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Towards semi-supervised myoelectric finger motion recognition based on spatial motor units activation

Science China(Technological Sciences) 2022年第6期65卷 1232-1242页

作者： GUO WeiChao WANG Mian SHENG XinJun ZHU XiangYang State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China

It is vital to recognize the intention of finger motions for human-machine interaction(HMI).The latest research focuses on fine myoelectric control through the decoding of neural motor unit action potential trains(MUAPt) from high-density surface electromyographic(sEMG) ***,the existing EMG decoding algorithms rarely obtain the spatial matching relationship between decoded motion units(MU) and designated muscles,and the control interface can only recognize the trained hand *** this study,a semi-supervised HMI based on MU-muscle matching(MMM) is proposed to recognize individual finger motions and even the untrained combined multi-finger *** automatic channel selection from high-density s EMG signals,the optimal spatial positions to monitor the MU activation of finger muscles are *** tapping experiment is carried out on ten subjects,and the experimental results show that the proposed s EMG decomposition algorithm based on MMM can accurately identify single finger motions with an accuracy of 93.1%±1.4%,which is comparable to that of state-of-the-art pattern recognition ***,the MMM allows unsupervised recognizing the untrained combined multi-finger motions with an accuracy of 73%±3.8%.The outcomes of this study benefit the practical applications of HMI,such as controlling prosthetic hand and virtual keyboard.

关键词： myoelectric control semi-supervised motor units activation channel selection template matching

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A Sample Repetitive Manipulation Mechanism (SRMM) for Lunar Regolith In-Situ Analysis: Design and Validation

A Sample Repetitive Manipulation Mechanism (SRMM) for Lunar ...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Liu, Yi Tang, Junyue Liu, Yafang Ma, Gongbo Sun, Feng Li, Ye Jiang, Shengyuan Shenyang University of Technology Shenyang China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Spacecraft System Engineering Beijing China Beijing China

ISBN: (纸本)9798350325706

To exactly detect the water ice of the South Pole of the moon, a lunar regolith in-situ analysis payload deploying a mass spectrometer is proposed for China future lunar exploration missions. In order to receive the lunar regolith sample from a robotic arm with a soil sampler and transfer it into a furnace for further analysis, a sample manipulation mechanism is required during the above work flow. To solve the problems of adapting the sampler's docking accuracy, receiving and transferring two different types of lunar soil sample under times of in-situ analysis, etc., a sample repetitive manipulation mechanism (SRMM) is proposed in this paper. By using a floating adjustable docking components and a flexible hopper, two types of encapsulated regolith sample and bulk material sample can be received with minimal sample loss, respectively. In order to receive and transfer two types of samples multiple times, two sample receiving methods have been designed that can be repeatedly transferred. A worm and worm wheel combined with a ball screw is designed in SRMM. To verify the above mechanism design, validation experiments were conducted. It indicates that this novel SRMM can be deployed in the future mission after further environmental tests. © 2023 IEEE.

关键词： Lunar exploration Repeated transfer Sample type sampler's docking sealing force

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Full Resolution Repetition Counting 16th

Full Resolution Repetition Counting

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Li, Jianing Chen, Bowen Wang, Zhiyong Liu, Honghai School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9789819964826

Given an untrimmed video, repetitive actions counting aims to estimate the number of repetitions of class-agnostic actions. To handle the various length of videos and repetitive actions, also optimization challenges in end-to-end video model training, down-sampling is commonly utilized in recent state-of-the-art methods, leading to ignorance of several repetitive samples. In this paper, we attempt to understand repetitive actions from a full temporal resolution view, by combining offline feature extraction and temporal convolution networks. The former step enables us to train repetition counting network without down-sampling while preserving all repetitions regardless of the video length and action frequency, and the later network models all frames in a flexible and dynamically expanding temporal receptive field to retrieve all repetitions with a global aspect. Besides, temporal self-similarity matrix is used in our model to represent the correlation of action, which contains much cycle information in time series. We experimentally demonstrate that our method achieves better or comparable performance in three public datasets, i.e., TransRAC, UCFRep and QUVA. We expect this work will encourage our community to think about the importance of full temporal resolution. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Convolution

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A Survey of Underwater Multi-Robot systems

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 1-18页

作者： Ziye Zhou Jincun Liu Junzhi Yu State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and RoboticsBeijing Innovation Center for Engineering Science and Advanced TechnologyCollege of EngineeringPeking UniversityBeijing 100871China College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China

As a cross-cutting field between ocean development and multi-robot system(MRS),the underwater multi-robot system(UMRS)has gained increasing attention from researchers and engineers in recent *** this paper,we present a comprehensive survey of cooperation issues,one of the key components of UMRS,from the perspective of the emergence of new *** specifically,we categorize the cooperation in terms of task-space,motion-space,measurement-space,as well as their ***,we analyze the architecture of UMRS from three aspects,i.e.,the performance of the individual underwater robot,the new functions of underwater robots,and the technical approaches of *** conclude,we have discussed related promising directions for future *** survey provides valuable insight into the reasonable utilization of UMRS to attain diverse underwater tasks in complex ocean application scenarios.

关键词： Cooperation formation control multi-robot systems(MRS) taxonomy underwater robots underwater tasks

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Design and Experiment of A Hybrid Wave Energy Harvester Based on Tapered Rollers 21

Design and Experiment of A Hybrid Wave Energy Harvester Base...

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21st International Conference on Micro and Nanotechnology for Power Generation and Energy Conversion Applications, PowerMEMS 2022

作者： Li, Yunfei Tang, Tianyi Fang, Yan Huang, Manjuan Hou, Cheng Liu, Huicong Sun, Lining State Key Laboratory of Robotics and System Harbin150001 China Soochow University School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics China

ISBN: (纸本)9781665493062

This paper presents a hybrid energy harvester based on tapered rollers with an electromagnetic generator (EMG) component and a triboelectric nanogenerator (TENG) component for ultra-low frequency wave energy harvesting. The chaotic pendulum is adjusted to adapt the wave excitation under different sea conditions, ensuring that the device achieves optimal output performance. At excitation frequency of 1Hz and the tilt angle of 60°, the open-circuit voltage peaks of 8.4 and 132 V can be achieved by the EMG and TENG, respectively, corresponding to the power outputs of 4.38 and 0.078 mW, respectively. It was demonstrated that the device can easily light up over 360 red light-emitting diodes. © 2022 IEEE.

关键词： Wave energy conversion

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Piezoelectric inertial robot for operating in small pipelines based on stick-slip mechanism:modeling and experiment

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Frontiers of Mechanical engineering 2022年第3期17卷 109-124页

作者： Jichun XING Chao NING Yingxiang LIU Ian HOWARD School of Mechanical Engineering Yanshan UniversityQinhuangdao066004China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China School of Civil and Mechanical Engineering Curtin UniversityPerth6001Australia

Small pipes exist in industrial and biomedical fields,and require microrobots with high operational precision and large load capacity to inspect or perform functional tasks.A piezoelectric inertial pipeline robot using a“stick-slip”mechanism was proposed to address this *** this study,the driving principle of the proposed robot was analyzed,and the strategy of the design scheme was presented.A dynamics model of the stick-slip system was established by combining the dynamics model of the driving foot system and the LuGre friction model,and the simulation analysis of the effect of system parameters on the operating trajectory was *** experimental system was established to examine the output characteristics of the proposed *** results show that the proposed pipeline robot with inertial stick-slip mechanism has a great load capacity of carrying 4.6 times(70 g)its own mass and high positioning *** speed of the pipeline robot can reach up to 3.5 mm/s(3 mm/s)in the forward(backward)direction,with a minimum step distance of 4µ*** potential application for fine operation in the pipe is exhibited by a demonstration of contactless transport.

关键词： pipeline robot piezoelectric inertial drive stick-slip large load capacity dynamics model small pipeline

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Design and Evaluation of a Bidirectional Ankle Exoskeleton system 38

Design and Evaluation of a Bidirectional Ankle Exoskeleton S...

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38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023

作者： Peng, Yiying Chen, Jianyu Wang, Liping Han, Jianda Zhang, Juanjuan Nankai University Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information System College of Artificial Intelligence School of Materials Science and Engineering Smart Sensing Interdisciplinary Science Center Tianjin300350 China

ISBN: (纸本)9798350303636

Patients with foot-drop are unable to dorsiflexion during the swing phase, resulting in toe dragging and increasing the risk of falling. Ankle-foot-orthoses (AFOs) can reduce foot-drop of patients but limit their ankle plantarflexion. Assistive exoskeletons have a significant improvement on walking economy and the assistance can enhance human mobility. Here, we developed a bidirectional ankle exoskeleton to provide passive dorsiflexion assistance during the swing phase and active plantarflexion assistance during the stance phase. The performance of our exoskeleton was tested based on experiments of one healthy subject. We changed the front passive assistive materials and evaluated the kinematics and biological efforts of the subject with different assistive conditions. Results showed that the maximum ankle dorsiflexion angles were increased during the swing phase and ankle joint torques were reduced under assistance. The root mean square (RMS) of the soleus and tibialis anterior muscle activities were decreased by 21.8% and 17.9% under the assistance of elastic ropes condition. Our design expected to provide assistance for individuals with impaired dorsiflexion and plantarflexor muscle strength, which can enhance their locomotion ability. © 2023 IEEE.

关键词： bidirectional ankle exoskeleton foot-drop passive assistance wearable robotics

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Jamming-free Impedance Control of UVMS Based on Contact Mechanisms for Peg-in-Hole Tasks

Jamming-free Impedance Control of UVMS Based on Contact Mech...

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Chinese Control and Decision Conference, CCDC

作者： Haoyu Liu Min Yu Wenkai Zhang Minghao Liu Qirong Tang Laboratory of Robotics and Multibody System School of Mechanical Engineering Tongji University China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

This work addresses the jamming issue for under-water peg-in-hole tasks. Owing to random currents, transient forces acting on the contact points during underwater peg-in-hole tasks may lead to jamming when inserting. To this end, a compliant jamming-free impedance controller is designed based on the contact mechanisms analysis. Firstly, general dynamic model of the underwater vehicle-manipulator system considering hydrodynamics is established, and the contact forces can be formulated intuitively by using the mass-spring-damper model. Secondly, the contact mechanisms of peg-in-hole tasks, when the peg has been inserted into the hole, are analyzed via the standard cylindrical model mainly including one-point and two-point contact states. To avoid jamming, the jamming diagrams of insertions are obtained by calculating the constraints of forces and positions in these two states. Then the adaptive parameters are derived from the jamming diagrams which indicate the deviation between current state and desired jamming-free state. Furthermore, the jamming-free impedance controller is designed considering the adaptive parameters. Finally, numerical simulations show that contact forces and moment are less than 0.5N and 0.4N·m respectively, and jamming can be rapidly mitigated, which demonstrates superiority of the proposed jamming-free impedance control strategy.

关键词： Simulation Numerical simulation Hydrodynamics Mathematical models Impedance Jamming Task analysis

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A Preference-based Reinforcement Learning Approach Using Reward Exploration for Decision Making

A Preference-based Reinforcement Learning Approach Using Rew...

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Chinese Control and Decision Conference, CCDC

作者： Minghao Liu Haoyu Liu Min Yu Qirong Tang Laboratory of Robotics and Multibody System School of Mechanical Engineering Tongji University China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

Preference-based reinforement learning solves decision making based on human preferences. By deriving a reward function from human preferences, the agent’s behavior aligns with human expectations, avoiding complex reward tasks. However, in preference-based reinforcement learning, a human teacher can only select one segment of trajectories from a pair, limiting reward function learning. Providing diverse trajectory segments can assist human teachers in better making a selection between two segments. To address this issue, a method is proposed to encourage the exploration of the reward model and thus promote generating more diverse trajectories. This encourages the exploration of the agent to provide a more diverse set of trajectories for the human teacher’s selection. Numerical studies demonstrate the effectiveness and superiority of the proposed method over other preference-based reinforcement learning methods.

关键词： Limiting Decision making Reinforcement learning Diversity methods Aerospace electronics Trajectory Numerical models

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Saliency-SLAM: Saliency Prediction for Visual SLAM

Saliency-SLAM: Saliency Prediction for Visual SLAM

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2023 Tianjin University-IET Electrical and Information engineering Doctoral Forum, TJU IET 2023

作者： Jin, Sheng Meng, Qinghao Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University Tianjin China

ISBN: (纸本)9781839539824

This paper proposes a novel approach for visual simultaneous localization and mapping (vSLAM), called Saliency-SLAM. This method effectively emulates the visual attention mechanism by integrating a saliency prediction model. In contrast to conventional vSLAM methods, which treat all feature points as equally significant, salient feature points are given greater importance in Saliency-SLAM. Therefore, we construct a novel saliency dataset specifically for vSLAM task to train a saliency prediction model by integrating multi-level visual information. Then, we propose to use the salient value of predicted result as the weight of significance for the feature points during the optimization process. Exhaustive experiments have been conducted on the KITTI dataset, demonstrating that our proposed method outperforms existing approaches in terms of localization accuracy. © The Institution of engineering & Technology 2023.

关键词： Forecasting

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