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Iranian Conference on Electrical Engineering (ICEE)

作者： Arsalan Amralizadeh Trifa Marjani Mehdi Tale Masouleh Ahmad Kalhor Human & Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran Human & Robot Interaction Laboratory University of Tehran Tehran Iran

ISBN: (数字)9781728172965

ISBN: (纸本)9781728172972

Plantar pressure measurement plays an important role in gait analysis which is a multidisciplinary field of study in medicine, rehabilitation, sports and robotics. The design and fabrication procedure of a novel pressure-sensitive shoe insole instrument is described in this study. The usage of this instrument is in sensing and real-time monitoring of the force pattern applied to the foot during gait. This system consists of a flexible circuit board with ten soft force sensing elements mounted on it, a custom data pre-process unit, a wireless transmission unit and a software for data monitoring. The soft force sensing components are designed based on barometer sensors covered by silicone layer in a specified shape to obtain about 300N supportable force range applied on each element. In order to evaluate the reliability and effectiveness of the proposed system, a healthy subject executed some preliminary tests during both static and dynamic activities. Conforming to the primitive results, the insole platform presented a rapid and accurate response in measurement of reaction force during different experimental attitudes. Thereupon, the fabricated insole is comfortable to wear, lightweight enough to use in daily activities simultaneously and it is a feasible instrument for plantar pressure mapping. Moreover, variety of parameters could be obtained by processes on the collected data and be used in related studies such as activity recognition or gait disorder detection.

关键词： Sensors Force Tactile sensors Foot Data visualization Software Monitoring

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Saliency Region Detection in Complex Scenes Based on Multi-scale Cascaded Attention

Saliency Region Detection in Complex Scenes Based on Multi-s...

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IEEE International Conference on Cloud Computing and Intelligence Systems (CCIS)

作者： Yifeng Wang Zhenfeng Huo Aoli Liu Lin Zhao Di Wang The Key Laboratory of Smart Human-Computer Interaction and Wearable Technology of Shanxi Province Xidian University China School of Computer Science and Engineering Nanjing University of Science and Technology China

ISBN: (纸本)9781665441506

This paper proposes a saliency detection method based on multi-scale cascade attention mechanism. It utilizes both channel and spatial weight attention mechanism to effectively learn the salient regions. By generating multi-scale intermediate feature maps, the shallow features are divided into categories of foreground and background. Then, the channel weights are calculated by using the foreground and background feature distribution, and the spatial weights are computed by using the predicted feature map, so that the network is more focused on salient regions and suppresses the interference of background regions. Experimental results show that the model can reliably and accurately detect salient targets and delivers better performance.

关键词： Training Cloud computing Conferences Computational modeling Interference Reliability Convolutional neural networks

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Semantic Visual Simultaneous Localization and Mapping: A Survey

arXiv

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arXiv 2022年

作者： Chen, Kaiqi Xiao, Junhao Liu, Jialing Tong, Qiyi Zhang, Heng Liu, Ruyu Zhang, Jianhua Ajoudani, Arash Chen, Shengyong Institute of Computer Vision College of Computer Science and Technology Zhejiang University of Technology Hangzhou310023 China Human-Robot Interfaces and Interaction Lab Istituto Italiano di Tecnologia Genoa Italy National University of Defense Technology China Università di Genova Genoa Italy School of Information Science and Technology Hangzhou Normal University Hangzhou311121 China Institute of Computer Vision School of Computer Science and Engineering Tianjin University of Technology Tianjin300384 China

Visual Simultaneous Localization and Mapping (vSLAM) has achieved great progress in the computer vision and robotics communities, and has been successfully used in many fields such as autonomous robot navigation and AR/VR. However, vSLAM cannot achieve good localization in dynamic and complex environments. Numerous publications have reported that, by combining with the semantic information with vSLAM, the semantic vSLAM systems have the capability of solving the above problems in recent years. Nevertheless, there is no comprehensive survey about semantic vSLAM. To fill the gap, this paper first reviews the development of semantic vSLAM, explicitly focusing on its strengths and differences. Secondly, we explore three main issues of semantic vSLAM: the extraction and association of semantic information, the application of semantic information, and the advantages of semantic vSLAM. Then, we collect and analyze the current state-of-the-art SLAM datasets which have been widely used in semantic vSLAM systems. Finally, we discuss future directions that will provide a blueprint for the future development of semantic vSLAM. Copyright © 2022, The Authors. All rights reserved.

关键词： Mapping

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Theory of Mind Abilities Predict robot's Gaze Effects on Object Preference

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IEEE Transactions on Affective Computing 2025年

作者： Manzi, Federico Ishikawa, Mitsuhiko Dio, Cinzia Di Itakura, Shoji Kanda, Takayuki Ishiguro, Hiroshi Massaro, Davide Marchetti, Antonella Università Cattolica del Sacro Cuore Research Unit on Theory of Mind Department of Psychology Milan Italy Università Cattolica del Sacro Cuore Research Unit in Psychology and Robotics in the Lifespan Department of Psychology Milan Italy IRCCS Fondazione Don Carlo Gnocchi Milan Italy Hitotsubashi University Hitotsubashi Institute for Advanced Study Japan Ritsumeikan University Kyoto Japan Kyoto University Department of Computer Science Human-Robot Interaction Laboratory Kyoto Japan IRC'HIL Keihana Science City Advanced Telecommunications Research Institute International Kyoto Japan Osaka University Department of Intelligent Systems Toyonaka Japan

This study investigated the differences between human and robot gaze in influencing preference formation, and examined the role of Theory of Mind (ToM) abilities in this process. human eye gaze is one of the most important sources of information for social interaction and research has demonstrated its effectiveness in influencing people's preference. With increasing technological development, we will interact with robots that can exhibit gaze behavior and influence people's preference. It is unclear whether there are any differences between humans and robots in this process. The present study aimed to analyze the role of the gaze of a robot and a human in influencing the ascription of a preference to the gazer and the participants' preference. Furthermore, we examined the role of ToM abilities in preference formation. The results showed that the gaze has a greater effect on the gazer preference compared to participants' preference regardless of the agent (human or robot). In addition, ToM abilities predict both gazer and individual preferences in the robot's condition only even though different socio-cognitive mechanisms are involved. The study suggests that adults are cognitively able to process the gaze of a robot similar to a human, recognizing the underlying mental state. However, only for the robot, different cognitive mechanisms are involved in the gazer (i.e., perspective taking) and participants' preference formation (i.e., advanced ToM). © 2010-2012 IEEE.

关键词： Social robots

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Impairments in Spatial Representations of Place Cells and Neural rhythms In APP knock-in rat model

Impairments in Spatial Representations of Place Cells and Ne...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Xueling Wang Yimeng Wang Keliang Pang Bai Lu Yutao Tian Chenguang Zheng Academy of Medical Engineering and Translational Medicine Medical College Tianjin University Tianjin China Aging and Longevity Institute & Institute of Biological Science Zhongshan Hospital Fudan University Shanghai China School of Pharmaceutical Sciences IDG/McGovern Institute for Brain Research Tsinghua University-Peking University Joint Center for Life Sciences Tsinghua University Beijing China Tianjin Key Laboratory of Brain Science and Neuroengineering Tianjin China Haihe Laboratory of Brain-Computer Interaction and Human-Machine Integration Tianjin China

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

Alzheimer's disease (AD) is a neurodegenerative disease that severely impacts spatial memory. Place cells in the hippocampus play an important role in spatial memory. However, neuronal activity in the hippocampus is difficult to monitor and study in human AD patients. Thus, it is critical to have an animal model that resembles closely human AD. The newly developed APP NL-G-F rat model, which is a knock-in rat line of the amyloid precursor protein (APP) with Swedish-Beyreuther/Iberian-Arctic mutations, presents a unique opportunity. In this study, we investigated how hippocampal place cells and neural rhythms were impaired in APP rats. Place cells of APP rats showed a less defined spatial tunning and disrupted remapping. In addition, APP rats exhibited decreased power of theta rhythm and slow gamma rhythm. These results suggest that the impairment of spatial memory in APP rats may be caused by the damage of place cells' ability to represent spatial location and abnormal neural rhythm in the hippocampus.

关键词： Proteins Rats Alzheimer's disease Engineering in medicine and biology Biomedical monitoring Hippocampus Monitoring

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A human-human Physical interaction System for Training Handwriting

A Human-Human Physical Interaction System for Training Handw...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： S. Buscaglione A. Noccaro C. Provenzale C. Bonsignori E. Ivanova L. Sparaci F. Taffoni E. Burdet D. Formica NEXT: Neurophysiology and Neuroengineering of Human-Technology Interaction Research Unit Università Campus Bio-Medico di Roma Italy Neurorobotics Lab Newcastle University Newcastle Upon Tyne UK Advanced Robotics and Human-Centred Technologies-CREO Laboratory Università Campus Bio-Medico di Roma Italy Department of Bioengineering Imperial College of Science Technology and Medicine UK School of Electric Engineering and Computer Science Queen Mary University of London UK Institute of Cognitive Sciences and Technologies (ISTC) National Research Council of Italy (CNR) Italy

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Handwriting training in childhood is known to influence academic success, foster self-esteem, and contribute to overall development. Previous studies underscored the positive impact of haptic feedback on handwriting learning using one-way communication systems that provided the trainee with haptic feedback based on pre-recorded trainer's movements. In this study, we propose a system involving bidirectional physical coupling (haptic communication) between a trainee and a trainer to exploit the advantages of haptic communication for motor task improvement, proved in tracking tasks. The system, composed of an interactive display and a coupling spring, was tested in a handwriting task performed by a dyad of healthy adults with different cursive handwriting backgrounds. The participants' performance demonstrated the feasibility of using this system for handwriting, opening the way for further studies to assess its benefits in handwriting improvement and learning.

关键词： Training Couplings Tracking Communication systems Biomechatronics Motors Haptic interfaces Springs robots

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The understanding of congruent and incongruent referential gaze in 17-month-old infants: an eye-tracking study comparing human and robot (vol 10, pg 11918, 2020)

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SCIENTIFIC REPORTS 2020年第1期10卷 1-10页

作者： Manzi, F. Ishikawa, M. Di Dio, C. Itakura, S. Kanda, T. Ishiguro, H. Massaro, D. Marchetti, A. Research Unit on Theory of Mind Department of Psychology Università Cattolica del Sacro Cuore Milan Italy School of Graduated Letter Department of Psychology Kyoto University Kyoto Japan Centre for Baby Science Doshisha University Kyoto Japan Human-Robot Interaction Laboratory Department of Computer Science Kyoto University Kyoto Japan Advanced Telecommunications Research Institute International IRC/HIL Keihanna Science City Kyoto Japan Department of Systems Innovation Osaka University Toyonaka Japan

An amendment to this paper has been published and can be accessed via a link at the top of the paper.

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Kinematic Analysis of an Under-constrained Cable-driven robot Using Neural Networks

Kinematic Analysis of an Under-constrained Cable-driven Robo...

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Iranian Conference on Electrical Engineering (ICEE)

作者： Soroush Zare Morteza Shahamiri Haghighi Mohammad Reza Hairi Yazdi Ahmad Kalhor Mehdi Tale Masouleh School of Mechanical Engineering Human and Robot Interaction Laboratory University of Tehran Tehran Iran School of Electrical and Computer Engineering Human and Robot Interaction Laboratory University of Tehran Tehran Iran School of Mechanical Engineering University of Tehran Tehran Iran

ISBN: (数字)9781728172965

ISBN: (纸本)9781728172972

In this paper, three types of neural networks including, multilayer perceptron, radial basis function, and Local Linear Model Trees, are considered based on adaptability with the significant behavior of data to solve the forward and inverse kinematics of the under-constrained cable-driven parallel robot. The practical workspace of the robot is a rectangular cube with dimensions of 360cm × 220c× 160cm. Forward kinematics problem of the under-constrained cable-driven parallel robot is challenging to solve by reason of complexity and nonlinearity of the robot kinematic equations. The typical approach utilizes a numerical method to solve these equations, which are computationally expensive and very time-consuming. Resorting to the neural network approaches results in the feasible orientation, which confirms that all the cables are in tension. The trained neural network gives a feasible inverse kinematic problem solution and the running time of the optimal trained neural network in the control loop, obtained about 12 microseconds, pales in comparison to the sampling time of the control loop that facilitates the real-time control of the robot. Obtained results reveal that the multilayer perceptron has the mean average error order of about 2 millimeters for the position and 0.78 degrees for orientation, which makes a case for precise control in the high-speed motion of the robot.

关键词： Artificial neural networks robots Mathematical model Parallel robots Neural networks Kinematics Global Positioning System

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Reconstructing 3-D Graphical Model Using an Under-Constrained Cable-Driven Parallel robot

Reconstructing 3-D Graphical Model Using an Under-Constraine...

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International Conference of Signal Processing and Intelligent Systems (ICSPIS)

作者： Soroush Zare Mohammad Ghanatian Mohammad Reza Hairi Yazdi Mehdi Tale Masouleh School of Mechanical Engineering Human and Robot Interaction Laboratory University of Tehran Tehran Iran School of Mechanical Engineering University of Tehran Tehran Iran School of Electrical and Computer Engineering Human and Robot Interaction Laboratory University of Tehran Tehran Iran

ISBN: (数字)9781728186290

ISBN: (纸本)9781728186306

In this paper, a novel application of an under-constrained cable-driven parallel robot is introduced. By this application, the 3D model of any object with any size limited to the workspace of the robot can be reconstructed, which is a definite asset for creating the 3D model in such an easy and cost-efficient way despite other methods like a laser scanner. The most significant problem of an under-constrained cable-driven robot is the orientations of the end-effector which cannot be controlled regardless of its position, i.e., the orientation and position of the end-effector are not independent. In this paper, the foregoing problem was solved by using a stabilizer to capture a video in prescribed orientations. The results demonstrate that the end-effector can be controlled with high precision by a PID controller to reconstruct the 3D model of an object based on the captured videos of a camera which is mounted on the end-effector of the robot. In this paper, the object is a social robot called Sanbot that has a shiny surface, which decreases the 3D model reconstruction precision. However, the results reveal that the 3D model of the Sanbot robot has a very clear view, and the experimental results confirm the efficiency of the proposed method. This method provides an easy way to reconstruct the 3D model of an object which cannot be reconstructed by other methods.

关键词： Solid modeling Parallel robots Three-dimensional displays robot vision systems Cameras End effectors Sports

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A General Geometric Index for Solving the Forward Kinematics of Planar Parallel Manipulators

A General Geometric Index for Solving the Forward Kinematics...

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

作者： Amir Hashemi Dastjerdi Maryam Valipour Mehdi Tale Masouleh School of Mechanical Engineering University of Shahid Rajaee Teacher Training University (SRTTU) Tehran Iran School of Mechanical Engineering University of Tehran Tehran Iran School of Electrical and Computer Engineering Human and Robot Interaction Laboratory University of Tehran Tehran Iran

ISBN: (纸本)9781665420952

In this paper, a new geometrical method is proposed to solve the forward kinematics of planar parallel manipulators exhibiting two translational and one rotational DOF which leads to high-order system polynomial expressions. The main idea has arisen from a geometrical interpretation of the intersection among the vertex space of each kinematic chain. From the type synthesis performed for planar parallel manipulators with identical kinematic structure, it has been revealed that the number of every possible configuration for this type of manipulators is eighteen, which the solution of the forward kinematic problem can be expressed using a univariate polynomial expression. However, among these eighteen configuration only six of them lead to high order polynomials and therefore do not have closedform solutions. The proposed method in this paper is based on an index representing the intersection of the circles which are extracted from the vertex space of each kinematic limb of the manipulator. In this approach, the orientation angle of the moving platform is selected from an interval; and based on the selected orientation angle, the circles obtained from the vertex space of each limb are determined. The forward kinematic solution happens where all the circles intersect at one common point where this geometrical phenomenon is expressed using the proposed index. In order to illustrate the performance of the proposed approach, three examples are solved. It should be noted that the foregoing method succeeded even in solving examples such as manipulators with six real solutions, manipulators with degenerate answers, which are reported in the literature as special cases.

关键词： Mechatronics Kinematics Manipulators Classification algorithms Indexes

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