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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Theophil Spiegeler Castañeda Joana Matos Patricia Capsi-Morales Cristina Piazza Department of Computer Engineering School of Computation Information and Technology Technical University of Munich (TUM) Munich Germany Munich Institute of Robotics and Machine Intelligence Technical University of Munich (TUM) Munich Germany Faculty of Engineering University of Porto (U.Porto) Porto Portugal

Extensive research has established and widely acknowledged the important contribution of human hand sensory receptors in providing tactile feedback. The absence of these receptors results in a poor perception of the environment, impairing our efficient manipulation skills. Although the literature emphasizes the significance of normal forces in human grasping, further investigations should point toward the role of shear forces in this process. This paper presents an analysis of human everyday grasping activities through the use of 20 three-axis magnetic soft skin force sensors, in the form of rings and bands, that measure both normal and shear forces. Our study includes twelve tasks that cover various grasping requirements. Results highlight the importance of spatial information and the usefulness of shear forces in the prediction of unexpected changes that can not be always observed in normal forces. Tactile sensing can ultimately be integrated into prosthetic and rehabilitation devices for improved control and potentially provide sensory feedback to the user.

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Robust Depth Estimation in Foggy Environments Combining RGB Images and mmWave Radar

Robust Depth Estimation in Foggy Environments Combining RGB ...

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IEEE International Symposium on Multimedia

作者： Mengchen Xiong Xiao Xu Dong Yang Eckehard Steinbach Department of Computer Engineering Chair of Media Technology Munich Institute of Robotics and Machine Intelligence (MIRMI) School of Computation Information and Technology Technical University of Munich Munich Germany

ISBN: (纸本)9781665471732

In this paper, we propose a robust depth estimation strategy that uses RGB images and mmWave radar data to deal with limited visibility in foggy environments. While the state-of-the-art RGB or LiDAR-based depth estimation works well in scenarios with good visibility, their performance dramatically degrades in the presence of fog. In contrast, mmWave radar sensors are not affected by fog and hence are a promising complement. To leverage this property of mmWave radar, we combine RGB image-based depth estimation with radar information. The proposed combination is an extension of the Sparse-to-Dense (S2D) model. Moreover, a weight-based sensor fusion strategy is presented to improve system performance. Our experiments show that a fog density of meteorological optical range (MOR) less than 50m leads to strongly degraded performance for RGB image-based and LiDAR-based depth estimation. For a MOR of 30m in our dataset, the experiments show an improvement of 26% in mean square error for our proposed approach compared to the combination of RGB images and LiDAR data.

关键词： Meteorological radar Laser radar system performance Estimation Radar imaging Sensor fusion Optical imaging

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Digital Twin-empowered Model-Mediated Teleoperation using Multimodality Data with Signed Distance Fields

Digital Twin-empowered Model-Mediated Teleoperation using Mu...

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator systems (HAPTICS)

作者： Mads Antonsen Siwen Liu Xiao Xu Eckehard Steinbach Francesco Chinello Qi Zhang DIGIT Group Department of Electrical and Computer Engineering Aarhus University Denmark Chair of Media Technology (LMT) and Munich Institute of Robotics and Machine Intelligence (MIRMI) School of Computation Information and Technology Technical University of Munich Germany Department of Business Development and Technology Aarhus University Denmark

In human-in-the-loop teleoperation systems, the Quality of Task Perception (QoTP) plays an important role, significantly influencing the overall Quality of Experience (QoE). QoTP characterizes the depth of understanding a user possesses regarding remote environments and tasks. To enhance this comprehension, this paper introduces an innovative geometric modeling approach employing Truncated Signed Distance Fields (TSDF) tailored for Model-Mediated Teleoperation (MMT) systems. Our approach combines haptic and visual cues to provide real-time updates to environmental changes. To ensure optimal responsiveness, we devise a model updating scheme that achieves an effective update frequency. Capitalizing on the capabilities of a Digital Twin, the MMT system presented not only uses the existing knowledge of the remote environment but also records its dynamic alterations. Through comprehensive experimentation evaluating both the geometric modeling and the teleoperation framework, our findings underscore the robustness and applicability of the introduced geometric modeling technique.

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Processing Modular Application Functions in Future Medical 6G Radio Access Networks

Processing Modular Application Functions in Future Medical 6...

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IEEE International Conference on Wireless and Mobile Computing, Networking And Communications (WiMob)

作者： Nicolai Kroger Sven Kolb Franziska Jurosch Dirk Wilhelm Wolfgang Kellerer Technical University of Munich TUM School of Computation Information and Technology Chair of Communication Networks Klinikum rechts der Isar Research Group MITI Technical University of Munich TUM School of Medicine and Health Department of Surgery Klinikum rechts der Isar Technical University of Munich TUM School of Medicine and Health Technical University of Munich Munich Institute of Robotics and Machine Intelligence

ISBN: (数字)9798350387445

ISBN: (纸本)9798350387452

The currently researched 6G communication standard promises to enable new applications with the native integration of new technologies and concepts. Especially the medical area will greatly benefit from the developments of new communication networks. As the communication infrastructure will be able to satisfy stringent and varying requirements, emerging medical applications such as telemedicine and telesurgery will be enabled. However, the concrete networking architecture remains an open question for research. In this paper, we propose a dedicated med-ical 6G Radio Access Network (RAN) architecture and discuss possible usage scenarios based on two medical use cases. First, a network architecture is presented which leverages in-network computing to execute medical applications. The main idea of this concept is the dynamic interaction between medical applications and the network. In particular, the placement of Modular Application Functions (MAFs) and their execution depends on the state of the network. Secondly, we map two medical use cases, namely a semiautonomous telerobotic examination suite and a context-sensitive medical environment, to the proposed network architecture and explain the interaction between our network architecture and these applications in detail. Our approach demonstrates the potential of the combined development of medical applications and their underlying communication architecture.

关键词： 6G mobile communication Wireless communication Biomedical equipment Telemedicine Medical services Computer architecture Network architecture Telerobotics Mobile computing Radio access networks

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Incorporating Feature Signal Transmission with Block-based Haptic Data Reduction for Time-delayed Teleoperation

arXiv

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arXiv 2023年

作者： Wu, Hongjun Xu, Xiao Jin, Zhi Meng, Fanle School of Intelligent Systems Engineering Shenzhen Campus of Sun Yat-sen University Shenzhen China Media Technology Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich Germany Information Science Academy of China Electronics Technology China

This paper presents an innovative feature signal transmission approach incorporating block-based haptic data reduction to address time-delayed teleoperation. Numerous data reduction techniques rely on perceptual deadband (DB). In the preceding block-based approaches, the whole block within the DB is discarded. However, disregarding all signals within the DB loses too much information and hinders effective haptic signal tracking, as these signals contain valuable information for signal reconstruction. Consequently, we propose a feature signal transmission approach based on the block algorithm that aggregates samples as a unit, enabling high-quality haptic data reduction. In our proposed approach, we employ max-pooling to extract feature signals from the signals within the DB. These feature signals are then transmitted by adjusting the content of the transmission block. This methodology enables the transmission of more useful information without introducing additional delay, aside from the inherent algorithmic delay. Experimental results demonstrate the superiority of our approach over other state-of-the-art (SOTA) methods on various assessment measures under distinct channel delays. Copyright © 2023, The Authors. All rights reserved.

关键词： Remote control

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Continuous and Autonomous Digital Twinning of Large-Scale Dynamic Indoor Environments

Continuous and Autonomous Digital Twinning of Large-Scale Dy...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Michael G. Adam Martin Piccolrovazzi Ahmed Dalloul Christian Werner Eckehard Steinbach Department of Computer Engineering Chair of Media Technology Technical University of Munich School of Computation Information and Technology Munich Institute of Robotics and Machine Intelligence (MIRMI) Munich Germany Hemminger Ingenieurbüro GmbH Esslingen am Neckar Germany NavVis GmbH Munich Germany

In the context of Industry 4.0, the interest in digitalizing manufacturing environments is steadily increasing. Hence, the need of a frequently updated digital twin of the facilities is also growing. In order to create a digital twin, specialized hardware is used to capture data with lidars and cameras. The data is then processed by a SLAM algorithm. However, the data acquisition process is typically done manually by multiple employees. This requires dedicated training and many working hours and hence is not feasible to do on a daily basis. In this paper, we present a solution to automate the data acquisition process, by combining an autonomous mobile robot and a scanning device. We show that the quality of the resulting point clouds matches the one of the manual scanning process and is hence ready to be deployed in real environments.

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Functional Mode Switching for Safe and Efficient Human-Robot Interaction

Functional Mode Switching for Safe and Efficient Human-Robot...

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IEEE-RAS International Conference on Humanoid Robots

作者： Petr Svarny Mazin Hamad Alexander Kurdas Matej Hoffmann Saeed Abdolshah Sami Haddadin Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Department of Computer Engineering Chair of Robotics and Systems Intelligence Munich Institute of Robotics and Machine Intelligence School of Computation Information and Technology Technische Universität München (TUM)

ISBN: (纸本)9798350309805

Various approaches can ascertain the safety and efficiency of physical human-robot collaboration. This paper presents the concept of robot functional mode switching to efficiently ensure human safety during collaborative tasks based on biomechanical pain and injury data and task information. Besides the robot's reflected inertial properties summarizing its impact dynamics, our concept also integrates safe and smooth velocity shaping that respects human partner motion, interaction type, and task knowledge. We further discuss different approaches to safely shape the robot velocity without sacrificing the overall task execution time and motion smoothness. The experimental results showed that our proposed approaches could decrease jerk level during functional mode switching and limit the impact of safety measures on productivity, especially when guided with additional task knowledge.

关键词： Robot motion Service robots Human-robot interaction Humanoid robots Switches Interference Safety

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6IMPOSE: Bridging the Reality Gap in 6D Pose Estimation for Robotic Grasping

arXiv

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arXiv 2022年

作者： Cao, Hongpeng Dirnberger, Lukas Bernardini, Daniele Piazza, Cristina Caccamo, Marco School of Engineering and Design Technical University of Munich Munich Germany School of Computation Information and Technology Technical University of Munich Munich Germany Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich Germany

6D pose recognition has been a crucial factor in the success of robotic grasping, and recent deep learning based approaches have achieved remarkable results on benchmarks. However, their generalization capabilities in real-world applications remain unclear. To overcome this gap, we introduce 6IMPOSE, a novel framework for sim-to-real data generation and 6D pose estimation. 6IMPOSE consists of four modules: First, a data generation pipeline that employs the 3D software suite Blender to create synthetic RGBD image datasets with 6D pose annotations. Second, an annotated RGBD dataset of five household objects generated using the proposed pipeline. Third, a real-time two-stage 6D pose estimation approach that integrates the object detector YOLO-V4 and a streamlined, real-time version of the 6D pose estimation algorithm PVN3D optimized for time-sensitive robotics applications. Fourth, a codebase designed to facilitate the integration of the vision system into a robotic grasping experiment. Our approach demonstrates the efficient generation of large amounts of photo-realistic RGBD images and the successful transfer of the trained inference model to robotic grasping experiments, achieving an overall success rate of 87% in grasping five different household objects from cluttered backgrounds under varying lighting conditions. This is made possible by the fine-tuning of data generation and domain randomization techniques, and the optimization of the inference pipeline, overcoming the generalization and performance shortcomings of the original PVN3D algorithm. Finally, we make the code, synthetic dataset, and all the pretrained models available on Github. Copyright © 2022, The Authors. All rights reserved.

关键词： Pipelines

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Towards Unconstrained Collision Injury Protection Data Sets: Initial Surrogate Experiments for the Human Hand

arXiv

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arXiv 2024年

作者： Kirschner, Robin Jeanne Yang, Jinyu Elshani, Edonis Micheler, Carina M. Leibbrand, Tobias Müller, Dirk Glowalla, Claudio Rajaei, Nader Burgkart, Rainer Haddadin, Sami Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich80992 Germany Department of Orthopaedics and Sports Orthopaedics Klinikum Rechts der Isar TUM School of Medicine Technical University of Munich Munich81675 Germany Institute for Machine Tools and Industrial Management TUM School of Engineering and Design Technical University of Munich Garching near Munich85748 Germany Endoprothetikzentrum der Maximalversorgung BG Hospital Murnau Murnau82418 Germany

Safety for physical human-robot interaction (pHRI) is a major concern for all application domains. While current standardization for industrial robot applications provide safety constraints that address the onset of pain in blunt impacts, these impact thresholds are difficult to use on edged or pointed impactors. The most severe injuries occur in constrained contact scenarios, where crushing is possible. Nevertheless, situations potentially resulting in constrained contact only occur in certain areas of a workspace and design or organisational approaches can be used to avoid them. What remains are risks to the human physical integrity caused by unconstrained accidental contacts, which are difficult to avoid while maintaining robot motion efficiency. Nevertheless, the probability and severity of injuries occurring with edged or pointed impacting objects in unconstrained collisions is hardly researched. In this paper, we propose an experimental setup and procedure using two pendulums modeling human hands and arms and robots to understand the injury potential of unconstrained collisions of human hands with edged objects. Pig feet are used as ex vivo surrogate samples - as these closely resemble the physiological characteristics of human hands - to create an initial injury database on the severity of injuries caused by unconstrained edged or pointed impacts. For the effective mass range of typical lightweight robots, the data obtained show low probabilities of injuries such as skin cuts or bone/tendon injuries in unconstrained collisions when the velocity is reduced to © 2024, CC BY.

关键词： Industrial robots

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OCTOPUS: Optimized Cross-border TeleOperated Medicine Pouring Using NextGen Seamless Communication Networks

TechRxiv

引用

TechRxiv 2023年

作者： Babaians, Edwin Gorla, Praveen Ayvaşık, Serkut Plachý, Jan Becvar, Zdenek Kellerer, Wolfgang Steinbach, Eckehard School of Computation Information and Technology Technical University of Munich Germany School of Computation Information and Technology Munich Institute of Robotics and Machine Intelligence Technical University of Munich Germany Dept. of Telecommunication Engineering Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic

Teleoperated robotic systems have become instrumental in advancing remote healthcare services, especially in tasks that require precision and expert oversight. The advent of cutting-edge telecommunication infrastructures, such as 5G, has amplified interest in these systems, although their full potential remains untapped. This study delves into the effectiveness of teleoperated robotic systems for medicine dispensing, comparing the performance of Wi-Fi and 5G networks in a transnational setup between two cities – Prague and munich. We focus on the robot’s ability to accurately dispense a predefined volume of a syrup-like substance, simulating a delicate healthcare operation, under the guidance of a distant operator. Our research examines the system’s holistic performance in real-world implementation across diverse scenarios, encompassing varying network states and feedback methods. Two primary feedback scenarios are considered: one incorporating real-time video streaming and another offering explicit quantitative data on the dispensed volume. Using a blend of quantitative and qualitative methods, we aim to determine the influence of network type and feedback on task efficacy and user satisfaction. This study provides insights into the potential and hurdles of deploying teleoperated robotic systems in crucial healthcare contexts, guiding future advancements in this domain, especially in scenarios, where precision and dependability are crucial. © 2023, CC BY-NC-SA.

关键词： 5G mobile communication systems

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