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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Li, Xiaohui Yu, Xiaoyue Zhou, Hao Jin, Dingxun Li, Guanglin Wang, Lin CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems China University of Chinese Academy of Sciences China Shenzhen Lower Limb Rehabilitation Intelligent Aids Engineering Research Center China Shenzhen Technology University China Southern University of Science and Technology China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society China

ISBN: (纸本)9781665481090

The field of rehabilitation robotics has emerged as a prominent area of research in the medical community in recent years, offering innovative and promising solutions for patients with physical disabilities. The existing lower limb rehabilitation robots have some shortcomings in human-machine compatibility and motion synergy due to the limitation of the real-time human motion intention recognition. In this paper, an instant motion recognition of the lower limb was proposed using surface electromyography (sEMG) for significantly shortening the time delay between the robot motion and the actual human motion. The first 200ms data of the complete sEMG signal for a single motion cycle was employed in the recognition algorithm. The proposed recognition algorithm demonstrated superior accuracy compared to traditional machine learning methods. The accuracy of 9-class recognition was 94.32%, while 12-class recognition achieved that of 89.32%. A data augmentation method based on magnitude warping followed by shifting was employed to enhance recognition accuracy by 11.37% in 9-class recognition and 19.23% in 12-class recognition when comparing with no augmentation. The optimal results for motion recognition were observed when the first 200ms data of the complete sEMG signal for a single motion cycle with a duration of 1.0s were utilized, as evidenced by comparative results. The proposed method offers a novel approach to enhancing human-machine compatibility and comfort in the application of lower limb rehabilitation robots in the future. © 2024 IEEE.

关键词： Convolutional neural networks

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On the effectiveness of MaxWhere 3D user interface 22

On the effectiveness of MaxWhere 3D user interface

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2024 IEEE 22nd World Symposium on Applied Machine Intelligence and Informatics, SAMI 2024

作者： Ludik, Peter Nagy, Eniko Molnar, Gyorgy Nagy, Balint Óbuda University Budapest Antal Bejczy Ctr. for Intelligent Robotics John von Neumann Fac. Institute of Cyberphysical Systems Hungary University of Dunaújváros Dunaújváros Hungary Óbuda University Budapest Kandó Kálmán Faculty of Electrical Engineering Hungary Budapest Business University Budapest Hungary

ISBN: (纸本)9798350317206

Under certain conditions, the benefit of three-dimensional virtual environments during worker training is unquestionable. When demonstrating the components of special mechanical equipment and training firefighters for special emergencies, there are certainly situations where the use of virtual reality is necessary and rewarding. Research also shows that a difference between 2D and 3D information sources can also be found in the time required to obtain information and in the examination of eye movements. In this study, it is examined how well students can use and accept the 3D environment for subjects where the need for 3D is not so clear. For this purpose, in the case of Multimedia and Mathematics subjects at a Hungarian university, a test environment is built to obtain the opinions of a sufficient number of students. Although many students expressed positive experiences and expectations regarding the development of 3D interfaces, it cannot be said that there are clearly only advantages of the use of 3D user environment for all students. © 2024 IEEE.

关键词： Students

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Emergency Clinical Procedure Detection via Wearable Sensors

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Proceedings of the Human Factors and Ergonomics Society Annual Meeting 2022年第1期66卷 2239 - 2243页

作者： Prakash Baskaran Jamison Heard Julie A. Adams Collaborative Robotics and Intelligent Systems Institute Oregon State University Corvallis OR Department of Electrical and Microelectronic Engineering Rochester Institute of Technology NY

Communicating a patient’s state accurately during transfer from emergency medical technicians to hospital personnel is crucial for optimal care. Prior work demonstrated automated algorithms that combined wearable sensors with video data from cameras to detect clinical procedures and improve this information transfer. However, incorporating video requires task-or environment-specific installation mechanisms, raises privacy concerns, and is susceptible to occlusion and image noise. The presented approach detects clinical procedures using wearable sensors (i.e., inertial and electrophysiological) only and the procedures’ subtasks to mitigate the sensors’ signal variability to provide clinical procedure detection.

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Diffusion-based learning of contact plans for agile locomotion

arXiv

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arXiv 2024年

作者： Dhédin, Victor Ravi, Adithya Kumar Chinnakkonda Jordana, Armand Zhu, Huaijiang Meduri, Avadesh Righetti, Ludovic Schölkopf, Bernhard Khadiv, Majid Munich Institute of Robotics and Machine Intelligence Technical University of Munich Germany Tandon School of Engineering New York University United States Max-Planck Institute for Intelligent Systems Tübingen Germany

Legged robots have become capable of performing highly dynamic maneuvers in the past few years. However, agile locomotion in highly constrained environments such as stepping stones is still a challenge. In this paper, we propose a combination of model-based control, search, and learning to design efficient control policies for agile locomotion on stepping stones. In our framework, we use nonlinear model predictive control (NMPC) to generate whole-body motions for a given contact plan. To efficiently search for an optimal contact plan, we propose to use Monte Carlo tree search (MCTS). While the combination of MCTS and NMPC can quickly find a feasible plan for a given environment (a few seconds), it is not yet suitable to be used as a reactive policy. Hence, we generate a dataset for optimal goal-conditioned policy for a given scene and learn it through supervised learning. In particular, we leverage the power of diffusion models in handling multi-modality in the dataset. We test our proposed framework on a scenario where our quadruped robot Solo12 successfully jumps to different goals in a highly constrained environment (video). © 2024, CC BY.

关键词： Predictive control systems

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Dynamic Task Space Control Enables Soft Manipulators to Perform Real-World Tasks

arXiv

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arXiv 2022年

作者： Fischer, Oliver Toshimitsu, Yasunori Kazemipour, Amirhossein Katzschmann, Robert K. Department of Mechanical and Process Engineering Soft Robotics Laboratory Institute of Robotics and Intelligent Systems ETH Zurich Zurich8092 Switzerland

Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. A majority of real-world soft robots rely on a quasistatic control approach, without taking dynamic characteristics into consideration. As a result, robots with this restriction move slowly and are not able to adequately deal with forces, such as handling unexpected perturbations or manipulating objects. A dynamic approach to control and modeling would allow soft robots to move faster and handle external forces more efficiently. In previous studies, different aspects of modeling, dynamic control, and physical implementation have been examined separately, while their combination has yet to be thoroughly investigated. Herein, the accuracy of the dynamic model of the multisegment continuum robot is improved by adding new elements that include variable stiffness and actuation behavior. Then, this improved model is integrated with state-of-the-art system identification and dynamic task space control and experiments are performed to validate this combination on a real-world manipulator. As a means of encouraging future research on dynamic control for soft robotic manipulators, the source code is made available for modeling, control, and system identification, along with the recipes for fabricating the manipulator. © 2022, CC BY.

关键词： Religious buildings

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SPARROW: Smart Precision Agriculture Robot for Ridding of Weeds

SPARROW: Smart Precision Agriculture Robot for Ridding of We...

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Emerging Technology (INCET), International Conference for

作者： Dhanushka Balasingham Sadeesha Samarathunga Gayantha Godakanda Arachchige Anuththara Bandara Sasini Wellalage Dinithi Pandithage Mahaadikara M.D.J.T Hansika Rajitha De Silva Dept. of Computer Systems Engineering Sri Lanka Institute of Information Technology Sri Lanka City of Melbourne Australia Lincoln Agri-Robotics University of Lincoln United Kingdom

ISBN: (数字)9798350361155

ISBN: (纸本)9798350361162

The advancements in precision agriculture are vi-tal to support the increasing demand for global food supply. Precision spot spraying is a major step towards reducing chemicalusage for pest and weed control in agriculture. A novel spot spraying algorithm that autonomously detects weeds and performs trajectory planning for the sprayer nozzle has been proposed. Furthermore, this research introduces a vision-based autonomous navigation system that operates through the detected crop row, effectively synchronizing with an autonomous spraying algorithm. This proposed system is characterized by its cost effectiveness that enable the autonomous spraying of herbicides onto detected weeds.

关键词： Precision agriculture Laser radar Costs Trajectory planning Navigation Spraying Crops

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Loss Analysis in Spoke Dual-Stator Permanent Magnet Vernier Machine Considering Stator Mutual Effect

Loss Analysis in Spoke Dual-Stator Permanent Magnet Vernier ...

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Magnetic Conference - Short Papers (INTERMAG Short Papers), IEEE International

作者： Wenyuan Mi Jincheng Yu Fei Zhao Zheng Cai Hang Zhao School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China Robotics and Autonomous Systems Thrust The Hong Kong University of Science and Technology (Guangzhou) Guangzhou China

ISBN: (数字)9798350362213

ISBN: (纸本)9798350362220

The phase-shifted spoke array double-stator permanent magnet (DSPM) vernier machine has special merits for its high power factor, while the research on its loss influence principle is limited. In this paper, the mutual effect of stator phase shift on machine loss is revealed by the equivalent circuit based flux-pattern model. By the phase shift, both the ripple and average of the stator analytical air-gap length can be significantly reduced, which is the reason for the reduction of PM loss and rise of iron loss in the PSDSPM machine. And the proposed influence principle is verified by the comparison between PSDSPM and coincident DSPM (CDSPM) machine via finite element analysis (FEA).

关键词： Phased arrays Reactive power Stators Permanent magnets Iron Magnetic analysis Finite element analysis

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Rehabilitation Training of Spinal Cord Injured Individuals by a Self-Balancing Exoskeleton Robot

Rehabilitation Training of Spinal Cord Injured Individuals b...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Li, Wentao Li, Jinke He, Yong Tian, Dingkui Li, Feng Sun, Jianquan Wu, Xinyu Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China Siat Cuhk Joint Laboratory of Robotics and Intelligent Systems China University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China China Construction Third Bureau First Engineering Mep Co. Ltd. Shenzhen518109 China

ISBN: (纸本)9798350327182

Physical therapy plays an important role in the rehabilitation for spinal cord injured individuals, and exoskeleton can assist with this process. In this paper, a self-balancing exoskeleton robot is introduced, which can provide assist not only in gait training, but also in balance training. In addition, it allows individuals walk with it without other assistive devices. This exoskeleton is designed to have a high degree of compatibility with humans. The structure and control system of the exoskeleton is introduced and the forward and inverse kinematic are solved, which enables the robot to perform various rehabilitation training actions as required. Experiments with a male subject have shown that this exoskeleton achieves the predicted results in gait training and balance training. © 2023 IEEE.

关键词： Inverse kinematics

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First steps towards a chipless, passive THz-based epidermal electronics concept

First steps towards a chipless, passive THz-based epidermal ...

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International Workshop on Mobile Terahertz systems (IWMTS)

作者： L. L. Schaberg T. Kubiczek N. Kolluru S. Santhakumaran R. Burkard W. Mertin F. Muckel G. Bacher A. L. Schall-Giesecke D. Neumaier E. Kirchner J. C. Balzer N. Benson The Faculty of Engineering University of Duisburg-Essen Duisburg Germany Institute of Technology for Nanostructures Chair of Communication Systems Chair of Smart Sensor Systems The Bergische Universität Wuppertal Germany Institute of Medical Technology Systems Institute "Elektronische Bauelemente und Schaltungen" "Werkstoffe der Elektrotechnik" Institute Fraunhofer Institute for Microelectronic Circuits and Systems Duisburg Germany Robotics Innovation Center German Research Centre for Artificial Intelligence Bremen Germany

ISBN: (数字)9798350365832

ISBN: (纸本)9798350365849

This contribution rethinks epidermal electronic concepts by introducing a passive, chipless and wireless approach for skin-based health information detection. The idea is based on the sensitivity of the graphene electrochemical potential to chemical or electrical potential changes at the interface of the thin film and the impact of this on the graphene reflection properties in the THz range. This feature has the potential to enable contactless information readout for future applications, while at the same time significantly simplifying epidermal electronics patches and thus mitigating current technology limitations. In this contribution a proof of principle experiment based on a dual gate electrochemical graphene transistor structure is discussed, to demonstrate the tuneability of the graphene electrochemical potential as a prerequisite for our concept. THz time domain spectroscopy is then used to demonstrate he impact of this electrochemical potential variation on the graphene reflection properties between 100GHz and 1.5THz, proving the feasibility of our concept.

关键词： Wireless communication Electric potential Wireless sensor networks Voltage measurement Graphene Logic gates Epidermis Reflection Transistors Time-domain analysis

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Expressing and Inferring Action Carefulness in Human-to-Robot Handovers

Expressing and Inferring Action Carefulness in Human-to-Robo...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Linda Lastrico Nuno Ferreira Duarte Alessandro Carfí Francesco Rea Alessandra Sciutti Fulvio Mastrogiovanni José Santos-Victor Cognitive Architecture for Collaborative Technologies Unit (CONTACT) Italian Institute of Technology Genoa Italy Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy Vislab Institute for Systems and Robotics (ISR|Lisboa) Superior Técnico Universidade de Lisboa Portugal

Implicit communication plays such a crucial role during social exchanges that it must be considered for a good experience in human-robot interaction. This work addresses implicit communication associated with the detection of physical properties, transport, and manipulation of objects. We propose an ecological approach to infer object characteristics from subtle modulations of the natural kinematics occurring during human object manipulation. Similarly, we take inspiration from human strategies to shape robot movements to be communica-tive of the object properties while pursuing the action goals. In a realistic HRI scenario, participants handed over cups - filled with water or empty - to a robotic manipulator that sorted them. We implemented an online classifier to differentiate careful/not careful human movements, associated with the cups' content. We compared our proposed “expressive” controller, which modulates the movements according to the cup filling, against a neutral motion controller. Results show that human kinematics is adjusted during the task, as a function of the cup content, even in reach-to-grasp motion. Moreover, the carefulness during the handover of full cups can be reliably inferred online, well before action completion. Finally, although questionnaires did not reveal explicit preferences from partici-pants, the expressive robot condition improved task efficiency.

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