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arXiv 2024年

作者： Yan, Yongjun Ding, Qingpeng Li, Mingwu Yan, Junyan Cheng, Shing Shin Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen518055 China Multi-Scale Medical Robotics Center Hong Kong

Non-contact laser ablation, a precise thermal technique, simultaneously cuts and coagulates tissue without the insertion errors associated with rigid needles. Human organ motions, such as those in the liver, exhibit rhythmic components influenced by respiratory and cardiac cycles, making effective laser energy delivery to target lesions while compensating for tumor motion crucial. This research introduces a data-driven method to derive surrogate models of a soft manipulator. These low-dimensional models offer computational efficiency when integrated into the Model Predictive Control (MPC) framework, while still capturing the manipulator’s dynamics with and without control input. Spectral Submanifolds (SSM) theory models the manipulator’s autonomous dynamics, acknowledging its tendency to reach equilibrium when external forces are removed. Preliminary results show that the MPC controller using the surrogate model outperforms two other models within the same MPC framework. The data-driven MPC controller also supports a design-agnostic feature, allowing the interchangeability of different soft manipulators within the laser ablation surgery robot system. © 2024, CC BY.

关键词： Laser ablation

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Interactive Navigation in Environments with Traversable Obstacles Using Large Language and Vision-Language Models

Interactive Navigation in Environments with Traversable Obst...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Zhen Zhang Anran Lin Chun Wai Wong Xiangyu Chu Qi Dou K. W. Samuel Au Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Multiscale Medical Robotics Centre Department of Computer Science and Engineering The Chinese University of Hong Kong Computer Aided Medical Procedures Technical University of Munich Germany

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper proposes an interactive navigation framework by using large language and vision-language models, allowing robots to navigate in environments with traversable obstacles. We utilize the large language model (GPT-3.5) and the open-set Vision-language Model (Grounding DINO) to create an action-aware costmap to perform effective path planning without fine-tuning. With the large models, we can achieve an end-to-end system from textual instructions like "Can you pass through the curtains to deliver medicines to me?", to bounding boxes (e.g., curtains) with action-aware attributes. They can be used to segment LiDAR point clouds into two parts: traversable and untraversable parts, and then an action-aware costmap is constructed for generating a feasible path. The pre-trained large models have great generalization ability and do not require additional annotated data for training, allowing fast deployment in the interactive navigation tasks. We choose to use multiple traversable objects such as curtains and grasses for verification by instructing the robot to traverse them. Besides, traversing curtains in a medical scenario was tested. All experimental results demonstrated the proposed framework’s effectiveness and adaptability to diverse environments.

关键词： Training Point cloud compression Laser radar Navigation Grounding Large language models Path planning

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Real Time Humanoid Footstep Planning With Foot Angle Difference Consideration for Cost-To-Go Heuristic

Real Time Humanoid Footstep Planning With Foot Angle Differe...

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International Conference on Ubiquitous Robots (UR)

作者： Joon-Ha Kim Young-Ha Shin Hyobin Jeong Jun-Ho Oh Hae-Won Park Department of Mechanical Engineering Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Korea Advanced Institute of Science and Technology Daejeon Republic of Korea Rainbow Robotics Company Daejeon Republic of Korea

This paper proposes a real-time footstep planning framework based on the A* footstep planning algorithm. The proposed footstep planner utilizes an energy consumption-based cost function to generate energy efficient navigation plan. To increase the computational efficiency, the cost-to-go heuristic function, which approximates the remaining cost to reach the goal, is modeled more precisely by considering the angle difference between the robot and the goal position. Furthermore, an efficient dual-level feasibility check is done to avoid occlusion with the environment while stepping over small objects if possible. Finally, the proposed footstep planning algorithm is integrated with the mapping algorithm and the walking controller to solve the humanoid navigation problem and validated in simulation and real-world experiments.

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Investigations into Customizing Bilateral Ankle Exoskeletons to Increase Vertical Jumping Performance

Investigations into Customizing Bilateral Ankle Exoskeletons...

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

作者： Emily A. Bywater Roberto Leo Elliott J. Rouse Department of Mechanical Engineering University of Michigan Ann Arbor MI USA Department of Robotics University of Michigan Ann Arbor MI USA

Exoskeletons have shown great potential to enhance locomotion by augmenting the lower limb. While most research has focused on steady-state ambulatory activities, the ability to assist transient, ballistic tasks is also important for understanding the potential of exoskeletons in mobility enhancement. In this preliminary study (N = 5), we developed an individually-customized control strategy to assist vertical jumping. The control strategy was deployed on bilateral ankle exoskeletons (ExoBoot, Dephy Inc.). We structured the control strategy as a work loop that parameterized the assistance provided during the jump. We show that configuring the controller based on individual biomechanics and user preferences facilitates increased vertical jump height when using exoskeleton assistance. In addition, we demonstrate that a user's squat depth can have a significant (p < 0.05) impact on height achieved, but that this depth does not need to be optimized; rather, the exoskeleton provides the maximum performance assistance from both preferred- and deep-squat conditions. Jump height increased by 7.2% with the exoskeleton at its maximum assistance setting, which is comparable to or greater than previous systems.

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Preoperative planning to preserve glenoid subchondral bone in anatomical total shoulder replacement

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JSES International 2023年第3期7卷 493-498页

作者： Giannas, Emmanuel Zhang, Jenny Haar, Richard Tancak, Milan Hansen, Ulrich Sankey, Andrew Emery, Roger Department of Surgery and Cancer St Mary's Hospital London United Kingdom Faculty of Medicine University of Cambridge Cambridge United Kingdom Zethon Ltd Aston Clinton United Kingdom Department of Mechanical Engineering Imperial College London London United Kingdom Department of Orthopaedics Chelsea and Westminster Hospital London United Kingdom Department of Robotics Hamlyn Centre London United Kingdom

Background: Glenoid loosening remains a concern in anatomical total shoulder replacement. Preoperative planning software allows optimization of the component positioning, but the target orientation remains unclear due to conflicting optimization priorities. Commonly, the component is aligned to the prescribed version and inclination that reflect the population's average anatomy. The freehand technique attempts to secure strong fixation by aiming to preserve the subchondral bone. This study compared the state of the subchondral plate after reaming and compared the results of these two techniques. Methods: Two groups of shoulder computed tomography scans were assessed, 34 normal and 34 osteoarthritic. Preoperative planning software was used to place the glenoid component in prescribed adjusted angles, with neutral (0^o,0^o), retroverted (−10^o,0^o) and inclined alignment (0^o,10^o). The computed tomography Hounsfield values at the virtually reamed surface were assessed to determine the percentage of the intended component-bone interface consisting of cortical bone, here termed “cortical bone seating”. This was then compared to positioning the component using a freehand technique. Results: The freehand technique improved cortical bone seating in the osteoarthritic group with a mean (standard deviation) of 53.3% (14.3), while neutral alignment resulted in 36.7% (10.8), retroversion 40.4% (13.1), and inclination 39.3% (13.5), P < .001. A similar trend was observed in the normal group. Conclusions: The freehand method resulted in significantly improved cortical bone seating compared to the prescribed adjusted angles. These findings question the use of a one-size-fits-all-orientation and suggest that applying a technique that aims for maximum cortical fixation (freehand) may reduce the risk of aseptic loosening. © 2023

关键词： Anatomical TSR Basic Science Study Computer Modeling Cortical bone Freehand Glenoid loosening Preoperative planning Subchondral bone

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Haptic Transparency and Interaction Force Control for a Lower-Limb Exoskeleton

arXiv

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arXiv 2023年

作者： Küçüktabak, Emek Barış Wen, Yue Kim, Sangjoon J. Short, Matthew R. Ludvig, Daniel Hargrove, Levi Perreault, Eric J. Lynch, Kevin M. Pons, Jose L. The Center for Robotics and Biosystems Department of Mechanical Engineering Northwestern University EvanstonIL United States Shirley Ryan AbilityLab ChicagoIL United States The Shirley Ryan AbilityLab Department of Physical Medicine and Rehabilitation Northwestern University ChicagoIL United States The Shirley Ryan AbilityLab Department of Biomedical Engineering Northwestern University EvanstonIL United States The Department of Biomedical Engineering Northwestern University United States The Shirley Ryan AbilityLab Center for Robotics and Biosystems Department of Physical Medicine and Rehabilitation Northwestern University United States The Department of Physical Medicine and Rehabilitation Department of Biomedical Engineering Shirley Ryan AbilityLab Center for Robotics and Biosystems United States Center for Robotics and Biosystems Department of Mechanical Engineering Northwestern University United States The 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

Controlling the interaction forces between a human and an exoskeleton is crucial for providing transparency or adjusting assistance or resistance levels. However, it is an open problem to control the interaction forces of lower-limb exoskeletons designed for unrestricted overground walking. For these types of exoskeletons, it is challenging to implement force/torque sensors at every contact between the user and the exoskeleton for direct force measurement. Moreover, it is important to compensate for the exoskeleton's whole-body gravitational and dynamical forces, especially for heavy lower-limb exoskeletons. Previous works either simplified the dynamic model by treating the legs as independent double pendulums, or they did not close the loop with interaction force feedback. The proposed whole-exoskeleton closed-loop compensation (WECC) method calculates the interaction torques during the complete gait cycle by using whole-body dynamics and joint torque measurements on a hip-knee exoskeleton. Furthermore, it uses a constrained optimization scheme to track desired interaction torques in a closed loop while considering physical and safety constraints. We evaluated the haptic transparency and dynamic interaction torque tracking of WECC control on three subjects. We also compared the performance of WECC with a controller based on a simplified dynamic model and a passive version of the exoskeleton. The WECC controller results in a consistently low absolute interaction torque error during the whole gait cycle for both zero and nonzero desired interaction torques. In contrast, the simplified controller yields poor performance in tracking desired interaction torques during the stance phase. © 2023, CC BY.

关键词： Force control

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Tactile Displays Driven by Projected Light

arXiv

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arXiv 2024年

作者： Linnander, Max Goetz, Dustin Reardon, Gregory Kumar, Vijay Hawkes, Elliot Visell, Yon Department of Mechanical Engineering United States Department of Bioengineering United States Media Arts & Technology Program United States Department of Electrical and Computer Engineering University of California Santa Barbara United States

Tactile displays that lend tangible form to digital content could transform computing interactions. However, achieving the resolution, speed, and dynamic range needed for perceptual fidelity remains challenging. We present a tactile display that directly converts projected light into visible tactile patterns via a photomechanical surface populated with millimeter-scale optotactile pixels. The pixels transduce incident light into mechanical displacements through photostimulated thermal gas expansion, yielding millimeter scale displacements with response times of 2 to 100 milliseconds. Employing projected light for power transmission and addressing renders these displays highly scalable. We demonstrate optically driven displays with up to 1,511 addressable pixels – several times more pixels than any prior tactile display attaining comparable performance. Perceptual studies confirm that these displays can reproduce diverse spatiotemporal tactile patterns with high fidelity. This research establishes a foundation for practical, versatile high-resolution tactile displays driven by light. Copyright © 2024, The Authors. All rights reserved.

关键词： Light transmission

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Fiducial Marker-Based Monocular Localization for Autonomous Docking

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IFAC-PapersOnLine 2023年第2期56卷 2957-2962页

作者： Tomáš Pivoňka Raivo Sell Heiko Pikner Libor Přeučil Department of Mechanical and Industrial Engineering Tallinn University of Technology Tallinn Estonia Czech Institute of Informatic Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic

The article presents a monocular visual localization system based on fiducial markers for autonomous docking in industrial applications. The design has been tailored for direct use with the docking of a mobile logistic robot under storage racks that requires high robustness, usable accuracy, and easy maintenance at a very low cost. The elaborated solution suggests an innovative calibration tool for determining the positions of used fiducial markers at the docking location, which is based on structure-from-motion reconstruction. Moreover, the paper introduces a localization system calculating the position of the robot relative to the docking location using the Perspective-n-Point Problem solver for the detected markers. The presented approach has been verified for precision and robustness limits in diverse work conditions and quantitatively evaluated in experiments.

关键词： Localization Robot Navigation programming and Vision Map Building

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Optimized Task Assignment and Predictive Maintenance for Industrial Machines using Markov Decision Process

arXiv

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arXiv 2024年

作者： Nasir, Ali Mekid, Samir Sawlan, Zaid Alsawafy, Omar Control and Instrumentation Engineering Department KFUPM Dhahran Saudi Arabia Mechanical Engineering Department KFUPM Dhahran Saudi Arabia Mathematics Department KFUPM Dhahran Saudi Arabia Systems Engineering Department Dhahran Saudi Arabia Interdisciplinary Research Center for Intelligent Manufacturing and Robotics KFUPM Dhahran Saudi Arabia

This paper considers a distributed decision-making approach for manufacturing task assignment and condition-based machine health maintenance. Our approach considers information sharing between the task assignment and health management decision-making agents. We propose the design of the decision-making agents based on Markov decision processes. The key advantage of using a Markov decision process-based approach is the incorporation of uncertainty involved in the decision-making process. The paper provides detailed mathematical models along with the associated practical execution strategy. In order to demonstrate the effectiveness and practical applicability of our proposed approach, we have included a detailed numerical case study that is based on open source milling machine tool degradation data. Our case study indicates that the proposed approach offers flexibility in terms of the selection of cost parameters and it allows for offline computation and analysis of the decision-making policy. These features create and opportunity for the future work on learning of the cost parameters associated with our proposed model using artificial intelligence. © 2024, CC BY.

关键词： Optimization

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Influence of Gait, Gradient & Terrain on the Performance of Six-Legged Robot 2

Influence of Gait, Gradient & Terrain on the Performance of ...

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2nd IEEE Mysore Sub Section International Conference, MysuruCon 2022

作者： Prashanth, N. Vamsi Krishna, T.G. Keerthi Prakash, G.C. Sunil, S. Sudheer Reddy, J. Nitte Meenakshi Institute of Technology Department of Mechanical Engineering Bengaluru India Affiliated to Visvesvaraya Technological University Belagavi India Nitte Meenakshi Institute of Technology Centre for Robotics Research Bengaluru India

ISBN: (数字)9781665497909

ISBN: (纸本)9781665497909

Solutions to several of our problems have been derived by biological inspiration. Similarly, such inspiration has spawned a solution to both mechanical as well as control schemes in the efforts to develop agile legged machines like the one presented here-HEXAPOD. The hexapod was designed & developed with each leg having two degrees of freedom. In total the hexapod has 12 Degrees of Freedom. Further it was integrated with sensors such as Camera, IMU, Current Sensor. The robot was controlled by two Arduino Mega embedded boards. The robot was powered by on board batteries for outdoor testing & SMPS in indoor testing. The feedbacks obtained from the robot were used to derive an optimized solution for its motion under different terrains (Tiles, Sand and Concrete), gaits (Tripod, Metachronal, Ripple) and different gradient (0°, 5°, 10°). Experiments were designed using Taguchi Experimental Technique. The Obtained results were analyzed using main effects of means & analysis of variance (ANOVA). The main effects of various factors & their levels on IMU Yaw, Pitch, Roll, Velocity were studied. Finally, we have presented the optimized combination of factors & their levels for improved stability & reliability of the hexapod robot. © 2022 IEEE.

关键词： Robots

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