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Iranian Conference on electrical engineering (ICEE)

作者： Fatemeh Zargarbashi Hamed Nazemi Harandi Amin Hamed Mehdi Tale Masouleh School of Mechanical Engineering Sharif University of Technology Tehran Iran School of Mechanical Engineering Amirkabir University of Technology Tehran Iran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (数字)9781728172965

ISBN: (纸本)9781728172972

This paper presents the state of the art of the design and construction of a torque measurement unit based on a new modification in balancing method. This unit consists of six soft tactile sensors that each include a MEMS barometer covered by silicone rubber. Sensors are mounted in an array under the body of a servo motor to read the force from which motor torque can be obtained. Correct performance of sensor was validated in experimental tests by applying different loads on a Kinco servo motor and comparison of sensor output with value of actual torque obtained from motor driver software. The sensor was able to measure torque with less than 0.1 N.m uncertainty. The main advantage of this torque measurement method is its accuracy, simple construction, precision, real-time measurement and low cost compared to expensive strain gauge based sensors. Due to its soft surface, this torque sensor can be safely employed in human-robot interaction purposes and one can instantly find the force exerted on the environment by the end effector of robot due to the low delay time of the sensors.

关键词： Torque Sensors Torque measurement Force Force measurement Mathematical model Tactile sensors

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Design and Prototyping of One Degree-of-Freedom Rehabilitation robotic Arm with Variable Weights

Design and Prototyping of One Degree-of-Freedom Rehabilitati...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mahdi Atashi Gw.olestan Amin Hamed Mehdi Tale Masouleh School of Electrical & Computer Engineering University of Tehran Human & robot interaction Laboratory Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

In this paper, a novel concept is proposed to design a robotic arm for rehabilitating individuals with muscle disability. Wearable robots are used for dealing with this challenge. Many of these robots can only reduce certain amounts of hand weight and whatever it grabs, and the system force does not change with the weight of hand. The existing systems are designed for certain weights and with any variation in length, the device should be set to static balance manually; a process which takes time and expertise. The proposed mechanism, when the device is connected to the individual's hand, it synchronizes itself with the weight and torque automatically using a novel force sensor, which is based on a barometer device, and the reaches statistic balance. In addition, if a weight is lifted, the device rebalances with the new weight and reaches statistic balance accordingly. In order to provide statistic balance in this system, counterweight is used which neutralizes 98% of sum of weight of hand and the weight.

关键词： robot sensing systems Manipulators Force Torque Skin Force sensors

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Designing a Pseudo-Haptics Study for Virtual Anesthesia Skills Development

Designing a Pseudo-Haptics Study for Virtual Anesthesia Skil...

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IEEE Games Media Entertainment (GEM)

作者： Bill Kapralos Alvaro Quevedo KC Collins Celina Da Silva Eva Peisachovich Kamen Kanev Michael Jenkin Adam Dubrowski Fahad Alam maxSIMhealth. Ontario Tech University Oshawa Ontario Canada Software and Informatics Research Centre. Ontario Tech University Oshawa Ontario Canada Collaborative Human Immersive Interaction Lab Toronto Canada School of Information Technology Carleton University Ottawa Ontario Canada Department of Health York University Toronto Ontario Canada Research Institute of Electronics Shizuoka University Hamamatsu Japan Department of Electrical Engineering and Computer Science Lassonde School of Engineering York University Canada Faculty of Health Sciences Ontario Tech University Oshawa Ontario Canada Department of Anesthesia Sunnybrook Health Science Centre Toronto Ontario Canada

ISBN: (纸本)9781665461399

Pseudo-haptics refers to the simulation of haptic sensations without the use of haptic interfaces, using, for example, audiovisual feedback and kinesthetic cues. Given the COVID-19 pandemic and the shift to online learning, there has been a recent interest in pseudo-haptics as it can help facilitate psychomotor skills development away from simulation centers and lab.ratories. Here we present work-in-progress that describes the study design of a pseudo-haptics for virtual anesthesia skills development. We anticipate this work will provide greater insight to pseudo-haptics and its application to anesthesia-based training.

关键词： Training COVID-19 Pandemics lab.ratories Entertainment industry Games Media

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Generating Synthetic Medical Images by Using GAN to Improve CNN Performance in Skin Cancer Classification

Generating Synthetic Medical Images by Using GAN to Improve ...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Pooyan Sedigh Rasoul Sadeghian Mehdi Tale Masouleh Science and Research Branch Islamic Azad University Tehran Iran Human and Robot Interaction Laboratory Tehran Iran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

One of the main reasons of slow progress in using deep learning methods for cancer detection is the lack of data, especially the annotated data which is usually used for supervised learning algorithms. This paper presents a Convolutional Neural Network (CNN) to detect skin cancer. The primary database which is used to train the designed CNN algorithm has 97 members (50 benign and 47 malignant), which are collected from the International Skin Imaging Collab.ration (ISIC). In order to compensate the lack of data for training the proposed CNN algorithm, a Generative Adversarial Network (GAN) is designed to produce synthetic skin cancer images. The classification performance of the designed trained CNN without the obtained synthetic images is near 53%, but by adding the synthetic images to the primary database the performance of the model is increased to 71%.

关键词： Gallium nitride Generative adversarial networks Databases Skin cancer Medical diagnostic imaging

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Optimization Method for an Information interaction Interface from Error-Cognition to Information Feature Mapping

Research Square

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Research Square 2020年

作者： Wu, Xiaoli Caldwell, Sabrina School of Design Art & Medial Nanjing University of Science & Technology Nanjing210094 China Research School of Computer Science The Australian National University ACT Australia College of Mechanical and Electrical Engineering Hohai University Changzhou China Lab of Human Factors and Information System Interaction & Design Hohai University Changzhou China

Background- With the rapid development of digital and intelligent information systems, display of visual information in interfaces has become an important challenge in the field of human-computer interaction. Objective- We propose a method for the optimization of information interaction interfaces from error-cognition through the mapping of information characteristics. Method- A mapping method of matrix description is adopted to analyze the association properties between error-cognition sets and design information sets. Results- Based on the mapping relationship between the domains of error-cognition and design information, a cross-correlational analysis is carried out between error-cognition and design information. Conclusion- We obtain the relationship matrix between the error-cognition of correlation between design information and the degree of importance among design information. Application- Taking the task interface of a warfare navigation display as an example, error factors and the features of design information are extracted. Based on the results, we also propose an optimization design scheme for the monitoring task interface. © 2020, CC BY.

关键词： Errors

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Kinematics and Control of a 4-DOF Delta Parallel Manipulator

Kinematics and Control of a 4-DOF Delta Parallel Manipulator

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mehdi Azmoun Ali Rouhollahi Mehdi Tale Masouleh Ahmad Kalhor Human and Robot Interaction Laboratory Faculty of New Sciences and Technologies University of Tehran Tehran Iran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

In this paper, the design, kinematic problem and control of a 4-DOF Delta parallel manipulator are investigated. Delta is a parallel manipulator which is widely used for pick-and-place applications. A simulation of this manipulator is designed in SimMechanic environment. The verification of the inverse kinematic problem has been done in simulation environment. Afterwards, different controllers like PID and Sliding-Mode based on the inverse kinematic problem are designed in simulation environment and their results are compared with each other. According to value of the root mean square error, PID controller exhibits better performance and tracked the desired path with less error compared to other controllers. Then the Sliding-Mode control is designed and based to the obtained results, leads to less chattering in tracking the desired path.

关键词： Kinematics End effectors Mathematical model Legged locomotion Solid modeling

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Eye tracking: empirical foundations for a minimal reporting guideline

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Behavior research methods 2023年第1期55卷 364-416页

作者： Kenneth Holmqvist Saga Lee Örbom Ignace T C Hooge Diederick C Niehorster Robert G Alexander Richard Andersson Jeroen S Benjamins Pieter Blignaut Anne-Marie Brouwer Lewis L Chuang Kirsten A Dalrymple Denis Drieghe Matt J Dunn Ulrich Ettinger Susann Fiedler Tom Foulsham Jos N van der Geest Dan Witzner Hansen Samuel B Hutton Enkelejda Kasneci Alan Kingstone Paul C Knox Ellen M Kok Helena Lee Joy Yeonjoo Lee Jukka M Leppänen Stephen Macknik Päivi Majaranta Susana Martinez-Conde Antje Nuthmann Marcus Nyström Jacob L Orquin Jorge Otero-Millan Soon Young Park Stanislav Popelka Frank Proudlock Frank Renkewitz Austin Roorda Michael Schulte-Mecklenbeck Bonita Sharif Frederick Shic Mark Shovman Mervyn G Thomas Ward Venrooij Raimondas Zemblys Roy S Hessels Department of Psychology Nicolaus Copernicus University Torun Poland. kenneth.holmqvist@ur.de. Department of Computer Science and Informatics University of the Free State Bloemfontein South Africa. kenneth.holmqvist@ur.de. Department of Psychology Regensburg University Regensburg Germany. kenneth.holmqvist@ur.de. Department of Psychology Regensburg University Regensburg Germany. Experimental Psychology Helmholtz Institute Utrecht University Utrecht The Netherlands. Lund University Humanities Lab and Department of Psychology Lund University Lund Sweden. Department of Ophthalmology SUNY Downstate Health Sciences University Brooklyn NY USA. Tobii Pro AB Danderyd Sweden. Social Health and Organizational Psychology Utrecht University Utrecht The Netherlands. Department of Computer Science and Informatics University of the Free State Bloemfontein South Africa. TNO Soesterberg The Netherlands. Department of Ergonomics Leibniz Institute for Working Environments and Human Factors Dortmund Germany. Institute of Informatics LMU Munich Munich Germany. Institute of Child Development University of Minnesota Minneapolis USA. School of Psychology University of Southampton Southampton UK. School of Optometry and Vision Sciences Cardiff University Cardiff UK. Department of Psychology University of Bonn Bonn Germany. Vienna University of Economics and Business Vienna Austria. Department of Psychology University of Essex Essex UK. Department of Neuroscience Erasmus MC Rotterdam The Netherlands. Machine Learning Group Department of Computer Science IT University of Copenhagen Copenhagen Denmark. SR Research Ltd Ottawa Canada. Human-Computer Interaction University of Tübingen Tübingen Germany. University of British Columbia Columbia Canada. Department of Eye and Vision Science Institute of Life Course and Medical Sciences University of Liverpool Liverpool UK. Department of Education and Pedagogy Division Education Faculty of Social and Behavioral Sciences Ut

In this paper, we present a review of how the various aspects of any study using an eye tracker (such as the instrument, methodology, environment, participant, etc.) affect the quality of the recorded eye-tracking data and the obtained eye-movement and gaze measures. We take this review to represent the empirical foundation for reporting guidelines of any study involving an eye tracker. We compare this empirical foundation to five existing reporting guidelines and to a database of 207 published eye-tracking studies. We find that reporting guidelines vary substantially and do not match with actual reporting practices. We end by deriving a minimal, flexible reporting guideline based on empirical research (Section "An empirically based minimal reporting guideline").

关键词： Data quality Eye movements Eye tracking Replicability Reporting guidelines Reporting practices Reporting standards Reproducibility

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Design, Development and Control of a Three Flexible-Fingers Gripper Based On Hand Gesture

Design, Development and Control of a Three Flexible-Fingers ...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Rasoul Sadeghian Pooyan Sedigh Parastoo Azizinezhad Shahrooz Shahin Mehdi Tale Masouleh Human and Robot Interaction Laboratory Tehran Iran Department of Biomedical Engineering Science and Research Branch Islamic Azad University Tehran Iran Faculty of Electrical and Computer Science Robotic Engineering Tehran North Branch Islamic Azad University Tehran Iran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

In this paper, the process of design, and construction of a flexible gripper with three fingers is presented. The fingers of the proposed gripper are fabricated using a 3D printing device. The gripper is controlled remotely by an autonomous glove which is designed to help people with disability. In order to ameliorate the movement accuracy of the gripper a Fuzzy-PID controller is implemented on the system. The result of experimental tests demonstrate a decrease of the gripper movement error to less than 2 degrees in average. An ultrasonic sensor is set on the gripper's body to improve the grasping process by detecting the distance of the object to the gripper. The fabricated fingers are flexible and provides the ability of grasping the objects with irregular shapes. The experimental test approves the significant performance of the gripper in term of grasping complex shape objects.

关键词： Grippers Grasping Flexible printed circuits robot sensing systems Shape Kalman filters

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Push Recovery Methods Based on Admittance Control Strategies for a NAO-H25 humanoid

Push Recovery Methods Based on Admittance Control Strategies...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Fatemeh Sadat Mousavi Mehdi Tale Masouleh Ahmad Kalhor Payam Ghassemi Human and Robot Interaction Laboratory School of Electrical nad Computer Engineering University of Tehran Tehran Iran Faculty of New Sciences and Technologies University of Tehran Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

This paper discusses two main investigations regarding push recovery of a NAO humanoid robot. The first part indicates the simulation results of different strategies retrieved from human behaviors, namely: Ankle, Hip, and Hip-ankle strategies. These methods are separately assessed and their efficiencies are discussed. To the end of converting torque parameter to robot's movement with a reasonable approximation in the aforementioned strategies' obtained models, a new approach, the so-called Virtual leg model, is introduced. The second discussion assesses the admittance control strategy, which relies on disturbances' energy absorption. Individual control algorithms are introduced for each disturbances' categories based on NAO's real conditions. This paper proposes a new strategy, which investigates the influence of admittance control coefficients against external disturbances, by considering a virtual interaction between robot's feet and the ground, and introducing a Kalman-filter-based estimator. All proposed methods are simulated in NAO-H25's simulation environment.

关键词： Legged locomotion Hip Admittance robot kinematics Measurement uncertainty robot sensing systems

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Accuracy Comparison of Spherical Parallel Manipulators Based on Joint Clearance 5

Accuracy Comparison of Spherical Parallel Manipulators Based...

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5th RSI International Conference on robotics and Mechatronics, IcRoM 2017

作者： Mojtaba, Seyed Mousavi, Seyed Khoogar, Ahmadreza Masouleh, Mehdi Tale Mechanical Engineering Department Malek Ashtar University of Technology Tehran Iran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Iran

ISBN: (纸本)9781538657034

In this paper, three types of Spherical Parallel Manipulators (SPM) are compared from accuracy point of view based on joint clearances. The 3-RRR SPM is an overconstraint parallel mechanism and one can presume that it may exhibits an accurate motion. But beside the foregoing advantage, this structure has some drawbacks such as requiring high manufacturing precision and the difficulty of assembling the mechanism. Two other types, 3-RRS and 3-RSR, are non-overconstrained and do not have the above disadvantages, therefore these two types with 3- RRR are put into contrast from accuracy point of view. First, a method to obtain a model of moving platform pose (position and orientation) error is introduced which leads to a standard convex optimization problem. Since error calculation depends on the end-effector configuration, more than 1000 configurations are taken into account in order to cover SPMs workspaces. Then maximum values of six components of the pose error in each configuration are computed for each type. Finally, the three SPMs are compared based on maximum position and orientation error for given joint clearances. The obtained results revealed that the 3- RRR SPM has better position accuracy while in the case of orientation, the 3-RRS SPM has lowest maximum error between SPMs under study in the prescribed workspace. © 2017 IEEE.

关键词： Mechanisms

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