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A Machine Learning Approach to Movement Intention Estimation Using Rollator-user Interaction Force

A Machine Learning Approach to Movement Intention Estimation...

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IEEE International Conference on Mechatronics and Automation

作者： Pengcheng Li Shuxiang Guo Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Rollators have gained popularity as rehabilitation and assistive robots due to their simplicity and compact size. Equipped with sensors and actuators, robotic rollators can provide guidance, assistance, and rehabilitation training during walking. However, existing assistance and training primarily support straight walking, presenting a challenge in providing intuitive assistance during turns. This research introduces an approach for predicting user intention during walking solely using the interaction force between the rollator and the user. A Long Short-Term Memory (LSTM) network-based machine learning method is proposed for establishing a movement intention model, accurately estimating the intentions of “Straight Walk”, “Turn Left” and “Turn Right”. Experimental results with elderly participants demonstrated a high accuracy of 92.85% in estimating movement intentions.

关键词： Legged locomotion Training Accuracy Force Estimation Machine learning Turning

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Design and Control of an Ellipsoidal Underwater Robot Driven by Four-Vector Propellers

Design and Control of an Ellipsoidal Underwater Robot Driven...

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IEEE International Conference on Mechatronics and Automation

作者： Jinglei Nie Shuxiang Guo Chunying Li Qirong Lei The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

With the increasing demand for underwater exploration and intervention tasks, the development of efficient and maneuverable underwater robots is essential. This paper introduced a novel ellipsoidal underwater robot(EUR) designed specifically for precise motion control in aquatic environments. The prototype features a unique propulsion system and thruster configuration optimized for underwater navigation. Thrust vectoring was achieved through the rotation of the propulsion unit, enhancing maneuverability underwater. Detailed design aspects and practical realization of the four-propeller driven prototype were discussed. The kinematics and dynamics of the underwater robot were analyzed, followed by the description of the parallel PID control system, including position control, and attitude control algorithms. Simulations and experimental results demonstrated the effectiveness of the proposed design in achieving precise underwater motion control. The innovative design concept proposed in this paper will be of great value to the research and development of underwater robotics, which can be used to enhance precise navigation and maneuverability in diverse aquatic environments.

关键词： Autonomous underwater vehicles PI control Attitude control Heuristic algorithms Prototypes Propulsion Underwater navigation

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Research on Segmentation and Clustering Algorithms of 3D Point Clouds for Mobile Robot Navigation

Research on Segmentation and Clustering Algorithms of 3D Poi...

引用

IEEE International Conference on Mechatronics and Automation

作者： Le Huang Shuxiang Guo Chunying Li Qirong Lei Jinglei Nie Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

The segmentation and clustering of 3D point clouds play a pivotal role in the navigation of mobile robots. In this study, algorithms for segmenting and clustering 3D point clouds were investigated to enhance the navigation capabilities of mobile robots. Firstly, the algorithm proposed by Himmelsbach based on line-fit is widely used in 3D point clouds segmentation. However, the original method has the problem of under segmentation. Therefore, an improved algorithm combining line-fit, noise removal and non-uniform partition method based on Concentric Zone Model was proposed to solve the above problem. Secondly, Euclidean clustering is a commonly used obstacle clustering algorithm, but it is difficult to determine the appropriate distance threshold, which requires a considerable amount of time to adjust the parameter to achieve satisfactory clustering results. A new approach to determine a reasonable distance threshold and prevent excessive clustering was proposed in this paper. Finally, the results of segmentation and clustering experiments showed that our improved segmentation algorithm has higher accuracy and segmentation speed, and our improved Euclidean clustering algorithm has better clustering performance and convenience of threshold parameter setting compared to the original algorithms.

关键词： Point cloud compression Three-dimensional displays Mechatronics Automation Navigation Noise Clustering algorithms

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Design of a Capsule Robot system for Gastric Hemorrhage Detection using Luminol 20

Design of a Capsule Robot System for Gastric Hemorrhage Dete...

引用

20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Mao, Yuchen Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Application Complicated Systems Intelligent Robot Laboratory School of Electrical Engineering and Automation Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system. © 2023 IEEE.

关键词： Chemiluminescence

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Study on 6D Pose Estimation system of Occlusion Targets for the Spherical Amphibious Robot based on Neural Network 20

Study on 6D Pose Estimation System of Occlusion Targets for ...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Du, Chaofeng Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory BinshuiXidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China School of Life Science Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

The amphibious robot needs to accurately estimate the 6D pose of the target in tasks such as target tracking, docking with the recovery module, and target grasping. The current research on target 6D pose estimation is mainly applied to unoccluded targets, but when the target is occluded, the target's pose cannot be accurately identified. Compared with other algorithms, the PVNet algorithm shows better robustness when target is occluded, but the accuracy is still low. To improve the accuracy of the PVNet algorithm, this paper adds the confidence score prediction of the prediction vector at the last layer of the PVNet network, and designs a vector confidence score loss function to train the network. Before generating the hypothetical keypoints, the pixels whose confidence score is lower than the set threshold are screened out, so that the generated hypothetical 2D keypoints are closer to the true 2D keypoints. Finally, the method in this paper is compared with the Tekin, PoseCNN, Oberweger and Pvnet algorithm, and demonstrate the superiority of the proposed method. © 2023 IEEE.

关键词： Semantics

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Correlation Analysis Between Waterfowl Swimming Behavior and Propulsion Efficiency

Correlation Analysis Between Waterfowl Swimming Behavior and...

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IEEE International Conference on Mechatronics and Automation

作者： Yiran Xu Xinru Lin Shuhui Zhang Shuxiang Guo Liwei Shi School of Medical Technology Beijing Institute of Technology Beijing China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology(Beijing Institute of Technology) Ministry of Industry and Information Technology Beijing China School of Life Science Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

This research aims to investigate the potential impact of single-webbed duck foot stroke frequency and amplitude on its propulsion efficiency. Based on the consideration that real duck flippers will open and close, this paper utilizes ADAMS to simulate the motion of duck flippers and CFD for hydrodynamic simulation. The experimental results show that the propulsive force obtained by the flippers is positively correlated with the frequency and amplitude, and the flippers that can be deformed are favorable to the propulsive efficiency. This study provides a new perspective on the physiological and biomechanical study of waterfowl swimming behavior and provides theoretical support for the design of bio-inspired underwater robots and the optimization of water sports equipment.

关键词： Mechatronics Sports equipment Simulation Force Propulsion Hydrodynamics Software

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A DDPG-Based Method of Autonomous Catheter Navigation in Virtual Environment 20

A DDPG-Based Method of Autonomous Catheter Navigation in Vir...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Tian, Wei Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Vascular interventional surgery is the main method for treating cardiovascular diseases. But navigating endovascular catheters through the vascular tree is a highly challenging task even for highly trained specialists. Automation of this task can reduce the burden on surgeons and is expected to improve the surgical outcomes. Although there have been relevant studies utilizing reinforcement learning algorithms to realize autonomous navigation of catheter in the virtual environment Cathsim. However, the kinematics model of the catheter in Cathsim does not conform to the operating mode of the catheter in real vascular interventional surgery. Besides, there are problems such as low success rates of catheter autonomous navigation tasks. To address these issues, this paper modifies the kinematics model of the catheter in Cathsim and designs a catheter autonomous navigation model based on reinforcement learning DDPG (Deep Deterministic Policy Gradient) algorithm. The experimental results show that the agents trained through DDPG in this paper performs better than the agents trained through PPO (Proximal Policy optimization) in other studies in terms of navigation task success rate, completion time, and contact force between the catheter and vascular wall during the navigation process. © 2023 IEEE.

关键词： Reinforcement learning

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Study on Autonomous Surgical Control system of The Vascular Interventional Surgical Robot Based on Catheter Tip Location Tracking 20

Study on Autonomous Surgical Control System of The Vascular ...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Feng, Zhimin Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

The control system of vascular interventional surgical robot is a complex nonlinear system. When the catheter is inserted into human blood vessels, due to the irregular and curved shape of human blood vessels, the catheter will undergo small deformation, which will affect the displacement of the catheter. In order to reduce the displacement tracking error, a BP neural network PID controller was designed to compensate the displacement error of the autonomous vascular interventional surgical robot. Firstly, the dynamic analysis is carried out according to the axial displacement motion of the vascular interventional surgical robot, and the catheter displacement tracking controller was designed. According to the displacement error, BP neural network PID control is used to output three parameters of PID. Finally, in the experiment and PID control simulation comparison, the results show that the BP neural network PID control has a small displacement tracking error and superior tracking performance, which can meet the requirements. © 2023 IEEE.

关键词： Three term control systems

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Study on Control Strategy of the Vascular Interventional Surgical Robot Based on LADRC 20

Study on Control Strategy of the Vascular Interventional Sur...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhang, Wenqiang Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications Complicated Systems and Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

As a medical device used in surgery, the vascular interventional surgical robot itself needs to have good control accuracy to ensure the safety of the surgery process. Given this security problem, this paper selects the Line Active Disturbance Rejection Control (LADRC) as the control strategy of the vascular interventional robot, aiming at improving the master-slave tracking accuracy of the vascular interventional robot. This article compares the LADRC and PID(Proportional-Integral-Derivative) control strategies through simulation and experiments. The experimental results show that LADRC has good control performance for master-slave tracking and can be applied to the vascular interventional surgical robots. © 2023 IEEE.

关键词： Robotic surgery

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Design of Control system for Lower Limb Rehabilitation Robot on the Healthy Side sEMG Signal 20

Design of Control System for Lower Limb Rehabilitation Robot...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Yu, Shiqin Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

With the number of stroke patients increasing year by year, rehabilitation exoskeleton robot has been paid more and more attention. For the rehabilitation exoskeleton robot, human-computer interaction ability is an important index, which affects the effect of rehabilitation therapy to a great extent. Surface Electromyography (sEMG) signals are the combined effect of sEMG signals and electrical activities on nerve stem on the skin surface, which can reflect neuromuscular activities in advance and can be used to predict movement intention by sEMG signals. Therefore, this article proposes to use sEMG signals to monitor the motion information of the healthy leg in real-time, extract the characteristics of the electromyography signals, use the sEMG of the healthy leg as the control signal, reflect the motion patterns reflected by the sEMG collected from the healthy side, and then use the motion intention recognition method of Long Short Term Memory(LSTM) neural network to identify the motion intention of the prosthetic limb by identifying the motion patterns of the swing phase of the healthy side. The results indicate that the predicted maximum Root Mean Squared Error(RMSE) is 5.3729, which proves the feasibility of using LSTM model for motion intention recognition and contributes to the real-time and accuracy of lower limb exoskeleton rehabilitation. © 2023 IEEE.

关键词： Long short-term memory

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