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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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On the Machining of Aluminum Alloy Series 7 with EDM 1

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7th International Scientific-Technical Conference, MANUFACTURING 2022

作者： Balanou, Maria Karmiris-Obratański, Panagiotis Karkalos, Nikolaos E. Papazoglou, Emmanouil L. Markopoulos, Angelos P. School of Mechanical Engineering Laboratory of Manufacturing Technology National Technical University of Athens Athens Greece Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems AGH University of Science and Technology Cracow Poland

ISBN: (数字)9783031008054

ISBN: (纸本)9783031008047

Electrical Discharge Machining is a thermo-electrical non-conventional machining process, which is widely used in machining difficult-to-cut materials in complex shapes and geometries, regardless their mechanical properties. Aluminum series 7 alloys are the strongest wrought aluminum alloy with extensive utilization in numerous modern applications. In the current study, an experimental investigation of machining Al7075 with EDM and brass electrode is presented. Full-scale experiments were conducted, with control parameters the pulse-on current and the pulse-on time, while, as the machining performance indexes, the Material Removal Rate (MRR), and the Tool Material Removal Rate (TMRR) were chosen and Surface Roughness (SR) was estimated in terms of the maximum roughness Rz and the average surface roughness Ra. Finally, a statistical analysis was followed in order to assess how each machining parameter affects the machining results. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Aluminum alloy ANOVA Electrical discharge machining

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Electrochemical Monitoring of Intracellular Reactive Oxygen Species Based on Automated Nanoprobe Platform

Electrochemical Monitoring of Intracellular Reactive Oxygen ...

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2023 Annual IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2023

作者： Ma, Yanmei Hu, Weikang Ruan, Muyang Zhan, Zhen Zhang, Yi Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen China City University of HongKong Department of Biomedical Engineering Hong Kong

ISBN: (纸本)9798350344486

The electrochemical detection of endogenous molecules from a single cell is a crucial technique for understanding fundamental cellular processes at the subcellular level and uncovering cellular heterogeneity. However, high throughput intracellular detection has posed significant challenges. This paper proposes a simple method for fabricating a nanoprobe for the electrochemical monitoring of intracellular reactive oxygen species (ROS), which are important signaling molecules that play a key role in a wide range of cellular processes, including apoptosis, proliferation, and differentiation. Combined with the automated nanoprobe platform, the study successfully achieved minimally invasive and efficient intracellular ROS detection in living cells. Moreover, the results reveal that the average ROS concentration in the cytoplasm and nucleus is uneven, which has important implications for the understanding of cellular redox signaling. © 2023 IEEE.

关键词： Nanoprobes

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The segmented bus: A dynamically segmentable interprocessor communication network for intelligent mobile robot systems

The segmented bus: A dynamically segmentable interprocessor ...

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1992 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1992

作者： Aras, C.M. Luo, Ren C. Reeves, D.S. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering United States Department of Computer Science North Carolina State University RaleighNC27695 United States

ISBN: (纸本)0780307372

We propose a new interprocessor communication network, named the Segmented Bus, for multiprocessor message passing computer architectures executing groups of processes with localized communication patterns and time varying computational demands. The control of autonomous robots includes such process sets, making this architecture suitable for the intelligent robot control problem and other control systems with localized and changing message communication patterns. The Segmented Bus also allows dynamic segmentation of the interprocessor communication network for dynamic reconfiguration based on task communication locality. Virtual cut-Through and preemptive circuit switched data transfers are used for inter-segment data transfers on the Segmented Bus. Hardware and protocols for implementing these two techniques are discussed. The performance of the Segmented Bus using the two data transfer techniques is evaluated with simulation and the results are compared to the single bus and the multiple bus in terms of the performance, expandability and the complexity of hardware. © 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Data transfer

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Design of Capsule Robot for Magnetic Gastric Biopsy and Drug Administration 20

Design of Capsule Robot for Magnetic Gastric Biopsy and Drug...

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

作者： Xu, Zhihui Li, Zongze Liu, Shoubin Hu, Chengzhi Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Harbin Institute of Technology School of Mechanical and Electrical Engineering Shenzhen China

ISBN: (纸本)9798350320831

Capsule robots have emerged as a promising tool for the early diagnosis of gastrointestinal diseases. Unlike conventional gastroscopy, they offer the potential for minimally invasive or even non-invasive treatment, and can alleviate discomfort and pain in patients. However, current capsule robots have some limitations. For instance, they lack stomach tissue biopsy and drug administration functions, and the capsule robot used for biopsy does not consider the tolerance of gastrointestinal tissue. Similarly, the capsule robot used for drug administration does not account for the outlet speed of drug administration. This paper proposes a new biopsy method using a magnetically manipulated capsule robot and analyzes the principles governing the robot's manipulation during the biopsy and drug administration processes. Furthermore, an ANSYS gastric model was established and used to simulate and experimentally analyze damage to the gastric tissue model from different types of biopsy needles and their moving speeds. The appropriate type of biopsy needle and moving speed were determined to prevent damage to the gastric tissue. The study also used FLUENT to determine the appropriate thrust at the entrance of the drug cavity and the impact of the drug density on the drug outlet velocity to ensure complete adherence of the drug to the lesion. © 2023 IEEE.

关键词： Biopsy

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Magnetically Driven Capsule Robot for Multi-Targeted Biopsy and Drug Delivery in Stomach

Magnetically Driven Capsule Robot for Multi-Targeted Biopsy ...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Xu, Zhihui Wei, Tanyong Li, Zongze Huang, Ding Liu, Shoubin Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen China Southern University of Science and Technology Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen China

ISBN: (纸本)9798350325706

Capsule robots have emerged as a promising solution for non-invasive and painless screening of gastrointestinal diseases, offering significant advantages in patient comfort and reduced risk of cross-infection. Despite these advantages, existing capsule robots fall short in their ability to conduct targeted biopsies and deliver drugs to specific gastric lesions. To address this limitation, this paper presents the design and development of a magnetically driven capsule robot that leverages visual feedback to achieve accurate targeting for biopsy and drug administration in gastric lesions. Internal magnets, responsive to an external gradient magnetic field, enable the controlled propulsion of the capsule robot. A kinetic model of the capsule robot is analyzed, allowing it to recognize lesion contours through the endoscopic camera. This recognition determines the rotation angle or small adjustments required for the capsule robot's attitude and positioning. Experimental results in a simplified in vitro stomach model showcase the capability of the capsule robot to achieve targeted biopsy and drug delivery. These results highlight the potential feasibility of the proposed capsule robot in enhancing diagnostic accuracy and treatment efficacy with broader applications within the realm of gastric healthcare. © 2023 IEEE.

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New design techniques for globally convergent simultaneous localization and mapping: Analysis and implementation

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Workshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, 2017

作者： Lourenço, Pedro Guerreiro, Bruno Batista, Pedro Oliveira, Paulo Silvestre, Carlos Laboratory for Robotics and Engineering Systems Institute for Systems and Robotics Lisbon Portugal Department of Electrical and Computer Engineering Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal Department of Mechanical Engineering Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China

ISBN: (纸本)9783319553719

This chapter presents an overview of algorithms deeply rooted in a sensor-based approach to the SLAM problem that provide global convergence guarantees and allow for the use of partially observable landmarks. The presented algorithms address the more usual range-and-bearing SLAM problem, either in 2-D using a LiDAR or in 3-D using an RGB-D camera, as well as the range-only and bearing-only SLAM problems. For each of these formulations a nonlinear system is designed, for which state and output transformations are considered together with augmented dynamics, in such a way that the underlying system structure can be regarded as linear time-varying for observability analysis and filter design purposes. This naturally allows for the design of Kalman filters with, at least, globally asymptotically stable error dynamics, for which several experimental and simulated trials are presented to highlight the performance and consistency of the obtained filters. © Springer International Publishing AG 2017.

关键词： Kalman filters

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Tongue interface based on surface EMG signals of suprahyoid muscles

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ROBOMECH Journal 2016年第1期3卷 1页

作者： Sasaki, Makoto Onishi, Kohei Stefanov, Dimitar Kamata, Katsuhiro Nakayama, Atsushi Yoshikawa, Masahiro Obinata, Goro Graduate School of Engineering Iwate University MoriokaIwate Japan School of Science and Technology Middlesex University London United Kingdom Pattern Art Laboratory Co. Ltd. HanamakiIwate Japan Department of Intelligent Systems Engineering Ichinoseki National College of Technology IchinosekiIwate Japan Graduate School of Information Science Nara Institute of Science and Technology Nara Japan Department of Robotics Science and Engineering Chubu University Kasugai Japan

The research described herein was undertaken to develop and test a novel tongue interface based on classification of tongue motions from the surface electromyography (EMG) signals of the suprahyoid muscles detected at the underside of the jaw. The EMG signals are measured via 22 active surface electrodes mounted onto a special flexible boomerang-shaped base. Because of the sensor’s shape and flexibility, it can adapt to the underjaw skin contour. Tongue motion classification was achieved using a support vector machine (SVM) algorithm for pattern recognition where the root mean square (RMS) features and cepstrum coefficients (CC) features of the EMG signals were analyzed. The effectiveness of the approach was verified with a test for the classification of six tongue motions conducted with a group of five healthy adult volunteer subjects who had normal motor tongue functions. Results showed that the system classified all six tongue motions with high accuracy of 95.1 ± 1.9 %. The proposed method for control of assistive devices was evaluated using a test in which a computer simulation model of an electric wheelchair was controlled using six tongue motions. This interface system, which weighs only 13.6 g and which has a simple appearance, requires no installation of any sensor into the mouth cavity. Therefore, it does not hinder user activities such as swallowing, chewing, or talking. The number of tongue motions is sufficient for the control of most assistive devices. © 2016, Sasaki et al.

关键词： Support vector machines

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MOBILE ROBOT LOCALIZATION USING A SINGLE ROTATING SONAR AND 2 PASSIVE CYLINDRICAL BEACONS

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ROBOTICA 1995年第pt 3期13卷 243-252页

作者： BEOM, HR CHO, HS [a1 ]Research & Development Laboratory Gold Star Industrial Systems CO. Ltd. Anyang (Korea).[a2 ]Center for Robotics and Automation Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology 373-1 Kusong-dong Taejeon 305-701 (Korea).

This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The sonar sensor, again, mounted on a pan-tilt device then receives the reflected pulses while scanning over a wide area. The geometric parameter set of beacon is acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. The presented algorithm is especially suitable for processing the sonar scan data obtained by ultrasonic sensor with wide beam spread. From this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.

关键词： MOBILE ROBOT SONAR BEACON LOCALIZATION

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Control of muscle force during exercise using a musculoskeletal-exoskeletal integrated human model

Control of muscle force during exercise using a musculoskele...

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作者： Ueda, Jun Matsugashita, Masayuki Oya, Reishi Ogasawara, Tsukasa Robotics Laboratory Graduate School of Information Science Nara Institute of Science and Technology Nara 630-0192 Japan d'Arbeloff Laboratory for Information Systems and Technology Mechanical Engineering Massachusetts Institute of Technology Cambridge MA 02139 United States

ISBN: (纸本)9783540774563

The aim of this paper is to arbitrarily modify the load force of any selected muscle by using an exoskeleton, thus enabling "pinpointed" motion support, rehabilitation, and training. An advanced dynamic model, called a musculoskeletal-exoskeletal integrated human model, is developed. The driving-forces of the pneumatic actuators are designated by a muscle force control algorithm using the integrated model. A prototype power-assisting system has been developed using pneumatic rubber actuators. The validity of the method has been confirmed by measuring surface electromyographic (EMG) signals of related muscles. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： Musculoskeletal system

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