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1st IEEE Conference on Telepresence, Telepresence 2024

作者： Dinc, Huseyin Tugcan Hulin, Thomas Rothammer, Michael Seong, HyeonSeok Willberg, Bertram Pleintinger, Benedikt Ryu, Jee-Hwan Ott, Christian IRiS Lab. Daejeon34141 Korea Republic of Institute of Robotics and Mechatronics Wessling82234 Germany United States Hapticslabs GmbH Dresden01067 Germany Tu Wien Automation and Control Institute Vienna1040 Austria

ISBN: (纸本)9798331528249

This paper presents the CoaxHaptics-3RRR, a novel concept for haptic interaction devices that is based on a 3-RRR spherical parallel mechanism (SPM). The novelty lies in its mechanical overdetermination through a central hollow shaft, which brings two advantages. First, the device can be built with high rigidity with regard to translational degrees of freedom (DoF). Second, it enables a lighter design with less rotational inertia, as the moving links do not need to withstand translational or gravitational forces. In order to fully exploit these advantages, an optimization process has been conducted that simultaneously optimized for workspace, manipulab.lity, inertia, and structural stiffness. The resulting functional demonstrator provides an unlimited workspace around the shaft axis and +/- 55 degrees in the other two rotational DoF, thus covering a large portion of the human wrist's rotational range. Tests confirm the validity and superiority of the concept over existing devices, making it a promising solution for the category of mechanically overdetermined haptic devices. © 2024 IEEE.

关键词： Haptic interfaces

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Effect of the fatigue in the equilibrium training

Effect of the fatigue in the equilibrium training

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Saratov Fall Meeting 2021: Computational Biophysics and Nanobiophotonics

作者： Khorev, Vladimir S. Neuroscience and Cognitive Technology Lab. Center for Technologies in Robotics and Mechatronics Components Innopolis University 1 Universitetskaya Str. Innopolis 420500 Russia

ISBN: (数字)9781510653702

ISBN: (纸本)9781510653696

Maintaining an equilibrium of the human body in an upright position is crucial for the majority of motor activities. Numerous studies of physiologists, clinicians, scientific researchers show that the equilibrium function is very complex. In this work, we conducted an experiment involving equilibrium maintaining on a balance board to research different aspects of this process. The purpose of this study was to assess the dynamics of the movement of the platform movement associated with the equilibrium during the experiment and how muscle fatigue effects it. With the help of the statistical analysis we determine which muscles were affected by the fatigue more. © 2022 SPIE.

关键词： Signal analysis

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Development of a Lower Limb Gait Asymmetry Index with Cyclogram Analysis Using Image Processing 12

Development of a Lower Limb Gait Asymmetry Index with Cyclog...

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12th RSI International Conference on robotics and mechatronics, ICRoM 2024

作者： Etaati, Sepideh Javaherat, Fatemeh Delrobaei, Mehdi K. N. Toosi University of Technology Faculty of Electrical Engineering Department of Mechatronics Tehran Iran K. N. Toosi University of Technology Advanced Robotics and Automated Systems lab. Faculty of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798331529734

Ahstract- This study focuses on developing a gait asymmetry index and applying image processing techniques to cyclogram analysis. We evaluated gait asymmetry under different walking conditions, specifically examining the effects of wearing a knee brace and holding a weight in hand. Using inertial measurement units (IMUs), we collected gait data to analyze knee, hip, and ankle angles in the sagittal plane. The joint kinematics data were assessed using our proposed asymmetry index, which combines image processing techniques and linear regression models. The proposed asymmetry index incorporates cyclogram area, trend symmetry, and the longest length of the cyclogram shape, effectively capturing variations in symmetry and providing a comprehensive measure. The results demonstrate that the proposed asymmetry index can effectively distinguish between different gait conditions. The findings potentially offer insights for researchers and clinicians in human biomechanics, aiding in the planning of interventions and the assessment of motion patterns, as well as for developers of bipedal walking robots in the field of robotic locomotion, enhancing their ability to design hardware and evaluate motion patterns. © 2024 IEEE.

关键词： Robot programming

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CLOi-Mapper: Consistent, Lightweight, Robust, and Incremental Mapper With Embedded Systems for Commercial Robot Services

arXiv

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arXiv 2024年

作者： Noh, DongKi Lim, Hyungtae Eoh, Gyuho Choi, Duckyu Choi, Jeongsik Lim, Hyunjun Baek, SeungMin Myung, Hyun Daejeon34141 Korea Republic of The Advanced Robotics Lab. CTO Division LG Electronics Seoul06772 Korea Republic of Department of Mechatronics Engineering Tech University of Korea Gyeonggi-do Siheung-si15073 Korea Republic of

In commercial autonomous service robots with several form factors, simultaneous localization and mapping (SLAM) is an essential technology for providing proper services such as cleaning and guidance. Such robots require SLAM algorithms suitable for specific applications and environments. Hence, several SLAM frameworks have been proposed to address various requirements in the past decade. However, we have encountered challenges in implementing recent innovative frameworks when handling service robots with low-end processors and insufficient sensor data, such as low-resolution 2D LiDAR sensors. Specifically, regarding commercial robots, consistent performance in different hardware configurations and environments is more crucial than the performance dedicated to specific sensors or environments. Therefore, we propose a) a multi-stage approach for global pose estimation in embedded systems;b) a graph generation method with zero constraints for synchronized sensors;and c) a robust and memory-efficient method for long-term pose-graph optimization. As verified in in-home and large-scale indoor environments, the proposed method yields consistent global pose estimation for services in commercial fields. Furthermore, the proposed method exhibits potential commercial viability considering the consistent performance verified via mass production and long-term (> 5 years) operation. © 2024, CC BY.

关键词： Mapping

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Development of a Lower Limb Gait Asymmetry Index with Cyclogram Analysis Using Image Processing

Development of a Lower Limb Gait Asymmetry Index with Cyclog...

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

作者： Sepideh Etaati Fatemeh Javaherat Mehdi Delrobaei Department of Mechatronics Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Advanced Robotics and Automated Systems lab. Faculty of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

关键词： Legged locomotion Knee Biomechanics Limbs Shape Image processing Market research Indexes Robots Hip

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Lateral gait analysis of a crawling robot by means of controlling the lengths of links and friction in the supports

Lateral gait analysis of a crawling robot by means of contro...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Vorochaeva, Lyudmila Savin, Sergei Hamed, Hany Southwest State University Dept. of Mechanics Mechatronics and Robotics Kursk Russia Innopolis University Lab. of Mechatronics Control and Prototyping Innopolis Russia

ISBN: (纸本)9781728187631

The present paper describes three developed designs of multi-link crawling robots intended for movement on rough surfaces with obstacles. The characteristic feature of the first design is the ability to control the friction coefficients in the supports of the central link, the second design is supplemented by the ability to lift off the side links in order to "step over"obstacles. The third design is distinguished by the ability to control the friction coefficients in the supports of all links, as well as the lengths of the links in addition to the implementation of the function "stepping over"obstacles. A comparative description of the implementation of the lateral gait by the robots of all the designs is presented. The operation of the control system for the lengths of the robot's links is described, which is based on a sequential algorithm for changing the length of the first central link and then the side links when the central one reaches its shortest length. © 2020 IEEE.

关键词： Machine design

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Design and Validation of Tunable Stiffness Actuator using Soft-Rigid Combined Layer Jamming Mechanism

Design and Validation of Tunable Stiffness Actuator using So...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Seoyeon Ham Brian Byunghyun Kang Kevin Abishek Hyunglae Lee Wansoo Kim Department of Interdisciplinary Robot Engineering Systems Hanyang University Gyeonggi-do Republic of Korea Neuromuscular Control and Human Robotics Lab. Arizona States University AZ USA Department of Intelligent Mechatronics Engineering Sejong University Seoul Republic of Korea Robotics Department Ansan-si Gyeonggi-do Republic of Korea

This paper presents a tunable stiffness actuator with a soft-rigid combined layer jamming mechanism. The tunable stiffness actuator is aimed to be integrated into an exosuit to prevent ankle sprain and avoid or mitigate the development of chronic ankle instability. The main purpose of the soft-rigid layer jamming mechanism is to produce large stiffness with a small volume and achieve a linear stiffness characteristic. To this end, the actuator is designed to include rigid retainer pieces within the soft silicone layers, and each soft-rigid layer is jammed to induce stiffness changes. To validate the stiffness characteristics of the proposed soft-rigid actuator, a series of experiments were performed and stiffness changes were investigated for varying jamming states from unjammed to fully jammed states. Increasing the number of jamming layer effectively increased the actuator stiffness, which was consistent with expected results from the analytical model. Soft-rigid actuator's stiffness at the fully jammed state was 212.1% and 123.1% higher than the unjammed state for one-side and both sides anchored conditions, respectively. Compared to the soft actuator without the rigid retainer, the soft-rigid actuator exhibited a more linear characteristic (Pearson correlation coefficient = 0.990 and 0.997 for one-side and both sides anchored conditions, respectively). Moreover, the soft-rigid actuator achieved significantly higher stiffness than the soft actuator in all jamming states (at least 41.3% increase in each jamming state). The results suggest a potential use of the tunable stiffness actuator to develop a soft ankle exosuit with highly variable but linear stiffness characteristics.

关键词： Correlation coefficient Actuators Analytical models Composite materials Mechanical cables Soft robotics Jamming

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CoaxHaptics-3RRR: A Novel Mechanically Overdetermined Haptic Interaction Device Based on a Spherical Parallel Mechanism

CoaxHaptics-3RRR: A Novel Mechanically Overdetermined Haptic...

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Telepresence, IEEE Conference on

作者： Huseyin Tugcan Dinc Thomas Hulin Michael Rothammer HyeonSeok Seong Bertram Willberg Benedikt Pleintinger Jee-Hwan Ryu Christian Ott IRiS Lab. Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Centre for Tactile Internet with Human-in-the-Loop (CeTI) Hapticslabs GmbH Dresden Germany Automation and Control Institute TU Wien Vienna Austria

ISBN: (数字)9798331528249

ISBN: (纸本)9798331528256

This paper presents the CoaxHaptics-3RRR, a novel concept for haptic interaction devices that is based on a 3-RRR spherical parallel mechanism (SPM). The novelty lies in its mechanical overdetermination through a central hollow shaft, which brings two advantages. First, the device can be built with high rigidity with regard to translational degrees of freedom (DoF). Second, it enables a lighter design with less rotational inertia, as the moving links do not need to withstand translational or gravitational forces. In order to fully exploit these advantages, an optimization process has been conducted that simultaneously optimized for workspace, manipulab.lity, inertia, and structural stiffness. The resulting functional demonstrator provides an unlimited workspace around the shaft axis and +/− 55 degrees in the other two rotational DoF, thus covering a large portion of the human wrist’s rotational range. Tests confirm the validity and superiority of the concept over existing devices, making it a promising solution for the category of mechanically overdetermined haptic devices.

关键词： Shafts Telepresence Haptic interfaces Rigidity Optimization

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Transcranial magnetic stimulation affects response time in decision-making tasks 4

Transcranial magnetic stimulation affects response time in d...

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4th International Conference "Neurotechnologies and Neurointerfaces", CNN 2022

作者： Grigorev, Nikita Savosenkov, Andrey Udoratina, Anna Kolchina, Anna Maksimenko, Vladimir Gordleeva, Susanna Lobachevsky State University of Nizhny Novgorod Neurotechnology Department Nizhny Novgorod Russia Immanuel Kant Baltic Federal University Center for Neurotechnology and Machine Learning Kaliningrad Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Lobachevsky State University of Nizhny Novgorod Mathematics and Mechanics Department Nizhny Novgorod Russia Neuroscience and Cognitive Technology Lab. Innopolis University Innopolis Russia

ISBN: (数字)9781665463294

ISBN: (纸本)9781665463294

In this study, we investigate how excitatory transcranial magnetic stimulation (TMS) can influence decision speed in the task of classifying ambiguous visual patterns. 30 healthy volunteers were divided into 2 groups. During two experimental sessions they classified ambiguous Necker cubes. Before the second experimental session, stimulation of the area of the cerebral cortex, which is related to decision-making, was performed. One group received sham stimulation;the other group was stimulated with repetitive TMS (rTMS) for 3 minutes at a frequency of 10 Hz. As a result: the rTMS group significantly (p © 2022 IEEE.

关键词： Decision making

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Anterior TMS Speeds up Responses in Perceptual Decision-making Task 6

Anterior TMS Speeds up Responses in Perceptual Decision-maki...

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6th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2022

作者： Maksimenko, Vladimir Gordleeva, Susanna Grigorev, Nikita Savosenkov, Andrey Kuc, Alexander Udoratina, Anna Grubov, Vadim Kolchina, Anna Kurkin, Semen Kazantsev, Victor Hramov, Alexander Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Mathematics and Mechanics Department Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia Neurotechnology Department Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Neuroscience and Cognitive Technology Lab. Innopolis University Innopolis Russia Nizhny Novgorod Russia

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

Our preliminary behavioral experiments suggest that the response time decreases when subjects respond to the repeatedly presented visual stimuli. A potential explanation is that the brain preactivates neural ensembles responsible for stimulus processing. If so, activating these areas before the experiment may reduce the response time immediately, opening ways for exciting practical applications. To test this opportunity, we apply transcranial magnetic stimulation (TMS) before the subjects start performing a perceptual decision-making task. Having compared the response time between the TMS and control groups, we observed a significant change confirming our hypothesis. © 2022 IEEE.

关键词： Decision making

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