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Predict Hip Joint Moment Using CNN for Hip Exoskeleton Control 1

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

作者： Zhang, Yuanwen Xiong, Jingfeng Qian, Yuepeng Chen, Xinxing Guo, Yixuan Fu, Chenglong Leng, Yuquan Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China National University of Singapore Singapore117583 Singapore

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

The assistance of the hip exoskeleton is closely related to hip joint moment, and the corresponding assistance can be generated by hip joint moment directly. However, it is difficult to obtain the hip joint moment directly from the sensor during walking. An effective method is to use deep learning models to predict hip joint moment using hip joint angle information. But there are still many challenges in applying this method to practical control systems. This study designs specific parameters to train a deep neural network for predicting hip joint moments and discusses the effects of the number of convolutional layers (N) and the length of sampling time (SL) on the prediction accuracy and the computation time in a real control system. Experiments show that for N ≤ 5, using angle information with SL ≤ 1.0 s achieves the highest prediction accuracy. However, for larger values of N (N > 5), the optimal SL becomes to be longer, where it increases to 2.0 s and the corresponding RMSE is 0.06260 Nm/kg and 0.05977 Nm/kg, respectively. These results indicate the importance of SL for prediction accuracy. Furthermore, a comparative analysis of the computation time with models using different N and SL is performed, and the relationship between computation time and prediction accuracy is discussed. This study provides specific model training parameters and detailed comparative analysis, which facilitates further application of deep learning models on hip exoskeletons. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Forecasting

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Prediction Horizon Requirements for Automated Driving: Optimizing Safety, Comfort, and Efficiency

arXiv

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arXiv 2024年

作者： Sánchez, Manuel Muñoz van der Ploeg, Chris Smit, Robin Elfring, Jos Silvas, Emilia van de Molengraft, René Department of Mechanical Engineering Robotics Group Japan Control Systems Technology Group Eindhoven University of Technology Eindhoven Netherlands Department of Integrated Vehicle Safety Helmond Netherlands VDL CropTeq Robotics Eindhoven Netherlands

Predicting the movement of other road users is beneficial for improving automated vehicle (AV) performance. However, the relationship between the time horizon associated with these predictions and AV performance remains unclear. Despite the existence of numerous trajectory prediction algorithms, no studies have been conducted on how varying prediction lengths affect AV safety and other vehicle performance metrics, resulting in undefined horizon requirements for prediction methods. Our study addresses this gap by examining the effects of different prediction horizons on AV performance, focusing on safety, comfort, and efficiency. Through multiple experiments using a state-of-the-art, risk-based predictive trajectory planner, we simulated predictions with horizons up to 20 seconds. Based on our simulations, we propose a framework for specifying the minimum required and optimal prediction horizons based on specific AV performance criteria and application needs. Our results indicate that a horizon of 1.6 seconds is required to prevent collisions with crossing pedestrians, horizons of 7-8 seconds yield the best efficiency, and horizons up to 15 seconds improve passenger comfort. We conclude that prediction horizon requirements are application-dependent, and recommend aiming for a prediction horizon of 11.8 seconds as a general guideline for applications involving crossing pedestrians. Copyright © 2024, The Authors. All rights reserved.

关键词： Forecasting

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Design and Development of the Linear Actuator for Enhanced Agility in Humanoid Robot

Design and Development of the Linear Actuator for Enhanced A...

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International Conference on Ubiquitous Robots (UR)

作者： Junhee Won Gihun Kang Sunhyuk Jee Minsung Ahn Jeakweon Han Department of the Interdis-ciplinary Robot Engineering Systems Hanyang University Republic of Korea Department of the Mechanical and Aerospace Engineering University of California Los Angeles (UCLA) CA USA Department of Robotics Hanyang University Republic of Korea

ISBN: (数字)9798350361070

ISBN: (纸本)9798350361087

In this paper, we will discuss the development of linear actuators for agile humanoid robots. Most linear actuators have greater rigidity than rotary actuators and are configured to be used in high-load environments using large deceleration ratios or hydraulic systems. However, to apply the linear actuator to a very dynamic humanoid robot, in addition to the large rigidity capable of withstanding impact, it must satisfy requirements such as accurate speed control, low impedance force control, and high power density [1]. In partic-ular, for high-bandwidth force control, mechanical impedance in the joint stage must be minimized. To compensate for these shortcomings, this paper proposes a linear actuator that minimizes mechanical impedance and ultimately has excellent back-drive performance by directly fastening only ball screws with large screw gaps to high power density BLDC motors. Taking into account these characteristics, a linear actuator controller was designed and the performance and function of the controller were verified on the actual actuator. Finally, we demonstrate that it is optimized for humanoid robots with agile motor performance by applying linear actuators to the leg of humanoid robots for actual bipedal walking.

关键词： Legged locomotion Actuators Power system measurements Density measurement Velocity control Humanoid robots Motors

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Bifurcation variation of a novel line-symmetric double-centered 6R metamorphic mechanism based on ellipses

Bifurcation variation of a novel line-symmetric double-cente...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Lin, Song Song, Yifeng Wang, Hongguang Yuan, Bingbing Dai, Jiansheng Jing, Fengren Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics State Key Laboratory of Robotics Shenyang110016 China Chinese Academy of Sciences Intelligent Manufacturing Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Southern University of Science and Technology Department of Mechanical and Energy Engineering Shenzhen518055 China

ISBN: (纸本)9798350325706

This paper proposed a line-symmetric double-centered 6R metamorphic mechanism with bifurcation properties. The mechanism is constructed based on elliptical geometric properties, which is a comprehensive design method for constructing novel metamorphic mechanisms through intuitive geometric figures. Firstly, the geometric constraints of the 6R metamorphic mechanism are revealed, and the parameter constraints and closed-loop kinematic equations of the 6R metamorphic mechanism are deduced. Through the analysis of mechanism geometric constraints, four motion branches of the 6R metamorphic mechanism are obtained: collinear deployable motion branch MB1, spherical 4R motion branch MB2, spherical 4R motion branch MB3, and line-symmetrical Bricard motion branch MB4. Meanwhile, according to the screw theory, the analytical expressions and mobility of the constraint-screw systems under different motion branches are deduced. This led to the identification of the constraint and motion branch variations of the 6R metamorphic mechanism. Finally, the four serial link 4R singular configurations of the 6R metamorphic mechanism are specially studied, and the characteristics of the mutual reconfiguration of these four singular configurations are revealed. © 2023 IEEE.

关键词：

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A Systematic Method for Optimal Gain Auto-Tuning of Pid Control for Nonlinear Quadrotor System Using Deep Reinforcement Learning

SSRN

引用

SSRN 2023年

作者： Moin, Hassan Shah, Umer Hameed Khan, Muhammad Jawad Sajid, Hasan Department of Robotics and Intelligent Machine Engineering School of Mechanical and Manufacturing Engineering National University of Sciences and Technology Islamabad Pakistan Artificial Intelligence Research Center Department of Mechanical Engineering College of Engineering and Information Technology Ajman University Ajman United Arab Emirates

Quadcopters have under-actuated, highly nonlinear, and coupled dynamics, which makes their control a challenging endeavor. However, PID controllers have exhibited remarkable performance for such systems in a variety of circumstances, including obstacle avoidance, trajectory tracking, and route planning. The outer loop handles mission-level goals, while the inner loop is responsible for its stability and control. Nevertheless, gain optimization for nonlinear systems using heuristics or rule-based approaches is a laborious, time-consuming, and challenging task. Using a deep actor-critic Reinforcement Learning (RL) algorithm with continuous observation and action spaces, this study implements an optimal gain auto-tuning framework for the altitude, attitude, and position controllers of a 6 DoF nonlinear drone system. The state equations are determined using Lagrange's (energy-based) technique, whilst the aerodynamic coefficients are computed numerically using Blade Element Momentum Theory (BEMT). In addition, the asymptotic stability of the cascaded closed loop nonlinear system is investigated using the theory of Lyapunov. The suggested technique is validated by simulations, which demonstrate that the quadcopter can closely follow a specified trajectory by using the optimized gains. Most notably, these optimal gains fulfil the constraints derived from Lyapunov's stability analysis, suggesting that the RL technique is an incredibly powerful instrument that can evaluate the uncertainties present in any complicated nonlinear system. © 2023, The Authors. All rights reserved.

关键词： Intelligent systems

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Enhancing Thermal Properties: A Comprehensive Study on Cellulose Nanocrystal Nanofluids 2nd

Enhancing Thermal Properties: A Comprehensive Study on Cellu...

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2nd International Conference on Intelligent Manufacturing and robotics, ICIMR 2024

作者： Kareem Ahmad Aqeel, Ahmad Abdul Hajjaj, Sami Mohamed, Hassan Gomaa, Mohamed R. Alsboul, Monther Selangor Kajang43000 Malaysia School of Robotics Xi’an Jiaotong-Liverpool University 111 Taicang Avenue Taicang Jiangsu Province Suzhou215400 China School of Engineering and Technology Sunway University Selangor Darul Ehsan No. 5 Jalan Universiti Bandar Sunway47500 Malaysia Selangor Kajang43000 Malaysia Mechanical Engineering Department Faculty of Engineering Al-Hussein Bin Talal University Ma’an71111 Jordan Physics Department College of Science Al Hussein Bin Talal University Maan71111 Jordan

ISBN: (纸本)9789819639489

Nanofluids, characterized by a base fluid infused with nanoparticles, have gained substantial interest due to their superior thermal properties, primarily enhanced heat transfer capabilities. This study investigates the dispersion of cellulose nanocrystal (CNC) nanoparticles in base fluid and its subsequent impact on thermal properties. CNC nanoparticles obtained from Blue Goose Biorefineries Inc. Were dispersed in distilled water and ethylene glycol (EG) at varying volume concentrations (0.25%, 0.50%, 0.75%). The prepared nanofluids underwent thorough stability analyses utilizing techniques such as ultrasonication. The CNC nanofluids ‘ thermal conductivity, density, viscosity, and specific heat capacity were systematically measured using instrumentation. The study found that adding cellulose nanocrystal (CNC) nanoparticles to an 80:20 water-ethylene glycol mixture significantly improves the thermal conductivity, viscosity, and density of the base fluid. Thermal conductivity increased linearly with higher CNC concentrations (0.25%, 0.5%, 0.75%) and temperatures (25–55 ℃), peaking at 0.815 W/m·K at 55 ℃ with 0.75% CNC. Viscosity decreased with temperature but increased with higher CNC concentrations. Density also increased with CNC concentration and decreased with temperature, while specific heat capacity showed minimal changes with concentration but a slight increase with temperature. These enhancements make CNC nanofluids beneficial for heat transfer applications. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Viscosity

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Bevel-Tip Needle Deflection Modeling, Simulation, and Validation in Multi-Layer Tissues

Bevel-Tip Needle Deflection Modeling, Simulation, and Valida...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Yanzhou Wang Lidia Al-Zogbi Guanyun Liu Jiawei Liu Junichi Tokuda Axel Krieger Iulian Iordachita Department of Mechanical Engineering and the Laboratory of Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Department of Mechanical and Aerospace Engineering University of Florida Ganesville USA Laboratory of Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Department of Radiology Brigham and Women’s Hospital Harvard Medical School Boston MA USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes as an effective alternative to more invasive surgical procedures. However, the outcome of needle-based approaches relies heavily on the accuracy of needle placement, which remains a challenge even with robot assistance and medical imaging guidance due to needle deflection caused by contact with soft tissues. In this paper, we present a novel mechanics-based 2D bevel-tip needle model that can account for the effect of nonlinear strain-dependent behavior of biological soft tissues under compression. Real-time finite element simulation allows multiple control inputs along the length of the needle with full three-degree-of-freedom (DOF) planar needle motions. Cross-validation studies using custom-designed multi-layer tissue phantoms as well as heterogeneous chicken breast tissues result in less than 1mm in-plane errors for insertions reaching depths of up to 61 mm, demonstrating the validity and generalizability of the proposed method.

关键词： Accuracy Biological system modeling Biological tissues Phantoms Breast Needles Real-time systems

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Optimization of Performance Carbon-Based Nanolubricant on Ti6Al4V Pin on Disc Testing Using Taguchi Method 8

Optimization of Performance Carbon-Based Nanolubricant on Ti...

引用

8th International Conference on Electrical, Electronics and Information engineering, ICEEIE 2023

作者： Puspitasari, Poppy Pramono, Diki Dwi Putra, Chandra Setiawan Permanasari, Avita Ayu Hidayat Syah Lubis, Abdul Munir Abdullah, Muhammad Ilman Hakimi C. Universitas Negeri Malang Center of Advanced Materials and Renewable Energy Mechanical and Industrial Department Malang Indonesia Universitas Negeri Malang Mechanical and Industrial Department Malang Indonesia Universitas Muhammadiyah Surakarta Mechanical Engineering Program Indonesia Universiti Teknikal Malaysia Melaka Fakulti Teknologi Kejuruteraan Mekanikal Dan Pembuatan Melaka Malaysia

ISBN: (纸本)9798350340501

Pin-on-disc (PoD) testing extensively to investigate material sliding behavior and relevant wear mechanisms under different tribological conditions, result of Pin on Disc testing is worn and coefficient of friction. To identify the optimal parameters of the Pin on Disc test can use the taguchi optimization method. Taguchi method is a reliable and cost-effective approach to optimization, especially when several factors may affect performance. Taguchi was chosen as the optimization method due to its reliability and the fact that it requires fewer experiments compared to other methods such as full factorial design. From the result optimization using Taguchi methods shows the best parameters for pin-on-disc testing using Taguchi. To reduce wear rate and friction coefficient by optimizing control parameters for pin-on-disc testing of material dry sliding wear behavior. Based on the S/N ratio of COF, it is known that the large load parameter has the highest influence on COF because it produces the highest delta value compared to other variables. This also shows that the optimal combination is to get the best COF value in the pin on disc test is oil type SWCNT, load 20N, and Speed 150 RPM. Based on the results of the response S/N ratio of wear, it is known that the large load parameter has the highest influence on wear because it produces the highest delta value compared to other variables. This also shows that the optimal combination is to get the best COF value in the pin on disc test is oil type SWCNT, load 20N, and Speed 120 RPM. The combination of SWCNT oil type, load 20 N and speed 120 RPM is the optimal parameter combination for COF and wear values. The results of ANOVA show that percentage load has the highest contribution of about 61.83%, and the other parameters have lower contributions. © 2023 IEEE.

关键词： Taguchi methods

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A Passive Recursive Newton Euler Algorithm and Its Application to Inverse Dynamics under Passivity-based Controller

A Passive Recursive Newton Euler Algorithm and Its Applicati...

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2025 IEEE International Conference on Simulation, Modeling, and programming for Autonomous Robots, SIMPAR 2025

作者： Kim, Jonghyeok Choi, Youngjin Park, Jonghoon Chung, Wan Kyun Postech Department of Mechanical Engineering Pohang37673 Korea Republic of Hanyang University Department of Robotics Ansan15588 Korea Republic of Neuromeka Seoul06023 Korea Republic of

ISBN: (纸本)9798331516857

This paper proposes a passivity-based Recursive Newton-Euler algorithm, abbreviated pRNE. The proposed pRNE algorithm solves the inverse dynamics under a passivity-based controller, which requires calculating the product term of the Coriolis matrix C(q, q) and the reference velocity qref, that is, C(q, q) qref. Two major parts are modified compared to the standard RNE algorithm: 1) matrix-vector factorization in single rigid body dynamics satisfying the skew-symmetric property, and 2) propagation for reference velocity and acceleration in recursive computation. Through simulation, the proposed pRNE algorithm combined with the passivity-based inverse dynamic controller (P-IDC) validates an accurate tracking performance under model uncertainty and disturbance compared to the standard inverse dynamic controller (IDC). © 2025 IEEE.

关键词： Matrix factorization

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Achieving high surface bioactivity and adhesion in Ti-6Al-4V alloy via anodic oxidation and electrophoretic deposition

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Ceramics International 2025年第16期51卷 22755-22765页

作者： Wu, Yu-Jie Wang, Chi-Yun Mana-ay, Haidee Tu, Chi-Shun Lai, Po-Liang Chen, Pin-Yi International Ph.D. Program in Innovative Technology of Biomedical Engineering and Medical Devices Ming Chi University of Technology New Taipei City24301 Taiwan Research Center for Intelligent Medical Devices Ming Chi University of Technology New Taipei City24301 Taiwan Department of Physics Fu Jen Catholic University New Taipei City24205 Taiwan Bone and Joint Research Center Department of Orthopedic Surgery Chang Gung Memorial Hospital Taoyuan City33305 Taiwan Department of Mechanical Engineering Chang Gung University Taoyuan City33302 Taiwan Department of Physics Silliman University Dumaguete City6200 Philippines

This study combines 3D printing, anodic oxidation (AO), and electrophoretic deposition (ED) technologies to develop Ti-6Al-4V alloy (abbreviated as Ti64) with high hydrophilicity, adhesion, and bioactivity. Titanium oxide nanotubes formed by AO treatment on the Ti64 surface exhibited reduced contact angles from 53 ° to 10 °. The adhesion of the calcium (Ca) layer through the integrated technology of the AO and ED treatments (herein abbreviated as AED) displays an optimal adhesive force of over 30 N on the Ti64 surface, which is attributed to the stable chemical bond due to the formation of OH− ions on the substrate after the AO treatment and the subsequent oxidation reaction of the Ca2+ ions to form a predominantly Ca(OH)2 layer after the ED treatment. Moreover, the AED treatment forms tiny needle-like structures that can effectively promote osteogenic differentiation. The expressions of the osteocyte marker genes (i.e., OCN, OPN, and DMP1) were improved after the AED treatment, showing increased osteogenic differentiation into mature bone tissue. This work presents the AED treatment as a valuable surface modification technique to boost the surface bioactivity of Ti64 for clinical orthopedic applications. © 2025

关键词： Anodic oxidation

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