lower-limb rehabilitation robot. It assists patients suffering from hemiplegic to recover the hurt leg by walking in a gait trajectory. A single-side mechanical structure is designed, which is driven by the pneumatic muscles. For further research, we build a simplified 2-DOF dynamic model with the Lagrange method. PD control and adaptive control strategies are developed with stability analysis demonstrating that both methods are stable and effective. At last, we achieve the tracking performances of the robot model in both control strategies by simulation results. © 2012 Springer-Verlag.

关键词： Lagrange multipliers

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Bayesian fusion of thermal and visible spectra camera data for region based tracking with rapid background adaptation

Bayesian fusion of thermal and visible spectra camera data f...

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2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2012

作者： Stolkin, Rustam Rees, David Talha, Mohammed Florescu, Ionut Intelligent Robotics Lab Of the School of Computer Science University of Birmingham United Kingdom Department of Mathematical Science Stevens Institute of Technology United States

ISBN: (纸本)9781467325110

This paper presents a method for optimally combining pixel information from an infra-red thermal imaging camera, and a conventional visible spectrum colour camera, for tracking a moving target. The tracking algorithm rapidly re-learns its background models for each camera modality from scratch at every frame. This enables, firstly, automatic adjustment of the relative importance of thermal and visible information in decision making, and, secondly, a degree of camouflage target tracking by continuously re-weighting the importance of those parts of the target model that are most distinct from the present background at each frame. Furthermore, this very rapid background adaptation ensures robustness to large, sudden and arbitrary camera motion, and thus makes this method a useful tool for robotics, for example visual servoing of a pan-tilt turret mounted on a moving robot vehicle. The method can be used to track any kind of arbitrarily shaped or deforming object, however the combination of thermal and visible information proves particularly useful for enabling robots to track people. The method is also important in that it can be readily extended for data fusion of an arbitrary number of statistically independent features from one or arbitrarily many imaging modalities. © 2012 IEEE.

关键词： Cameras

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