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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhu, Junfeng Huang, Yuanrui Chen, Jian Liu, Hongbin School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100190 China State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing100049 China Hong Kong Institute of Science Innovation Chinese Academy of Sciences Centre of AI and Robotics China School of Biomedical Engineering and Imaging Sciences King's College London United Kingdom

ISBN: (纸本)9781665481090

Magnetic continuum robots (MCRs) show promising potential for applications in narrow lumens, such as vascular interventions. Accurate shape sensing of these robots is crucial for the success of interventional surgeries. However, the submillimeter dimensions of MCRs poses significant challenges for integrating additional sensors. An alternative approach is shape estimation from images, yet the lack of precise MCR kinematics can make this process time-consuming. In this work, we propose a novel MCR design featuring a rectangular tip capable of specific planar bending, along with a corresponding kinematic model and a mechanical model. Additionally, we introduce a model-based shape estimation method that enables the estimation of the MCR's shape from a single-view image without the need for external markers. Experimental results demonstrate that our method can estimate an MCR's shape with a mean absolute error (MAE) of 0.58 ± 0.41 mm within 85ms, facilitating real-time application. Furthermore, closed-loop control based on this method has achieved an end position error below 11% of the tip's total length, highlighting the accuracy and practicality of our approach for surgical interventions. © 2024 IEEE.

关键词： Closed loop control systems

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robotics and Emotion 34

Robotics and Emotion

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34th Annual Meeting of the Cognitive science Society: Building Bridges Across Cognitive sciences Around the World, CogSci 2012

作者： Pfeifer, Rolf Ishiguro, Hiroshi Anzai, Yuichiro Miyake, Naomi Zurich8050 Switzerland Intelligent Robotics Laboratory Dept. of Systems Innovation Graduate School of Engineering Science Osaka University 1-3 Machikaneyama-Cho Toyonaka-Shi Osaka-Fu Japan Japan Society for the Promotion of Science 8 Ichiban-Cho Chiyoda-Ku Tokyo Japan Graduate School of Education University of Tokyo 7-3-1 Hongo Bunkyo-Ku Tokyo Japan

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Instant Motion Recognition of Lower Limb Using Surface Electromyography Signal Based on Convolutional Neural Network

Instant Motion Recognition of Lower Limb Using Surface Elect...

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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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Pulsed Microfluid Force-Based On-Chip Modular Fabrication for Liver Lobule-Like 3D Cellular Models

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Cyborg and Bionic systems 2021年第1期2021卷 222-233页

作者： J.Cui H.P.Wang Q.Shi T.Sun Science and Technology on Electronic Test and Measurement Laboratory North University of ChinaTaiyuan 030051China Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China

In vitro three-dimensional(3D)cellular models with native tissue-like architectures and functions have potential as alternatives to human tissues in regenerative medicine and drug ***,it is difficult to replicate liver constructs that mimic in vivo microenvironments using current approaches in tissue engineering because of the vessel-embedded 3D structure and complex cell distribution of the *** paper reports a pulsed microflow-based on-chip 3D assembly method to construct 3D liver lobule-like models that replicate the spatial structure and functions of the liver *** heterogeneous cell-laden assembly units with hierarchical cell distribution are fabricated through multistep photopatterning of different cell-laden *** fluid force interaction by pulsed microflow,the hierarchical assembly units are driven to a stack,layer by layer,and thus spatially assemble into 3D cellular models in the closed liquid chamber of the assembly *** 3D models with liver lobule-like hexagonal morphology and radial cell distribution allow the dynamic perfusion culture to maintain high cell viability and functional expression during long-term culture in *** results demonstrate that the fabricated 3D liver lobule-like models are promising for drug testing and the study of individual diagnoses and treatments.

关键词： culture maintain spatially

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D2NT: A High-Performing Depth-to-Normal Translator

D2NT: A High-Performing Depth-to-Normal Translator

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yi Feng Bohuan Xue Ming Liu Qijun Chen Rui Fan Robotics & Artificial Intelligence Laboratory (RAIL) the State Key Laboratory of Intelligent Autonomous Systems and Frontiers Science Center for Intelligent Autonomous Systems the College of Electronic & Information Engineering Tongji University Shanghai P. R. China Department of Computer Science & Engineering the Hong Kong University of Science and Technology (Guangzhou) Hong Kong SAR P. R. China Robotics & Autonomous Systems Thrust of the Systems Hub the Hong Kong University of Science and Technol-ogy (Guangzhou) Nansha Guangzhou P. R. China

Surface normal holds significant importance in visual environmental perception, serving as a source of rich geometric information. However, the state-of-the-art (SoTA) surface normal estimators (SNEs) generally suffer from an unsatisfactory trade-off between efficiency and accuracy. To resolve this dilemma, this paper first presents a superfast depth-to-normal translator (D2NT), which can directly translate depth images into surface normal maps without calculating 3D coordinates. We then propose a discontinuity-aware gradient (DAG) filter, which adaptively generates gradient convolution kernels to improve depth gradient estimation. Finally, we propose a surface normal refinement module that can easily be integrated into any depth-to-normal SNEs, substantially improving the surface normal estimation accuracy. Our proposed algorithm demonstrates the best accuracy among all other existing real-time SNEs and achieves the SoTA trade-off between efficiency and accuracy.

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A Piecewise Monotonic Gait Phase Estimation Model for Controlling a Powered Transfemoral Prosthesis in Various Locomotion Modes

arXiv

引用

arXiv 2022年

作者： Chen, Xinxing Chen, Chuheng Wang, Yuxuan Yang, Bowen Ma, Teng Leng, Yuquan Fu, Chenglong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Shenzhen518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Department of Biomedical Engineering National University of Singapore Singapore

Gait phase-based control is a trending research topic for walking-aid robots, especially robotic lower-limb prostheses. Gait phase estimation is a challenge for gait phase-based control. Previous researches used the integration or the differential of the human's thigh angle to estimate the gait phase, but accumulative measurement errors and noises can affect the estimation results. In this paper, a more robust gait phase estimation method is proposed using a unified form of piecewise monotonic gait phase-thigh angle models for various locomotion modes. The gait phase is estimated from only the thigh angle, which is a stable variable and avoids phase drifting. A Kalman filter-based smoother is designed to further suppress the mutations of the estimated gait phase. Based on the proposed gait phase estimation method, a gait phase-based joint angle tracking controller is designed for a transfemoral prosthesis. The proposed gait estimation method, the gait phase smoother, and the controller are evaluated through offline analysis on walking data in various locomotion modes. And the real-time performance of the gait phase-based controller is validated in an experiment on the transfemoral prosthesis. © 2022, CC BY.

关键词： Controllers

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Development of a mechanical talking robot that produces natural vowels and consonant sounds

Development of a mechanical talking robot that produces natu...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： K. Nishikawa A. Imai T. Ogawara H. Takanobu T. Mochida A. Takanishi Humanoid Robotics Institute Waseda University Tokyo JAPAN Department of Mechanical Systems Engineering Kogakuin University Shinjuku-ku Tokyo JAPAN Human and Information Science Laboratory NTT Communication Science Laboratory Atsugi-Shi Kanagawa JAPAN

This research attempts to clarify the human vocal mechanism from engineering viewpoints by simulating the vocal movement with a robot, and to create a dynamic model. The authors developed an anthropomorphic talking robot, WT-1 (Waseda Talker-No.1) in 1999. It simulated the human vocal movement,. and had articulators and vocal organs. WT-1 could speak Japanese vowels (|a|, |i|, |u|, |e|, |o|). However, the vowels produced were not natural. Therefore, we develop a refined talking robot WT-1R that improves the realization of natural vowels and consonant sounds. WT-IR has articulators (the 6-DOF tongue, 4-DOF lips, 1-DOF teeth, a nasal cavity and a 1-DOF soft palate) and vocal organs (the 1-DOF lungs, 2-DOF vocal cords). The total DOF of the robot is 15. This paper describes the improved mechanisms of WT-IR and the realization of the fluctuation for the natural voice and the clearness of vowels.

关键词： Humanoid robots Tongue Lips Teeth Lungs Speech Human voice Modeling Fluctuations Mechanical engineering

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Camera Handoff with Adaptive Resource Management for Multi-camera Multi-target Surveillance

Camera Handoff with Adaptive Resource Management for Multi-c...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Chung-Hao Chen Yi Yao David Page Besma Abidi Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN USA GE Global Research Center Niskayuna NY USA

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras¿ resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah.

关键词： Resource management Surveillance Labeling Real time systems Intelligent robots USA Councils Videoconference Robot vision systems Smart cameras Robot kinematics

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Survey on team tracking techniques applied to sports

Survey on team tracking techniques applied to sports

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International Conference on Autonomous Intelligent systems

作者： Santiago, Catarina B. Sousa, Armando Estriga, Maria Luísa Reis, Luis Paulo Lames, Martin Robotics and Intelligent Systems - INESCPorto FEUP - Faculty of Engineering of University of Porto Porto Portugal Centre of Res. Edu. Innovation and Intervention in Sport FADEUP - Faculty of Sports of the University of Porto Porto Portugal Artificial Intelligence and Computer Science Laboratory FEUP - Faculty of Engineering of University of Porto Porto Portugal Institut für Sportwissenschaften/Sportzentrum Universität Augsburg Augsburg Germany

ISBN: (纸本)9781424471072

Recent years have brought an increasing interest on analyzing efficiently the performance of sports players during training sessions and games. The information collected from such analysis is very valuable to educators and coaches since it allows them to better understand the difficulties of a trainee, a player or even an entire team and formulate adequate training and strategic plans accordingly. In order to perform this analysis in a consistent and systematic way, sophisticated sensory systems and data processing techniques are needed. This paper presents a survey on relevant work, current techniques and trends on the area of team tracking systems applied to sports. We propose a classification of these systems by distinguishing them into two main categories: intrusive and nonintrusive. Nonintrusive systems are further refined into outdoor and indoor sports applications. The specific characteristics of each system are itemized, including the identification of the strong points and limitations. Finally, the paper highlights some open issues and research opportunities on this area. © 2010 IEEE.

关键词： Sports

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A Novel Extended Potential Field Controller for Use on Aerial Robots

A Novel Extended Potential Field Controller for Use on Aeria...

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IEEE International Conference on Automation science and engineering

作者： Alexander C. Woods Hung M. La Quang P. Ha Advanced Robotics and Automation Laboratory Department of Computer Science and Engineering University of Nevada Reno 89557 USA School of Electrical Mechanical and Mechatronic Systems University of Technology Sydney Australia

ISBN: (纸本)9781509024100

Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world around them. This paper presents an extended potential field controller (ePFC) which enables an aerial robot, or drone, to safely track a dynamic target location while simultaneously avoiding any obstacles in its path. The ePFC outperforms a traditional potential field controller (PFC) with smoother tracking paths and shorter settling times. The proposed ePFC's stability is evaluated by Lyapunov approach, and its performance is simulated in a Matlab environment. Finally, the controller is implemented on an experimental platform in a laboratory environment which demonstrates the effectiveness of the controller.

关键词： Drones Navigation Robot sensing systems Target tracking Stability analysis

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