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arXiv 2024年

作者： Lhoste, Clément Küçüktabak, Emek Barış Vianello, Lorenzo Amato, Lorenzo Short, Matthew R. Lynch, Kevin M. Pons, Jose L. Legs and Walking Lab Shirley Ryan AbilityLab ChicagoIL United States Center for Robotics and Biosystems Department of Mechanical Engineering Northwestern University Shirley Ryan AbilityLab EvanstonIL United States Shirley Ryan AbilityLab The Biorobotics Institute Scuola Superiore Sant’Anna Pontedera56025 Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa56127 Italy Shirley Ryan AbilityLab Department of Biomedical Engineering Northwestern University EvanstonIL United States Center for Robotics and Biosystems Department of Mechanical Engineering Northwestern University United States Shirley Ryan AbilityLab Center for Robotics and Biosystems Department of Mechanical Engineering Department of Biomedical Engineering Department of Physical Medicine and Rehabilitation Northwestern University United States

In the control of lower-limb exoskeletons with feet, the phase in the gait cycle can be identified by monitoring the weight distribution at the feet. This phase information can be used in the exoskeleton’s controller to compensate the dynamics of the exoskeleton and to assign impedance parameters. Typically the weight distribution is calculated using data from sensors such as treadmill force plates or insole force sensors. However, these solutions increase both the setup complexity and cost. For this reason, we propose a deep-learning approach that uses a short time window of joint kinematics to predict the weight distribution of an exoskeleton in real time. The model was trained on treadmill walking data from six users wearing a four-degree-of-freedom exoskeleton and tested in real time on three different users wearing the same device. This test set includes two users not present in the training set to demonstrate the model’s ability to generalize across individuals. Results show that the proposed method is able to fit the actual weight distribution with R2 = 0.9 and is suitable for real-time control with prediction times less than 1 ms. Experiments in closed-loop exoskeleton control show that deep-learning-based weight distribution estimation can be used to replace force sensors in overground and treadmill walking. © 2024, CC BY.

关键词： Exoskeleton (robotics)

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Optimal Control for a Shape Memory Alloy Actuated Soft Digit using Iterative Learning Control

Optimal Control for a Shape Memory Alloy Actuated Soft Digit...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Richard Desatnik Mikhail Khrenov Zachary Manchester Philip LeDuc Carmel Majidi Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Modeling and control of soft robotic systems remains a challenging and active field of research, especially for robots actuated with shape-memory-alloys (SMA). Difficulties in controlling SMA-actuated robots arise in modeling the nonlinearities of the SMA dynamics as well as accounting for their hysteresis behavior. This article helps address these challenges by using sensorization of the end effector along with SMA actuators combined with a simplified two-axis pendulum model to implement an optimal control scheme on a soft digit. The control stack presented uses a direct collocation method (DIRCOL) for initial trajectory optimization, with the actual state of the soft digit then captured and used to refine the system inputs using Iterative Learning Control (ILC) to increase trajectory tracking accuracy. The system is demonstrated on hardware, achieving very close trajectory tracking performance for two-dimensional motion tasks.

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Homotopic Path Set Planning for Robot Manipulation and Navigation

arXiv

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arXiv 2024年

作者： Huang, Jing Tang, Yunxi Au, Kwok Wai Samuel Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Multi-Scale Medical Robotics Center Hong Kong

This paper addresses path set planning that yields important applications in robot manipulation and navigation such as path generation for deformable object keypoints and swarms. A path set refers to the collection of finite agent paths to represent the overall spatial path of a group of keypoints or a swarm, whose collective properties meet spatial and topological constraints. As opposed to planning a single path, simultaneously planning multiple paths with constraints poses nontrivial challenges in complex environments. This paper presents a systematic planning pipeline for homotopic path sets, a widely applicable path set class in robotics. An extended visibility check condition is first proposed to attain a sparse passage distribution amidst dense obstacles. Passage-aware optimal path planning compatible with sampling-based planners is then designed for single path planning with adjustable costs. Large accessible free space for path set accommodation can be achieved by the planned path while having a sufficiently short path length. After specifying the homotopic properties of path sets, path set generation based on deformable path transfer is proposed in an efficient centralized manner. The effectiveness of these methods is validated by extensive simulated and experimental results. Copyright © 2024, The Authors. All rights reserved.

关键词： Robot programming

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Distributed Safe Navigation of Multi-Agent Systems using Control Barrier Function-Based Optimal Controllers

arXiv

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arXiv 2024年

作者： Mestres, Pol Nieto-Granda, Carlos Cortés, Jorge The Contextual Robotics Institute The Department of Mechanical and Aerospace Engineering UC San Diego CA United States AdelphiMD United States

This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control input for a state-dependent network optimization problem that encodes team formation and the navigation task. Our algorithmic solution is valid under general assumptions for nonlinear dynamics and state-dependent network optimization problems with convex constraints and strongly convex objectives. The resulting controller is distributed, satisfies the safety constraints at all times, and asymptotically converges to the solution of the state-dependent network optimization problem. We illustrate its performance in a team of differential-drive robots in a variety of complex environments, both in simulation and in hardware. Copyright © 2024, The Authors. All rights reserved.

关键词： Multi agent systems

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Navigating the Future: Advancing Autonomous Vehicles through Robust Target Recognition and Real-Time Avoidance

Navigating the Future: Advancing Autonomous Vehicles through...

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Control Theory and Applications (ICoCTA), International Conference on

作者： Mohammed A. M. Hussein Maki K. Habib Robotics Control and Smart Systems The American University in Cairo Cairo Egypt Department of Mechanical Engineering The American University in Cairo Cairo Egypt

ISBN: (数字)9798331506155

ISBN: (纸本)9798331506162

This research addresses the critical challenge of enhancing object recognition and real-time response capabilities in autonomous vehicles (AVs) under varying simulated conditions, which is crucial for ensuring both navigational safety and operational efficiency. Utilizing the Carla 0.9.14 simulator and Unreal Engine 4.26 on Ubuntu 20.04, we focus on improving the detection and classification of key on-road obstacles—vehicles, pedestrians, and cyclists—using the YOLOv7 object detection algorithm. By integrating advanced sensory technologies, specifically stereo vision cameras and LIDAR, we create a dynamic testing environment that simulates diverse urban and rural scenarios. Our methodology enhances the YOLOv7 algorithm's accuracy and speed through extensive training on a meticulously curated dataset of 4,113 images, reflecting a broad spectrum of environmental conditions, including varying lighting and weather conditions. This rigorous approach yielded a significant increase in mean average precision (mAP) from 64.3% to 76.3%, and enhanced the algorithm's reliability, with notable improvements over previous models. The research delineates a clear advancement in AV technology by demonstrating substantial improvements in object detection metrics, contributing foundational insights for future implementations in real-world settings and supporting the further development of real-time avoidance systems. This study not only progresses the field of AV but also sets a new benchmark for object detection performance, aligning with industry and academic goals to optimize AV systems for complex and unpredictable driving scenarios.

关键词： Laser radar Navigation Heuristic algorithms Object detection Real-time systems Data models Classification algorithms Vehicle dynamics Autonomous vehicles Engines

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The use of hydrogel microspheres as cell and drug delivery carriers for bone,cartilage,and soft tissue regeneration

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Biomaterials Translational 2024年第3期5卷 236-256页

作者： Chung-Hsun Lin Jesse RSrioudom Wei Sun Malcolm Xing Su Yan Le Yu Jian Yang Department of Biomedical Engineering The Pennsylvania State UniversityUniversity ParkPAUSA Department of Bioengineering University of PennsylvaniaPhiladelphiaPAUSA Leicester International Institute Dalian University of TechnologyPanjinLiaoning ProvinceChina Department of Mechanical Engineering University of ManitobaWinnipegCanada Division of Biological and Biomedical Systems University of Missouri-Kansas CityKansas CityMOUSA Biomedical Engineering Program Westlake UniversityHangzhouZhejiang ProvinceChina Research Centre for Industries of the Future Westlake UniversityHangzhouZhejiang ProvinceChina

Bone,cartilage,and soft tissue regeneration is a complex process involving many cellular activities across various cell *** remain the“gold standard”for the regeneration of these ***,the use of autografts is associated with many disadvantages,including donor scarcity,the requirement of multiple surgeries,and the risk of *** development of tissue engineering techniques opens new avenues for enhanced tissue ***,the expectations of tissue engineering scaffolds have gone beyond merely providing physical support for cell *** scaffolds should also provide biological cues to actively boost tissue *** a new type of injectable biomaterial,hydrogel microspheres have been increasingly recognised as promising therapeutic carriers for the local delivery of cells and drugs to enhance tissue *** to traditional tissue engineering scaffolds and bulk hydrogel,hydrogel microspheres possess distinct advantages,including less invasive delivery,larger surface area,higher transparency for visualisation,and greater flexibility for ***,we review the materials characteristics of hydrogel microspheres and compare their fabrication approaches,including microfluidics,batch emulsion,electrohydrodynamic spraying,lithography,and mechanical ***,based on the different requirements for bone,cartilage,nerve,skin,and muscle tissue regeneration,we summarize the applications of hydrogel microspheres as cell and drug delivery carriers for the regeneration of these ***,hydrogel microspheres are regarded as effective therapeutic delivery carriers to enhance tissue regeneration in regenerative ***,significant effort is required before hydrogel microspheres become widely accepted as commercial products for clinical use.

关键词： drug delivery fabrication techniques hydrogel microspheres microgels tissue regeneration

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Kinematic and Kinetic Analysis of 3-RRS Parallel Manipulator

Kinematic and Kinetic Analysis of 3-RRS Parallel Manipulator

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

作者： Sara Ashrafi S. Ali A. Moosavian Department of Mechanical Engineering Advanced Robotics and Automated Systems (ARAS) Lab. Center of Excellence in Robotics and Control K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

This paper presents the Kinematic and Kinetic properties of the 3-RRS parallel manipulator that has been designed and prototyped at the ARAS Lab, together with an extensive experimental setup. Inverse and forward kinematics of the mechanism are studied, which leads to the attainment of eight possible solutions in each case, of which just one is physically acceptable and maintains its consistency in both analyses. In addition, the Jacobian matrix of the manipulator is derived for various operational scenarios. In this most recent update, a linear actuator under the moving platform is added to cancel the effect of the mass of the plate and the ball for enhancing the responsiveness of the system. Dynamic and kinetic equations are updated based on reduced gravitational effects.

关键词： Jacobian matrices Actuators Mechatronics System dynamics Dynamics Kinematics Kinetic theory Manipulator dynamics

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On the Potentials of Surface Tactile Imaging and Dilated Residual Networks for Early Detection of Colorectal Cancer Polyps

On the Potentials of Surface Tactile Imaging and Dilated Res...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Nethra Venkatayogi Qin Hu Ozdemir Can Kara Tarunraj G. Mohanraj S. Farokh Atashzar Farshid Alambeigi Department of Biomedical Engineering The University of Texas at Austin Austin TX USA Department of Electrical and Computer Engineering and Department of Mechanical and Aerospace Engineering New York University NY USA Walker Department of Mechanical Engineering and the Texas Robotics The University of Texas at Austin Austin TX USA

This study proposes a novel diagnosis framework to decrease the early detection miss rate of colorectal cancer (CRC) polyps by using a hypersensitive vision-based tactile sensor (HySenSe) and a deep residual neural network. The HySenSe generates high-resolution 3D textural images of 160 realistic polyp phantoms for accurate classification via the proposed deep learning (DL) architecture. The DL module explores lightweight dilated convolutions, residual neural network architecture, and transfer learning to overcome the challenge of a small dataset of 229 images. Results show that the proposed architecture outperforms state-of-the-art DL models (i.e., EfficientNet and DenseNet) with a 94% accuracy, offering a promising solution for improving early detection of CRC polyps. The proposed framework can be used as a diagnostic module within tele-assessment medical robots, highlighting the potential of advanced technology and deep learning to revolutionize the early detection and treatment of CRC.

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One-Piece 3D-Printed Pneumatic Catheter: Dual-Segment Design with Integrated robotics Control for Endovascular Interventions

One-Piece 3D-Printed Pneumatic Catheter: Dual-Segment Design...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Shaopeng Jiang Lingyun Di Noah Barnes Hannah Qu Olivia Young Jeremy D. Brown Ryan Sochol Axel Krieger Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Department of Mechanical Engineering Johns Hopkins University Baltimore MD USA Department of Biomedical Engineering Johns Hopkins University Baltimore MD USA Department of Mechanical Engineering University of Maryland College Park MD USA

Soft robotics have propelled advancements in medical applications such as endovascular interventions through the development of soft steerable catheters. Despite their potential, existing catheters often require intricate manufacturing or complex control systems due to their inherent hysteresis and nonlinear material properties. This study introduces a novel catheter system featuring a 3D-printed hollow tip with two pneumatic bending units, facilitating rotation about two distinct axes without the need for additional fabrication steps. Finite element analysis simulations were used to optimize the catheter design while minimizing its diameter to 6.4 mm. Furthermore, an external robotic control system was integrated to perform physical experiments to assess the bending capabilities of the catheter tip. After calibration, the system exhibited proficient shape control, achieving a wide bending range from -47°to 169°under the integrated control system, and effectively conforming to ‘C’, ‘ $S$ ’, and ‘J’ configurations with 0.53 degrees closed-loop accuracy. The catheter prototype demonstrated low hysteresis and high repeatability. The entire catheter system presents a pragmatic and cost-effective approach for the rapid prototyping and development of pneumatic steerable catheters. This novel system is ideally suited for testing preliminary concepts and educational applications in endovascular interventions.

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Design and Fabrication of an Eco-Friendly Remote controlled Fish Catching Bot for Coastal Fishing

Design and Fabrication of an Eco-Friendly Remote controlled ...

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Recent Advances in Science and engineering Technology (ICRASET), International Conference on

作者： Vincent Linish Dsouza Anurag R Sherigar Avish N Poojary Dheeraj M Bangera Kumar S Harshith Hemaraju Department of Robotics & Artificial Intelligence NMAM Institute of Technology Nitte (Deemed to be University) Nitte India Department of Mechanical Engineering NMAM Institute of Technology Nitte (Deemed to be University) Nitte India Department of Mechanical Engineering BGSIT Adichunchangiri University BG Nagara India

ISBN: (数字)9798350388602

ISBN: (纸本)9798350388619

This research presents the design and fabrication of an eco-friendly, remote-controlled fish-catching bot for coastal fishing, aimed at minimizing ecological impacts while ensuring efficient operation. Conventional fishing techniques often harm non-target aquatic species and involve non-selective fishing practices. In contrast, the fish-catching bot developed in this study aims to minimize these issues by selectively capturing fish without causing physical harm, allowing them to be kept alive for extended periods. This feature makes the device suitable for research, recreational fishing, and bulk capture while ensuring the well-being of the fish. Additionally, the bot is designed to reduce the human risks associated with fishing in unpredictable and harsh weather conditions. A key challenge in the design process was mitigating the sensitivity of fish to external vibrations. To address this, the bot was engineered to operate with minimal noise and vibration, with motors selectively driven to reduce disturbance. The fish-catching bot has been successfully designed, fabricated, and tested in aquatic environments demonstrating its viability for sustainable fishing.

关键词： Fabrication Vibrations Torque Sea measurements Containers Winches Chatbots Fish Motors Meteorology

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