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Pressure Pain Recognition for Lower Limb Exoskeleton Robot with Physiological Signals 1

2nd International Conference on Cognitive Computation and Systems, ICCCS 2023

作者： Ma, Yue Wu, Xinyu Wang, Xiangyang Li, Jinke Qin, Pengjie Yin, Meng Cao, Wujing Yi, Zhengkun Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Shenzhen China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Guangdong Shenzhen China Shandong Institute of Advanced Technology Chinese Academy of Sciences Shandong Jining China

ISBN: (数字)9789819708857

ISBN: (纸本)9789819708840

Pain is a feedback mechanism the body uses to protect itself. The perception of human pain is still missing in lower limb exoskeleton robots, such as the pain caused by the pressure between the knee joint and the baffle when the lower limb exoskeleton stands up, or the pain caused by the mismatch between the gait and the body function of the wearer when walking. Aiming at the pain perception problem of the exoskeleton robot, this study designed a pressure pain data acquisition paradigm combined first considering the movement mode of the exoskeleton robot, and collected facial electromyography and electrocardiography signals, as well as five levels of pain. Then a deep learning neural Network based on Temporal Convolutional Network and Long Short-Term Memory is designed. The composite Loss of Center Loss, InfoNEC Loss and Softmax Loss is designed. The designed deep neural network model was evaluated using the thermal pain dataset BioVid, and the average recognition rate using only electrocardiography signals reached 86.44%. By Using the fusion signals of electrocardiography, electrocardiogram and electromyogram signals, the average recognition accuracy can reach 87.16%, which is superior to other similar methods, and verifies the effectiveness of the proposed method. The proposed network is also used to verify the collected pressure pain dataset, and the recognition accuracy can reach 87.5%, which proves the validity of the collected data set. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Electrocardiography

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A piezoresistive-based 3-axial MEMS tactile sensor and integrated surgical forceps for gastrointestinal endoscopic minimally invasive surgery

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Microsystems & Nanoengineering 2024年第5期10卷 71-83页

作者： Cheng Hou Huxin Gao Xiaoxiao Yang Guangming Xue Xiuli Zuo Yanqing Li Dongsheng Li Bo Lu Hongliang Ren Huicong Liu Lining Sun School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina Faculty of Mechanical and Electrical Engineering Kunming University of Science and TechnologyJingming South RoadKunmingChina Yunnan Key Laboratory of Intelligent Control and Application KunmingChina Department of Electronic Engineering The Chinese University of Hong Kong(CUHK)Hong KongChina. Department of Gastroenterology Qilu HospitalShandong UniversityJinanShandongChina

In robotic-assisted surgery(RAS),traditional surgical instruments without sensing capability cannot perceive accurate operational forces during the task,and such drawbacks can be largely intensified when sophisticated tasks involving flexible and slender arms with small end-effectors,such as in gastrointestinal endoscopic surgery(GES).In this study,we propose a microelectromechanical system(MEMS)piezoresistive 3-axial tactile sensor for GES forceps,which can intuitively provide surgeons with online force feedback during robotic *** MEMS fabrication process facilitates sensor chips with miniaturized *** fully encapsulated tactile sensors can be effortlessly integrated into miniature GES forceps,which feature a slender diameter of just 3.5 mm and undergo meticulous calibration procedures via the least squares *** experiments,the sensor's ability to accurately measure directional forces up to 1.2 N in the Z axis was validated,demonstrating an average relative error of only 1.18%compared with the full-scale *** results indicate that this tactile sensor can provide effective 3-axial force sensing during surgical operations,such as grasping and pulling,and in ex vivo testing with a porcine *** compact size,high precision,and integrability of the sensor establish solid foundations for clinical application in the operating theater.

关键词： axial surgery intensified

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A Wearable Flexible Exoskeleton for Upper Limb Assistance

A Wearable Flexible Exoskeleton for Upper Limb Assistance

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Wang, Qiang Chen, Chunjie Li, Weimin Wang, Haibin Mu, Xinxing Guo, Weilun Wu, Xinyu Shandong Zhongke Advanced Technology Co. Ltd Jinan250098 China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China

ISBN: (纸本)9798350327182

In this paper, a wearable upper limb flexible power assist exoskeleton is proposed, which can be used to assist workers in carrying, provide auxiliary force for upper limbs, and reduce physical damage. The exoskeleton uses flexible ropes to transmit motion power, with the ropes directly connected to the forearm of the person via a shoulder anchor point. The motion power is directly applied to the forearm, thereby reducing the complexity of the system. The system uses a PID control strategy to track the movement posture of the human body, provide torque assistance to the upper limbs during operation. Four healthy men participated in the trial to assess muscle activity in four muscles of the upper limbs: deltoid muscle (DM), biceps femoris (BFM), femoral muscle (FM), and wrist flexor (FWF). Compared with the case without using the designed exoskeleton, the test results showed that the average decrease in muscle activity, during lifting action was 28.4% (DM), 27.85% (BFM), 32.64% (FM), 35.22% (FWF), during keeping action was 24.92% (DM), 29.47% (BFM), 20.89% (FM), 28.24% (FWF). The experiments verify the effectiveness of the newly designed exoskeleton system. © 2023 IEEE.

关键词： Muscle

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A Fault-tolerant Control Method for USV Trajectory-tracking with Sensor Faults

A Fault-tolerant Control Method for USV Trajectory-tracking ...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Guo, Weilun Li, Weimin Wu, Xinyu Wang, Haibin Mu, Xinxing Wang, Qiang Xu, Yi Shandong Zhongke Advanced Technology Co. Ltd Jinan250098 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China

ISBN: (纸本)9798350327182

This paper studies the trajectory tracking problem of the unmanned surface vehicle with sensor deviation faults. Firstly, the trajectory tracking controller based on model predictive control is designed according to the physical characteristics of the unmanned vehicle system. Moreover, an event trigger mechanism is explored in the controller to reduce the waste of computing resources. Then, a H∞ fault estimator is designed to accurately estimate the value of sensor deviation faults. Finally, the influence of sensor faults on the designed controller is analyzed. At the same time, the faults information was used for improving the tracking performance. The proposed trajectory tracking method with the fault-tolerant algorithm is verified by simulation examples. © 2023 IEEE.

关键词： Controllers

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Monocular Visual Inertial Odometry with Combined Features for Low Texture Indoor Environments

Monocular Visual Inertial Odometry with Combined Features fo...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Xu, Yi Li, Weimin Wu, Xinyu Guo, Weilun Wang, Qiang Sun, Youxiao Wang, Haibin Shandong Zhongke Advanced Technology Co. Ltd Jinan250098 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China Shandong University School of Microelectronics Jinan250101 China

ISBN: (纸本)9798350327182

The Visual-inertial odometry (VIO) system is one of the core technologies in autonomous driving systems, it can provide pose estimation and motion trajectory of mobile robots by a monocular camera and a low-cost inertial measurement unit (IMU). However visual-inertial odometry usually extracts point features from images by visual descriptors such as ORB, FAST or Shi-Tomasi, while these methods rely on high-texture scenes which is not commonly appear in indoor scenarios. This paper provides a low texture indoor environment data, in which VIO system performs poorly by hand-crafted descriptor features in the front-end;then we use different visual features including line features and deep learning features from images and evaluate their performance in our data. Through the experiments we did, we propose a high-accuracy VIO system based on a combination of different visual features. Extensive experiments have been done on more public datasets, which demonstrate our VIO system remains robust and accurate performance in various scenarios, with only a monocular camera and low-cost IMU unit. © 2023 IEEE.

关键词： Textures

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Prescribed-time Model-free Adaptive Attitude-tracking Control of Spacecraft System under DoS Attacks

Prescribed-time Model-free Adaptive Attitude-tracking Contro...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Chen, Run-Ze Xu, Sheng Li, Yuan-Xin Guo, Wei-Lun Shandong Institute of Advanced Technology Chinese Academy of Sciences Jinan250102 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China Liaoning University of Technology Department of Science Jinzhou121001 China

ISBN: (纸本)9798350327182

This paper presented a prescribed-time model-free adaptive control (PTMFAC) scheme to achieve attitude-tracking control of a spacecraft system under denial-of-service (DoS) attacks. By using a finite-time performance function (FTPF), an improved dynamic linearization module was presented to attain the prescribed-time convergence of output signal. At the same time, we presented a counter-attack strategy to reduce the effect of attacks. By employing the counter-attack strategy, a PTMFAC control algorithm was proposed to achieve attitude-tracking control within a prescribed time. Finally, the boundness analyses and simulations confirmed the effectiveness of developed control algorithm. © 2023 IEEE.

关键词： Denial-of-service attack

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A Smoke and Flame Detection Method Using an Improved YOLOv5 Algorithm

A Smoke and Flame Detection Method Using an Improved YOLOv5 ...

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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Yang, Tong Xu, Sheng Li, Weimin Wang, Haibin Shen, Guodong Wang, Qiang Shandong Institute of Advanced Technology Chinese Academy of Sciences Jinan250102 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

The complex background scenes in traditional fireworks detection methods make flame identification challenging and complicated. This paper focuses on improving the detection efficiency and accuracy of flame disasters. First, the data augmentation strategy and label smoothing are used to preprocess the sample set, which solves the over-fitting problem caused by the insufficient number of samples. Second, we add Convolutional Block Attention Module (CBAM) before each backbone classifier, to compress and re-weight the input features from two independent channel and space dimensions. By focusing on smoke and fire's feature information, the ability of desired feature extraction is strengthened. Third, the Focal loss function is utilized to enhance the weights of complex samples. Consequently, the imbalance problem about positive and negative samples in single-stage detection, and the high proportion of easy-To-separate samples in the loss function are both resolved. Experimental examples demonstrate that the proposed network is easy to converge and expand, which guarantees detection accuracy and satisfies detection speed requirements. © 2022 IEEE.

关键词： Smoke

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An Assembly Sequence Planning Method Using Ant Colony Algorithm for Arbitrary Placed Workpieces

An Assembly Sequence Planning Method Using Ant Colony Algori...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Hou, Ruiming Xu, Sheng Yang, Chenguang Zhu, Bing Duan, Jianghua Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China University of Chinese Academy of Science Beijing101408 China Shandong Institute of Advanced Technology Cas Shandong250102 China South China University of Technology College of Automation Science and Engineering Guangzhou510640 China Hong Kong University of Science and Technology Department of Mechanical and Aerospace Engineering Hong Kong Hong Kong

ISBN: (纸本)9798350327182

This paper proposes a particular and effective online sequence planning method to help manipulators complete complex assembly tasks. In many existing studies, the workpiece is constrained to be placed at a particular initial position. To overcome this drawback, we combine the ant colony algorithm with a target detection algorithm, which could get the positions of the workpieces in real time for online sequence planning. In addition, the constraint and obstacle avoidance of different workpieces in the assembly process is also considered. According to the experiment results, an observation is found that the new method is superior to the general way in terms of efficiency and cost function value. Furthermore, the proposed method effectively solves different practical and feasible assembly sequence planning problems. © 2023 IEEE.

关键词： Ant colony optimization

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A Wearable Flexible Exoskeleton for Upper Limb Assistance

A Wearable Flexible Exoskeleton for Upper Limb Assistance

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Qiang Wang Chunjie Chen Weimin Li Haibin Wang Xinxing Mu Weilun Guo Xinyu Wu Shandong Zhongke Advanced Technology Co. Ltd Jinan China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

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A Fault-tolerant Control Method for USV Trajectory-tracking with Sensor Faults

A Fault-tolerant Control Method for USV Trajectory-tracking ...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Weilun Guo Weimin Li Xinyu Wu Haibin Wang Xinxing Mu Qiang Wang Yi Xu Shandong Zhongke Advanced Technology Co. Ltd Jinan China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

This paper studies the trajectory tracking problem of the unmanned surface vehicle with sensor deviation faults. Firstly, the trajectory tracking controller based on model predictive control is designed according to the physical characteristics of the unmanned vehicle system. Moreover, an event trigger mechanism is explored in the controller to reduce the waste of computing resources. Then, a H ∞ fault estimator is designed to accurately estimate the value of sensor deviation faults. Finally, the influence of sensor faults on the designed controller is analyzed. At the same time, the faults information was used for improving the tracking performance. The proposed trajectory tracking method with the fault-tolerant algorithm is verified by simulation examples.

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