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2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022

作者： Joshi, Sagar Beck, Irene Seth, Ajay Santina, Cosimo Della Mechanical Maritime and Materials Engineering Faculty TU Delft Delft Netherlands Robotics and Mechatronics Department Munich Germany

ISBN: (纸本)9798350309799

Soft exosuits can help to prevent work-related musculoskeletal disorders by offloading human muscles through the application of external forces across the human joints. Many exosuits achieve this through tension producing elements called as exotendons. However, the design of these devices is based on intuition and experience. This leads to potentially sub-optimal or even harmful designs that could cause discomfort or injury to the wearer. This paper deals with automatically finding appropriate attachments and routing locations for exotendons. We propose to do that by accurate musculoskeletal modeling and design parameter optimization of soft exosuits. We focus here on a soft exosuit with a single passive exotendon to assist the shoulder. Using three arm raising-lowering and internal-external rotation motions as examples, we optimize the attachment point and rest-length of the exotendon to reduce overall muscle effort. We then fabricate the exosuit and validate the model predictions by testing with six participants. Supporting the predictions from simulations, measured muscle activity shows reductions in the deltoid and trapezius muscles. This work represents the first instance of explicitly optimizing functional and geometric parameters of exotendons in wearable assistive devices for minimizing human effort. © 2022 IEEE.

关键词： Muscle

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Experimental and numerical study of deposition mechanisms for cold spray additive manufacturing process

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Chinese Journal of Aeronautics 2022年第2期35卷 276-290页

作者： Tianyu YU Mingjun CHEN Zhuoru WU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Department of Mechanical Engineering Iowa State UniversityAmes 50011USA

Cold spray is an attractive and rapidly developing process for additive manufacturing with high efficiency and precision,repairing and coating,especially in aircraft and aerospace *** spray additive manufacturing deposits micro-particles with large plastic deformation below their melting point,eliminating heat effect zone which could deteriorate the quality of repairing *** particle deposition in cold spray is a complex process which involves high strain rate,high contact pressure and high *** we develop,utilize and validate a thermomechanical model to provide a definitive way to predict deposition mechanics and surface deformation evolution for particle deposition process in cold spray additive *** a single particle and dual particles models were developed to investigate the contact interaction between particle/substrate and particle/*** combinations of particle/substrate materials(Cu/Cu,Al/Al,steel/steel,and nickel/nickel)and process parameters were considered in this *** experimental study was conducted to validate simulation results,providing useful information for understanding the limitations and challenges associated with cold spray additive *** framework provides insights into improving the quality and precision of stress/strain formation,particle interactions and particle deposition in cold spray additive manufacturing process.

关键词： Additive manufacturing Cold spray Finite element analysis Residual stresses Surface morphology

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Study of Latency for a Teleoperation System with Video Feedback using Wi-Fi and 4G-LTE Networks 3

Study of Latency for a Teleoperation System with Video Feedb...

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3rd International Conference on Communications, Information, Electronic and Energy Systems, CIEES 2022

作者： Pop, Bogdan Moldovan, Cristian Florescu, Florin Popescu, Ioan Emil Nokia Networks Communications Department Timisoara Romania University Politehnica Timisoara Mechatronics And Robotics Department Timisoara Romania

ISBN: (数字)9781665491495

ISBN: (纸本)9781665491495

In this study was developed a teleoperable robotic arm with the aim of testing and analysing the teleoperation latency for three different communication channels. A closed-loop control (direct teleoperation) was adopted, with bidirectional communication, the operator receiving the necessary information for the teleoperation process in real-time from a video camera mounted on the robotic arm. In order to connect the control device with the teleoperable robotic arm were used three different communication channels and the latency of the teleoperation process was measured and analyzed for each of these three communication channels. This paper contains information about the mechanical, hardware and software parts of the developed robotic system. It also presents the communication channels that were tested and the results obtained. The aim is to identify the advantages and disadvantages of each of these three communication channels, to detect the limitations and to ascertain to what extent the teleoperation of such a system can be done efficiently. © 2022 IEEE.

关键词： Remote control

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Research of Control Methods of a Spherical Parallel Mechanism Using Intelligent Data Processing 5

Research of Control Methods of a Spherical Parallel Mechanis...

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5th IEEE International Conference on Modern Electrical and Energy System, MEES 2023

作者： Derkachenko, A. Polyvoda, O. Lebedenko, Yu. Kalinina, K. Kherson National Technical University Automation Robotics and Mechatronics Department Kherson Ukraine Kyiv National University of Technologies and Design Information and Computer Technologies Department Kyiv Ukraine

ISBN: (纸本)9798350359787

The work is devoted to the research and development of a software and hardware platform based on control methods of a spherical parallel mechanism (SPM) with tracking of changes in the position of a human head with the help of a camera and a computer using intelligent data *** article explores the relevance and advantages of SPMs, emphasizing their high precision, enhanced mobility, reliability, and lightweight design. The paper deals with an important aspect of controlling SPMs, which directly influences their performance. The control methods for SPMs vary based on the specific tasks and operational requirements, such as actuator-based control, sensor-based control, closed-loop control, and adaptive control are *** research additionally investigates the problems of forming tasks for SPMs and the need for improved methods, especially for applications involving human-robot interaction, dangerous works, and camera positioning tasks. To resolve these problems, the study proposed a software-hardware platform that remotely controls SPMs by tracking changes in the position of the human head using a camera and a computer. By employing OpenCV and Dilb libraries for face recognition and control point tracking, the proposed platform enables intuitive and clear control of the *** article presents the mathematical operations involved in calculating the rotation angles of the SPM based on the tracked human head movements. The obtained rotation angles serve as inputs for the servomotors, allowing precise control over the mechanism's *** results of the study demonstrate the effectiveness of the proposed software-hardware platform in controlling the SPM based on human head movements. The platform's ability to accurately track and convert head movements into servo rotation values enables remote and intuitive control of the SPM, making it a promising direction for future research in the field of robotics and automation. © 2023 IEEE.

关键词： Cameras

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Augmenting Attention and Focus Using Brainwave Monitoring and Haptic Feedback

Augmenting Attention and Focus Using Brainwave Monitoring an...

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International Carpathian Control Conference (ICCC)

作者： Andrei-Costin Trasculescu Ionut-Cristian Resceanu Horatiu Roibu Florina-Luminita Petcu Stefan-Irinel Cismaru Constantin Patrascu Nicu George Bizdoaca Mechatronics and Robotics Department Faculty of Automation Computers and Electronics University of Craiova Craiova Romania

ISBN: (数字)9798350350708

ISBN: (纸本)9798350350715

The emerging technologies are focusing on monitoring and augmenting people in doing various tasks. One of the newest haptic technologies uses ultrasonic soundwaves to create the feeling of touching an object or sensations linked to a specific action. This paper aims to analyze and demonstrate that brainwave monitoring and haptic feedback via ultrasonic technology can increase an individual's focus and attention levels using the system. The applications in which this technology can prove its value are various, from learning and training to the operation of very sensitive and high-precision equipment that requires a lot of attention and focus. From the point of view of the fields in which this technology can be applied, they can also be varied, from the didactic field, machine operation and even medicine. A non-invasive technology, it can be easily implemented and applied to various environments. The equipment can also be calibrated and used according to the specific needs of each activity so that the feedback provided by the system is not too aggressive in applications where the level of attention does not need to be very high. Still, it can be calibrated to be very sensitive in cases where even a small loss of attention or focus can affect that specific activity. In the following paper, the authors combined ultrasonic feedback technology with brainwave monitoring technology to create an application to demonstrate all the benefits of this kind of augmentation of attention and focus, which is very effective in various domains, including education and training.

关键词： Training Power demand Ultrasonic transducer arrays Mixed reality Focusing Virtual reality Haptic interfaces

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Crafting CanSats: A Novel Modular Design Paradigm for Scientific CanSats 20

Crafting CanSats: A Novel Modular Design Paradigm for Scient...

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20th IEEE International Conference on Smart Communities: Improving Quality of Life using AI, robotics and IoT, HONET 2023

作者： Chun, Carrington Patel, Uday Tanveer, M. Hassan Swift, Tom Dallesasse, Kevin Chakravarty, Sumit Kennesaw State Univeristy Department of Robotics and Mechatronics Engineering Marietta United States Kennesaw State Univeristy Department of Electrical and Computer Engineering MariettaGA United States

ISBN: (纸本)9798350331110

This paper introduces a novel modular design paradigm for Scientific CanSats, offering a cost-effective platform for testing space-related hardware in near-space environments with reduced developmental timelines. By harnessing Commercial Off The Shelf (COTS) products alongside open-source technologies, this framework emphasizes quick integration of diverse scientific instruments and control systems. The core architectural elements comprise: (1) a unified power and communication bus, (2) standardized mechanical attachments and interfaces, and (3) distributed computing and data management. To validate the effectiveness and adaptability of this design, undergraduate students were engaged to design modules adhering to the established standards. This approach facilitated the creation of an adaptable ecosystem of Command and Sensor Modules, enabling swift assembly and reconfiguration of CanSats with diverse scientific potentials. Remarkably, students transitioned from conceptual design to tangible modules within a semester, while CanSat assembly and reconfiguration from existing modules took five and four minutes respectively. © 2023 IEEE.

关键词： Conceptual design

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A deep learning-based model for automated STN localization using local field potentials in Parkinson’s disease

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Soft Computing 2025年第4期29卷 2343-2362页

作者： Hosny, Mohamed Naeem, Mohamed A. Zhu, Minwei Gao, Wenpeng Elshenhab, Ahmed M. Fu, Yili Department of Electrical Engineering Benha Faculty of Engineering Benha University Benha Egypt State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150080 China Department of Mechatronics and Robotics Engineering Faculty of Engineering South Valley University Qena Egypt First Affiliated Hospital Harbin Medical University Harbin150001 China School of Life Science and Technology Harbin Institute of Technology Harbin150080 China Department of Mathematics Faculty of Science Mansoura University Mansoura35516 Egypt

Accurate identification of the subthalamic nucleus (STN) borders is time-consuming, relying heavily on the neurosurgeon expertise in manually interpreting the electrophysiological signals. Local field potentials (LFPs) have garnered imperative attention due to their strong correlation with the STN. However, existing detection models often face challenges with high computational complexity, hyperparameter optimization and lack of explainability, making them unreliable for clinicians. Therefore, this study introduces an explanatory framework using convolutional neural networks (CNN) for detecting the STN region from LFPs. Continuous wavelet transform is employed to convert LFPs signals into scalogram images, which are then processed by sixteen CNN models. We evaluated our framework by examining the impact of various limiting factors on the classification performance, including model size, learning rate (LR), optimizers and data scaling. Deep features are extracted from the top-performing CNN architectures to capture rich representations of the scalograms. These features are then fused and classified using k-nearest neighbour algorithm. Gradient-weighted class activation mapping is used to explain the decisions made by the proposed model. Our approach achieved an accuracy of 99.61%, outperforming individual CNN models for STN localization. The experimental results revealed that CNN models, embedded with additional hyperparameters and layers, generally outperformed smaller models. Besides, low LR significantly enhanced the performance compared to high LR. Moreover, features extracted from untuned networks produced lower performance than tuned networks. The proposed system could revolutionize deep brain stimulation surgery by increasing efficiency and reducing reliance on clinician expertise for STN detection. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2025.

关键词： Wavelet transforms

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Analysis of Sensor Errors of a Suspension Systems for Space Robots

Analysis of Sensor Errors of a Suspension Systems for Space ...

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Space robotics (iSpaRo), International Conference on

作者： Ferdinand Elhardt Marco De Stefano Manfred Schedl Andreas Stemmer Tobias Bruckmann Maximo A. Roa Institute of Robotics and Mechatronics German Aerospace Center (DLR) Oberpfaffenhofen-Wessling Germany Chair of Mechatronics University of Duisburg-Essen Duisburg Germany

ISBN: (数字)9798350367232

ISBN: (纸本)9798350367249

Orbital and planetary space robotic arms play a critical role in future space exploration. They are mounted on satellites, landers, and rovers. On satellites, orbital robotic arms can extend the operational life of target satellites, facilitate the inspection of orbital assets, and assist in the deorbiting process. However, ensuring a reliable performance of the robotic arm requires thorough on-ground verification and validation. Although designed for zero- or low-gravity conditions, space robotic arms face a challenge when tested in Earth’s gravity. The limited torque provided by the robot’s joints hinders its ability to perform effective movements on ground. To address this challenge, the Institute of robotics and mechatronics at the German Aerospace Center (DLR) and the University of Duisburg-Essen have developed the Motion Suspension System (MSS), a cable-driven parallel robot that mechanically supports robotic arms and enables them to operate on ground in a full three-dimensional workspace. For its use as a qualification device for orbital robotic arms, a sensitivity analysis of the sensor errors is crucial. This study focuses on the impact of angle and force sensor errors on the overall performance of the MSS. Hereby, the study uses analytical computation validated by experimental results.

关键词： Space vehicles Performance evaluation Satellites Arms Robot sensing systems Manipulators Planetary orbits

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Differences in optimal community structure in brain connectivity organization in major depressive disorder 8

Differences in optimal community structure in brain connecti...

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8th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2024

作者： Khorev, Vladimir Kurkin, Semen Paunova, Rositsa Bukina, Tatiana Stoyanov, Drozdstoy Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Baltic Center for Neurotechnology and Artificial Intelligence Immanuel Kant Baltic Federal University Kaliningrad Russia Plovdiv Medical University Plovdiv Bulgaria

ISBN: (纸本)9798350390834

We analyzed fMRI data from healthy control subjects (94 subjects) and patients with major depressive episode (70 patients). The preprocessed activity signals extracted with statistical parametric mapping from fMRI were divided into parcellations according to the anatomical labeling atlas. Our findings indicate that patients with major depressive disorder exhibit network organization that is both less locally specialized and less globally integrated. Specifically, our research reveals differences in network segregation rather than integration in patients. The discrepancies between our results and previous studies may be attributed to differences in methodology, depression diversity, sample sizes, and co-occurring factors such as stress and anxiety. © 2024 IEEE.

关键词： Brain mapping

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Automation Control of the Movement of Robotic Device for Patient Positioning

Automation Control of the Movement of Robotic Device for Pat...

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International Russian Automation Conference (RusAutoCon)

作者： Oksana Emelyanova Egor Tistsov Sergey Jatsun Dept. of Mechanics Mechatronics and Robotics South-West State University Kursk Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

This paper describes the design and control system of a robotic device for patient positioning during different types of examination, tests and surgeries. The paper describes the automotation control of the movement of such device. The paper raises the question of the importance of these developments in modern medical practices, provides examples of work in this area, and also indicates the difficulties in organizing a control system for robotic device, due to the general uncertainty of the systems, involving interacting with humans and necessity of individual programs and laws of movement of device's modules. Also, it is noted, that there are a vast variety of positions of patients, that require a medical facility to have several different types of expensive and skill-requiring equipment. The paper describes the design of the device, the location of the measuring modules, in form of an array of force sensors and the operating principle of the adaptive control system for this device. This paper describes the mathematical modeling of the behavior of this system, and different indicators of reaction between the patient and robotic devise in various positions, allowing the adaptation of device control algorithms.

关键词： Automation Uncertainty Force Surgery Robot sensing systems Control systems Sensor systems Trajectory Force sensors Sensor arrays

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