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IEEE International Conference on robotics and Automation (ICRA)

作者： Chenzui Li Xi Wu Tao Teng Sylvain Calinon Fei Chen Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Hong Kong Center for Logistics Robotics Hong Kong Idiap Research Institute Martigny Switzerland

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Traditional strength and conditioning training relies on the utilization of free weights, such as weighted implements, to elicit external stimuli. However, this approach poses a significant challenge when attempting to modify or adjust the loads within a single training set. This paper introduces an innovative method for achieving adjustable loads during resistance training by leveraging physical Human-Robot Interaction (pHRI). The primary objective is to regulate targeted muscle activation through the use of Robo-Coach (robotic coach system). We first utilize a Task-Parameterized Gaussian Mixture Model (TP-GMM) to learn the motion of coach demonstration, which can be generalized for the trainees. The 3D path extracted from the generated trajectory is then projected onto a 2D plane with respect to the direction of the load. Furthermore, we propose a hybrid stiffness/position generator for online task execution. This generator determines the desired positions in the 2D plane according to the contact point displacements in the stimuli direction and, simultaneously, sets the desired stiffness based on the muscle activation feedback. Finally, the Robo-Coach is implemented with a variable impedance controller to achieve load-adjustable resistance training with the trainee. The biceps curl exercises were conducted and the results showed favorable performance, indicating the effectiveness of this approach.

关键词： Training Three-dimensional displays Human-robot interaction Muscles Generators Trajectory Impedance

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Muscle Activation Estimation by Optimizing the Musculoskeletal Model for Personalized Strength and Conditioning Training

Muscle Activation Estimation by Optimizing the Musculoskelet...

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IEEE International Conference on robotics and Biomimetics

作者： Xi Wu Chenzui Li Kehan Zou Ning Xi Fei Chen Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong SAR China Department of Industrial and Manufacturing System Engineering The University of Hong Kong Hong Kong SAR China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Musculoskeletal models are pivotal in the domains of rehabilitation and resistance training to analyze muscle conditions. However, individual variability in musculoskeletal parameters and the immeasurability of some internal biomechanical variables pose significant obstacles to accurate personalized modelling. Furthermore, muscle activation estimation can be challenging due to the inherent redundancy of the musculoskeletal system, where multiple muscles drive a single joint. This study develops a whole-body musculoskeletal model for strength and conditioning training and calibrates relevant muscle parameters with an electromyography-based optimization method. By utilizing the personalized musculoskeletal model, muscle activation can be subsequently estimated to analyze the performance of exercises. Bench press and deadlift are chosen for experimental verification to affirm the efficacy of this approach.

关键词： Training Presses Analytical models Biological system modeling Estimation Optimization methods Muscles Data models Robots Load modeling

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Opto2P-FCM: A MEMS Based Miniature Two-Photon Microscope with Patterned Optogenetic Stimulation

Opto2P-FCM: A MEMS Based Miniature Two-Photon Microscope wit...

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Microscopy Histopathology and Analytics, Microscopy 2024 - Part of Optica Biophotonics Congress: Biomedical Optics

作者： Futia, Gregory L. Zohrabi, Mo McCullough, Connor Teel, Alec de Souza, Fabio Simoes Oroke, Ryan Bright, Victor M. Restrepo, Diego Gopinath, Juliet T. Gibson, Emily A. Department of Bioengineering University of Colorado Anschutz Medical Campus AuroraCO80045 United States Department of Cell and Developmental Biology University of Colorado Anschutz Medical Campus AuroraCO80045 United States Department of Electrical Computer and Energy Engineering University of Colorado BoulderCO80309 United States Department of Mechanical Engineering University of Colorado BoulderCO80309 United States Department of Physics University of Colorado BoulderCO80309 United States Materials Science and Engineering Program University of Colorado BoulderCO80309 United States

Miniaturized microscopes for monitoring neural activity are an indispensable tool for neuroscience research. We present a novel MEMS based miniature microscope with patterned optogenetic stimulation capabilities enabl... 详细信息

ISBN: (纸本)9781957171340

关键词： Microscopes

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Analysis of center of gravity velocity using estimated lower limb muscle forces during squatting

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Journal of Biomechanical Science and engineering 2023年第3期18卷

作者： Saito, Ayuko Kobayashi, Yoshikazu Kizawa, Satoru Department of Mechanical Science and Engineering Kogakuin University 2665-1 Nakanomachi Hachioji Tokyo192-0015 Japan Department of Mechanical Engineering and Robotics National Institute of Technology Akita College 1-1 Iijima-Bunkyo-cho Akita Akita011-8511 Japan

This study proposes a squatting model that describes the relation between the center of gravity velocity and lower limb muscle forces that contribute to hip and knee flexion-extension and ankle dorsi-plantar flexion during squatting. Squatting exercises are experimentally monitored using a 3D motion analysis system and two force plates. Participants perform a squatting exercise with their feet shoulder-width apart without using a weight such as a barbell. Simulations using the musculoskeletal model calculate the lower limb muscle forces based on measured marker positions and floor reaction forces. The squatting model parameters are determined by a Kalman filter using the experimentally obtained center of gravity velocity, and lower limb muscle forces estimated by the simulations. The analysis results quantitatively demonstrate the contribution of each muscle to the center of gravity velocity during squatting. To verify the model accuracy, the root mean squared errors are calculated by using the center of gravity velocity that is obtained by the squatting model and the 3D motion analysis system. The root mean squared errors indicate that the contribution of each muscle to the center of gravity velocity may have differed between participants and between trials. The proposed method is expected to be utilized to evaluate the relation between the exercise velocity and muscle forces that is different among individual. © 2023 The Japan Society of mechanical Engineers. This is an open access article under the terms of the Creative Commons Attribution 4.0 International license (https://***/licenses/by/4.0/).

关键词： Kalman filters

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A Comprehensive Study on Different Optimizations of Pure Reference Counting Garbage Collectors

A Comprehensive Study on Different Optimizations of Pure Ref...

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Computational Intelligence, Networks and Security (ICCINS), International Conference on

作者： Faria Tabassum Md. Rahatul Islam Md Shoaib Ur Rahman Jimmy Majumder Department of CSE Bangladesh University of Engineering and Technology Dhaka Bangladesh Department of Human Intelligence Systems Engineering Kyushu Institute of Technology Japan Department of Mechanical Engineering Chittagong National Engineering College Bangladesh Bangladesh Advance Robotics Research Center Bangladesh

With the gradual increase of program complexity for utilities and various appliances, memory management has always been a challenge for computer scientists. Garbage collection is a very effective memory management system that comprises techniques that aim to claim unused objects which in turn returns reusable memory space for further use. Among the array of garbage collection techniques, pure reference counting (RC) is very popular that actively tracks down any unused object reference by means of keeping reference counts. It offers better reliability compared with other passive techniques. However this process cannot track cyclic garbage references. In order to solve this cycle detection issue along with other various improvements available for other techniques different methods have been proposed and developed. This paper offers an extensive examination of diverse optimization approaches designed to improve the effectiveness of garbage collectors based on Pure Reference Counting. Some of these optimizations look for loaning concepts from tracing to improve tracking down performance while others add up cycle detection from various existing techniques to gain the pros of both techniques or others simply emphasize memory allocation for reducing time complexity overhead. Our findings provide insights for researchers seeking to leverage Pure RC as a memory management solution, shedding light on the advantages and limitations of different optimization techniques. This study contributes to the ongoing discourse on memory management, offering a perspective on the specifics of Pure RC-based garbage collectors and their potential for optimization.

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Analyzing the Design of Windows Cleaning Robots 3

Analyzing the Design of Windows Cleaning Robots

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3rd International Conference on Big Data, Artificial Intelligence and Internet of Things engineering, ICBAIE 2022

作者： Zhang, Ao Yao, Yefan Hu, Yufan Beijing National Day School International Department Beijing China Xi'an Jiaotong-liverpool University Department of Mechatronics and Robotics Suzhou China University of Electronic Science and Technology of China Department of Mechanical and Electrical Engineering Chengdu China

ISBN: (数字)9781665451604

ISBN: (纸本)9781665451604

It is imperative to maintain a clean living and working environment. As a result of the development of the construction industry, high-rise buildings are now ubiquitous. Traditional methods of cleaning are insufficient to maintain these buildings. Considering tall buildings can be more than 100 meters above ground level, airflow speeds are greater, and protection devices are essential. Additionally, manual cleaning is slower, and accidents are more likely. Consequently, the use of automatic cleaning robots is crucial to replacing manual cleaning. Further, automatic cleaning robots have the stability and accuracy that manual cleaning does not possess. Robots are more efficient at cleaning than humans. Three different types of cleaning robot mechanisms are discussed, including adsorption mechanisms, motion mechanisms, and cleaning mechanisms, and their application areas and advantages and disadvantages are compared. In the next section, we summarize the results of comparing the various types of mechanical engineering used in the adsorption device, the motion mechanism, and the cleaning device. The evaluation concludes with an assessment of the shortcomings and recommendations for future research. A number of types of automatic window cleaning robots are presented to the reader as references. © 2022 IEEE.

关键词： Cleaning

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Considerations on Interaction with Manipulator in Virtual Reality Teleoperation Interface for Rescue Robots*

Considerations on Interaction with Manipulator in Virtual Re...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Kotaro Kanazawa Noritaka Sato Yoshifumi Morita Department of Engineering Electrical and Mechanical Engineering Program Nagoya Institute of Technology Gokiso-cho Showa-ku Nagoya Aichi Japan

In recent years, commercially available head-mounted display and virtual reality (VR) controllers have made it possible to implement user interfaces that facilitate situational awareness and reduce operator workload. This study focuses on operator interaction and workload in a VR teleoperation interface for rescue robots. Three interaction methods are implemented in this interface, which differ in the timing between the operation in VR space and the movement of the robot. The operating characteristics of these three interaction methods and a conventionally used gamepad are compared through a manipulator teleoperation task with nine participants.

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Evaluation of Needle Manipulation Controller Subject to Uncertainty of Tip Pose Feedback: a Simulation Study

Evaluation of Needle Manipulation Controller Subject to Unce...

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International Symposium on Medical robotics (ISMR)

作者： Junling Mei Chang Chang Yanzhou Wang Simon Leonard Iulian Iordachita Laboratory of Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Department of Mechanical Engineering Laboratory of Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Department of Computer Science Laboratory of Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA

ISBN: (数字)9798331599003

ISBN: (纸本)9798331599010

In this paper, we evaluate the performance of our controller for flexible needle manipulation for percutaneous interventions in a finite element (FE) simulator. We investigate the use of electromagnetic (EM) tracking as needle tip pose feedback, and how artificial sensor noises can affect tracking performance of the controller. In our simulated study, the control system shows high targeting accuracy and robustness with an overall tip position error of 0.49 mm. The addition of needle tip orientation feedback further improves the targeting accuracy for deeper targets, with average error of 0.81 mm when only using position feedback, and 0.55 mm when using additional orientation feedback.

关键词： Target tracking Accuracy Uncertainty Medical robotics Noise Needles Robot sensing systems Robustness Finite element analysis Electromagnetics

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Control Contraction Metrics on Submanifolds

Control Contraction Metrics on Submanifolds

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IEEE Conference on Decision and Control

作者： Dongjun Wu Bowen Yi Ian R. Manchester Department of Automatic Control Lund University Box 118 Lund Sweden Department of Electrical Engineering & GERAD Polytechnique Montreal QC Canada Australian Centre for Robotics and School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney Australia

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In this paper, we extend the control contraction metrics (CCM) approach, which was originally proposed for the universal tracking control of nonlinear systems, to those that evolves on submanifolds. We demonstrate that the search for CCM on submanifolds can be reformulated as convex conditions. In particular, since Lie groups can be viewed as submanifolds in Euclidean space, the results are directly applicable to this setting.

关键词： Measurement Lie groups Aerospace electronics Control systems Nonlinear systems

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Comparing Z3 and A3 PKM Heads: Which Is Superior and Why?

arXiv

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arXiv 2024年

作者： Nigatu, Hassen Guodong, Lu Dong, Huixu Grasp Lab of the Mechanical Engineering Department Zhejiang University Hangzhou310058 China The Mechanical Engineering Department Zhejiang University Hangzhou310058 China Robotics Research Center of Yuyao Yuyao Technology Innovation Center No. 479 Yuyao Ningbo City Hangzhou315400 China

This study presents a comparison between the Sprint Z3 and A3 head parallel kinematics machines, distinguished by their joint sequence. The analysis focuses on performance attributes critical for precision machining—specifically, parasitic motion, workspace capability, stiffness performance over the independent and parasitic spaces, and condition number distribution. Although these machines are extensively utilized in precision machining for the aerospace and automotive industries, a definitive superior choice has not been identified for machining large components. Moreover, the distribution of stiffness across the configuration of parasitic space has not previously been addressed for either mechanism. This research reveals that despite identical parameters used and exhibiting similar parasitic motions, the Sprint Z3 demonstrates superior stiffness, workspace volume, and condition number distribution. This performance advantage is attributed to variations in joint and link sequence, which enhance deflection resilience—crucial for manufacturing large-scale components. This also results in a higher condition number and a larger workspace. The result highlights the importance of design architecture in the efficacy of parallel kinematics machines and suggest that seemingly minor differences can have significant impacts. © 2024, CC BY.

关键词： Stiffness

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