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A Novel Surface Electromyography Signals Denoising Method for Gait Phase Classification 42

A Novel Surface Electromyography Signals Denoising Method fo...

引用

42nd Chinese Control Conference, CCC 2023

作者： Sun, Yubo Guo, Zhenhui Feng, Yuxin Yu, Ningbo College of Artificial Intelligence Nankai University Tianjin300350 China Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Nankai University Tianjin300350 China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

Surface electromyography (sEMG) is a non-invasive technique for recording electrical activity and is extensively employed in gait phase classification. However, the measurement process of the sEMG signal inevitably introduces noise. Consequently, denoising is required for gait analysis from the collected sEMG signal. A novel denoising method ICEEMDAN-DFA-WD has been proposed in this paper. The sEMG signals were decomposed into several intrinsic mode functions (IMF) through an improved complete ensemble empirical mode decomposition with adaptive noise (ICEEMDAN). The Hurst exponents were simulated by detrended fluctuation analysis (DFA) to distinguish noisy IMF and desired IMF. During the walking process, the lower limbs' sEMG exhibits strong periodicity, and the desired IMF yields higher Hurst exponents than the noisy IMF. For the noisy IMF, noise removal was performed through further decomposition by wavelet transform, followed by a hard threshold. The processed IMFs were reconstructed to denoise sEMG. In this study, experiments were conducted to compare with the existing denoising methods WD, EMD-IIT, EEMD-IWT, VMD-SIT. The proposed method can obtain better denoising effect and gait phase classification accuracy. The proposed method provides a more effective way for sEMG denoising. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Empirical mode decomposition

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Functional Connectivity Analysis Revealed Abnormal Brain Network Pattern in Parkinson's Disease with Freezing of Gait 42

Functional Connectivity Analysis Revealed Abnormal Brain Net...

引用

42nd Chinese Control Conference, CCC 2023

作者： Shu, Zhilin Liu, Jinrui Song, Ting Han, Jianda Yu, Ningbo College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Tianjin300350 China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

Patients with Parkinson's disease (PD) commonly have deficits in lower-limb movements. Freezing of gait (FOG), a type of gait disturbance of PD, is a complex motor symptom exhibited as inability to generate an effective gait. The mechanism of lower-limb dysfunction of PD, especially FOG, remains to be explored. To investigate the neural mechanisms related to FOG in PD, we evaluated 39 subjects (13 PD patients with FOG, 13 PD patients without FOG, and 13 healthy subjects) based on electroencephalogram (EEG) signals while they performed the pedaling task. We conducted functional connectivity analysis using Magnitude Squared Coherence (MSC) and calculated the metrics to investigate the characteristics of the brain network among the three groups. The results indicated that PD patients were associated with reduced functional integration and segregation of brain network, subserving both motor and cognitive abilities. The reduced functional integration and segregation of cognitive processes were correlated with the severity of FOG. This study revealed the differences in brain networks between PD patients and healthy controls and provided insights into the neural mechanism of FOG. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Electroencephalography

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Automated Adherent Cell Injection Method Based on Double-Micropipettes Operation 42

Automated Adherent Cell Injection Method Based on Double-Mic...

引用

42nd Chinese Control Conference, CCC 2023

作者： Chu, Zhaotong Cai, Linxuan Cui, MaoSheng Wang, Zuqi Zhang, Yidi Li, Minghui Zhao, Qili Sun, Mingzhu Zhao, Xin Liu, Yaowei Institute of Robotics and Automatic Information System Nankai University The Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China Tianjin Academy of Agriculture Science Tianjin300112 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

Microinjection of adherent cells is a technique of inserting glass pipette into adherent cells and injecting few exogenous substances into adherent cells, which is widely used in the field of cell biology. Researchers in this field usually inject adherent cells manually, however, the microinjection operation is complicated, which requires a lot of energy and takes a lot of time. The existing automated microinjection method only uses one injection micropipette to inject, compared with the manual injection method, the microinjection process is consistent not optimized, and the injection efficiency cannot be greatly improved. In this paper, an automated adherent cell injection method based on double-micropipettes operation is proposed. Firstly, the adherent cell injection process based on double-micropipettes operation is designed. Secondly, this paper solves the key technologies of automated injection of adherent cells based on double-micropipettes operation were introduced, including adherent cell detection, injection path planning and double-micropipettes operation. Finally, the experiment of adherent cell microinjection based on double-micropipettes operation, the operation of two micropipettes was carried out. The experimental results show that the success rate of injection can reach 60% and the injection speed of this method can reach 35 cells/minute, which is 75% higher than that of manual injection with single pipette (20 cells/minute) and 40% higher than that of automated adherent cell injection with single pipette (25 cells/minute). © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Motion planning

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Fusion Modeling of Intraoral Scanning and CBCT Images on Dental Caries 42

Fusion Modeling of Intraoral Scanning and CBCT Images on Den...

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42nd Chinese Control Conference, CCC 2023

作者： Shen, Lin Lian, Xiaoli Zhang, Lanrui Wang, Guanhua Wang, Yue Zou, Huiru Wang, Hongpeng College of Artificial Intelligence Nankai University Tianjin300353 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China Affiliated Stomatological Hospital of Nankai University Central Laboratory of Tianjin Stomatological Hospital Tianjin300041 China School of Medicine Nankai University Tianjin300353 China

ISBN: (纸本)9789887581543

In this paper, we develop a caries investigation method based on fusion modeling of the external surface texture obtained by an intraoral scanner (IOS) with the internal images collected by cone beam computed tomography (CBCT). Mandibular permanent molars with occlusal caries are investigated in this study. Digital polygon file format files with colored textures generated by an intraoral scanner (IOS) and high precision CBCT images are collected on the same teeth. A new dental 3D model data format is proposed through data fusion and accurate registration compatible with external surface models and internal CBCT point clouds. The experimental results show that IOS-CBCT fusion image shows the structural information of caries more clearly and accurately than a single IOS or CBCT. After the steps of registration, fusion, and 3D reconstruction, the structure boundaries are clear and without overlap. The image fusion based on multimodal IOS-CBCT images lead to a great improvement in the fused image quality. The method is non-invasive, straightforward, and sensitive and can be very helpful in indicating exact conditions of dental caries, as well as non-caries dental hard tissue diseases, and pulp and periapical lesions. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Image fusion

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Design and Evaluation of a Low Friction Rigid-Soft Hybrid Mechanism for Hand Exoskeletons with Finite Element Analysis

Design and Evaluation of a Low Friction Rigid-Soft Hybrid Me...

引用

2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Liu, Sihui Duan, Pu Han, Jianda Yu, Ningbo Nankai University College of Artificial Intelligence Tianjin300350 China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Xeno Dynamics Co. Ltd Guangdong Shenzhen518055 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute Nankai University Guangdong Shenzhen518083 China

ISBN: (纸本)9781665481090

Hand exoskeletons are attracting rising research interest for assistance in daily life. Friction is a critical issue for hand exoskeletons intended to enable dexterous finger movements. This paper presents a rigid-soft hybrid assistive hand exoskeleton using a low friction mechanism based on the multi-layered springs with rolling contact. The low friction designs not only facilitate the high transparency of the device, but also the possibility of accurate modeling in mechanics. Regarding the large deformation nature of the nonlinear mechanism, finite element analysis (FEA) has been used to explore its kinematic and kinetic characteristics. Experiments were carried out on the implemented prototype to compare the numerical results with the measured. The results demonstrate that this modeling method can provide valuable guidance for better parameter selection and optimization. © 2022 IEEE.

关键词： Finite element method

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A MATLAB Multi-Body Simulation Platform Toward Multiple Flapping Wing Vehicles 42

A MATLAB Multi-Body Simulation Platform Toward Multiple Flap...

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42nd Chinese Control Conference, CCC 2023

作者： Yan, Jifu Jia, Fan Qian, Chen Fang, Yongchun Institute of Robotics and Automatic Information System Nankai University Tianjin300353 China Interdisciplinary Innovation Research Centers Intelligent Robotic Research Center Zhejiang Laboratory Hangzhou311100 China Institute of Intelligence Technology and Robotics Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

The article notices rare simulation implementations of multiple flapping wing vehicles(FWVs) with the complicate mechanisms, aerodynamics, and control systems. Moreover, we expect that one can research FWV flight by CAD model import, joint connection, and parameter setup. Therefore, we establish a general and simple simulation platform framework based on MATLAB/Simulink with Simscape Multibody Toolbox for FWV mechanism, aerodynamics, and formation control for hovering or forward flight. Inspired by Purdue Hummingbird design, we provided simplified flapping wing aerodynamics with passive rotation, virtual environment interaction, adaptive cascade control, and consensus formation algorithms in the MATLAB integration platform. This work is fundamental for the verification of research, and useful for the improvement of mechanic design, actuator selection, and control algorithms of the ontology or swarm thanks to its compatibility. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Simulation platform

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Fusion Modeling of Intraoral Scanning and CBCT Images on Dental Caries

Fusion Modeling of Intraoral Scanning and CBCT Images on Den...

引用

第42届中国控制会议

作者： Lin Shen Xiaoli Lian Lanrui Zhang Guanhua Wang Yue Wang Huiru Zou Hongpeng Wang College of Artificial Intelligence Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University School of Medicine Nankai University

In this paper, we develop a caries investigation method based on fusion modeling of the external surface texture obtained by an intraoral scanner(IOS) with the internal images collected by cone beam computed tomography(CBCT). Mandibular permanent molars with occlusal caries are investigated in this study. Digital polygon file format files with colored textures generated by an intraoral scanner(IOS) and high precision CBCT images are collected on the same teeth. A new dental 3D model data format is proposed through data fusion and accurate registration compatible with external surface models and internal CBCT point clouds. The experimental results show that IOS-CBCT fusion image shows the structural information of caries more clearly and accurately than a single IOS or CBCT. After the steps of registration, fusion, and 3D reconstruction, the structure boundaries are clear and without overlap. The image fusion based on multimodal IOS-CBCT images lead to a great improvement in the fused image quality. The method is non-invasive, straightforward, and sensitive and can be very helpful in indicating exact conditions of dental caries, as well as non-caries dental hard tissue diseases, and pulp and periapical lesions.

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Design and Optimization of a 6-RUHU Parallel Robot for Accelerating Tibial Fracture Healing

Design and Optimization of a 6-RUHU Parallel Robot for Accel...

引用

IEEE International Conference on robotics and Biomimetics

作者： Zhaocheng Zhou Liziyi Hao Honghao Zheng Ningbo Yu College of Artificial Intelligence Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

robotics has been widely used in orthopaedic surgery and correction of bone deformities, but there are no specific robotic aids for fracture rehabilitation to promote fracture healing. It has been demonstrated that mechanical stimulation can accelerate fractured bone healing by promoting osteoblast division and differentiation. However, the fracture section is complex and requires high precision in mechanical regulation. To solve this problem, a modular 6-DOF parallel robot is proposed. An improved snake optimization algorithm is used to optimize the force transfer performance of the robot. And a virtual prototype was designed based on the optimised results.

关键词： Parallel robots Prototypes Surgery Kinematics Bones Regulation Physiology Topology Structural engineering Optimization

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Multi-Objective Optimization-Based Active Navigation System for Orthopedic Surgeries

Multi-Objective Optimization-Based Active Navigation System ...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Pengxiu Geng Yiyang Meng Yugen You Yanding Qin Jianda Han College of Artificial Intelligence Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

Intraoperative navigation is a critical part of robot-assisted orthopedic surgery. The most essential part of intraoperative navigation is the optical tracking system (OTS), which is responsible for intraoperative real-time positioning and tracking. Usually, the OTS is fixed during the surgery after manually adjusting its pose. However, the field of view (FOV) of OTS is finite and there may be visual occlusion between positioning tools, which will cause risk in surgeries. To address these drawbacks of the fixed OTS, this paper proposes an active navigation system for active adjustment of the OTS pose during surgery. The problem of finding the optimal pose of the OTS is summarized as a multi-objective optimization problem in this paper. The observation accuracy of the active navigation system is demonstrated to be reliable, and simulations are conducted to verify that the optimization project is effective in finding the optimal observation pose for OTS to observe multiple positioning tools simultaneously.

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A Crocodile-Like Pneumatic Soft Crawling Robot With Three-Dimensional Deformation Actuators

A Crocodile-Like Pneumatic Soft Crawling Robot With Three-Di...

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Chinese Control Conference (CCC)

作者： Zehao Qiu Qingxiang Wu Zhuoqing Liu Tong Yang Ning Sun Institute of Robotics and Automatic Information Systems Nankai University College of Artificial Intelligence Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

Pneumatic soft crawling robots (PSCRs) have excellent application prospects in disaster relief and resource exploration due to their adaptability to complex environments. However, the crawling ability of PSCRs, including speed, load capacity, etc., is difficult to meet the requirements of these applications. To this end, a crocodile-like PSCR with three-dimensional deformation actuators is designed. First, based on the analysis of the crocodile structure, four leg actuators and a body actuator are designed, respectively, and their fabrication processes are described in detail. Meanwhile, a complete structure of the crocodile-like PSCR including connectors and air circuits is assembled. Then, the geometric and finite element models of leg actuators are established to analyze bending characteristics. On this basis, according to the relationship among the actuators, different gaits are designed to achieve moving forward, turning, and other movements. Finally, experimental results verify that leg actuators are fabricated accurately and the crocodile-like PSCR has satisfactory crawling ability.

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