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A Gaze-Guided Human Locomotion Intention Recognition and Volitional Control Method for Knee-Ankle Prostheses

IEEE Transactions on Cognitive and Developmental systems 2025年

作者： Chen, Xinxing Chen, Zhaokai Wang, Yuxuan Yin, Shucong Chen, Chuheng Huang, Jian Fu, Chenglong Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Hubei Key Laboratory of Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Wuhan430074 China Southern University of Science and Technology Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen518055 China Shanghai Jiaotong University Shanghai China

This paper presents a novel gaze-guided volitional control method for knee-ankle prostheses, designed to enhance the precision and intuitiveness of prosthetic control in complex locomotion tasks. The method utilizes an eye-tracking system coupled with an RGBD camera to estimate 3D gaze points, which are then used to construct a gaze attention map. This map serves as the basis for predicting human locomotion intentions, enabling the prosthesis to accurately step on the intended foot placement. Experimental validation was conducted with both a healthy subject and an amputee subject, focusing on level-ground walking and stair ascent tasks. The results demonstrated that the prosthesis could achieve precise foot placement, with a mean error of 1.22 cm ± 3.14 cm for the healthy subject and 3.40 cm ± 0.66 cm for the amputee subject during level-ground walking. In stair ascent tasks, the system successfully adapted to various gait patterns, with the prosthetic joint angles closely matching natural human movements. The proposed method also effectively reduced the root mean square error (RMSE) of 3D gaze estimation to 2.70 cm, 2.63 cm, and 1.97 cm along the x, y, and z axes, respectively. These findings indicate that the gaze-guided volitional control method not only enhances the functionality of knee-ankle prostheses but also offers a more intuitive interface for users, aligning prosthetic actions with the user’s visual focus and intentions. © 2016 IEEE.

关键词： Knee prostheses

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AI Enabled Automatic Mobile Robot intelligent Navigation in Construction with Obstacle Awareness

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IEEE Transactions on Automation Science and Engineering 2025年

作者： Zhang, Yinlong Liu, Yuanhao Cui, Yunge Zeng, Ziming Liang, Wei Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China University of Chinese Academy of Sciences Beijing101408 China Zeekr Group Zeekr Intelligent Driving Department Shanghai110078 China Shenzhen Polytechnic University School of Automotive and Transportation Engineering Shenzhen518055 China

In the construction industry, the integration of artificial intelligence (AI) and robotics has led to significant advancements in automating various tasks. One critical aspect is the intelligent navigation of automatic mobile robot (AMR) within construction sites, where dynamic environments pose challenges such as inaccurate robot state estimation, irregular and textureless obstacle detection. To solve these issues, this paper designs an AI enabled obstacle-aware AMR intelligent navigation approach while ensuring robot safety and efficiency. Specifically, the robot is equipped with the complementary RGB camera, inertial measurement unit (IMU) and wheel encoder to estimate the states (i.e., positions, orientations and velocities), which have been tightly fused in the optimization framework. Furthermore, the RGB-Depth images are jointly fed into the AI model. It combines of Mask-RCNN and multi-scale attention network, to detect and segment the obstacles, and estimate the corresponding relative depth. It should be noted that the system incorporates obstacle awareness mechanisms to dynamically switch the robot's velocities in response to obstacles in the environment, ensuring smooth and collision-free movement. Experimental results demonstrate the effectiveness and robustness of the proposed AI-enabled navigation system in real-world construction scenarios, showcasing its potential to enhance productivity and safety in construction automation. © 2004-2012 IEEE.

关键词： Construction industry

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Joint Design of Radar Receive Filter and Unimodular ISAC Waveform with Sidelobe Level Control

arXiv

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arXiv 2025年

作者： Zhang, Kecheng Liu, Ya-Feng Wang, Zhongbin Yuan, Weijie Keskin, Musa Furkan Wymeersch, Henk Xia, Shuqiang School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China State Key Laboratory of Scientific and Engineering Computing Institute of Computational Mathematics and Scientific/Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical Engineering Chalmers University of Technology Gothenburg41296 Sweden ZTE Corporation The State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China

Integrated sensing and communication (ISAC) has been considered a key feature of next-generation wireless networks. This paper investigates the joint design of the radar receive filter and dual-functional transmit waveform for the multiple-input multiple-output (MIMO) ISAC system. While optimizing the mean square error (MSE) of the radar receive spatial response and maximizing the achievable rate at the communication receiver, besides the constraints of full-power radar receiving filter and unimodular transmit sequence, we control the maximum range sidelobe level, which is often overlooked in existing ISAC waveform design literature, for better radar imaging performance. To solve the formulated optimization problem with convex and nonconvex constraints, we propose an inexact augmented Lagrangian method (ALM) algorithm. For each subproblem in the proposed inexact ALM algorithm, we custom-design a block successive upper-bound minimization (BSUM) scheme with closed-form solutions for all blocks of variable to enhance the computational efficiency. Convergence analysis shows that the proposed algorithm is guaranteed to provide a stationary and feasible solution. Extensive simulations are performed to investigate the impact of different system parameters on communication and radar imaging performance. Comparison with the existing works shows the superiority of the proposed algorithm. © 2025, CC BY-NC-SA.

关键词： Mean square error

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Polytope Volume Monitoring Problem: Formulation and Solution via Parametric Linear Program Based Control Barrier Function

arXiv

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arXiv 2025年

作者： Wu, Shizhen Dong, Jinyang Fang, Xu Sun, Ning Fang, Yongchun Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300353 China The Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology Dalian116024 China

Motivated by the latest research on feasible space monitoring of multiple control barrier functions (CBFs) as well as polytopic collision avoidance, this paper studies the Polytope Volume Monitoring (PVM) problem, whose goal is to design a control law for inputs of nonlinear systems to prevent the volume of some state-dependent polytope from decreasing to zero. Recent studies have explored the idea of applying Chebyshev ball method in optimization theory to solve the case study of PVM;however, the underlying difficulties caused by nonsmoothness have not been addressed. This paper continues the study on this topic, where our main contribution is to establish the relationship between nonsmooth CBF and parametric optimization theory through directional derivatives for the first time, so as to solve PVM problems more conveniently. In detail, inspired by Chebyshev ball approach, a parametric linear program (PLP) based nonsmooth barrier function candidate is established for PVM, and then, sufficient conditions for it to be a nonsmooth CBF are proposed, based on which a quadratic program (QP) based safety filter with guaranteed feasibility is proposed to address PVM problems. Finally, a numerical simulation example is given to show the efficiency of the proposed safety filter. © 2025, CC BY.

关键词： Chebyshev filters

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Fluorine Ions Assist Titanium-Based Perylene Diimide to Achieve Over 500h Photocatalytic Stability

SSRN

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SSRN 2025年

作者： Li, Junqiang Fang, Jiongchong Liang, Huiqiang Wei, Zhenghao Fang, Jun Qiu, Longbin Lu, Xinxin Yang, Fuyuan Zeng, Guosong Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen518055 China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China PetroChina Shenzhen New Energy Research Institute Co. Ltd. Shenzhen518055 China School of Vehicle and Mobility Tsinghua University Beijing100084 China SUSTech Energy Institute for Carbon Neutrality Southern University of Science and Technology Shenzhen518055 China

Photocatalytic water splitting using semiconductor catalysts for green hydrogen production is a critical step toward global carbon neutrality. However, the rapid decline in catalytic activity due to unstable molecular structure and photo-corrosion limits the practical application of many organic semiconductors. In this study, two titanium-coordinated perylene diimide catalysts (TiF-PDI and TiC-PDI) were synthesized via a wet chemical approach, demonstrating impressive hydrogen evolution reaction (HER) activities of 584 and 510 μmol·g−1·h−1 under near-atmospheric conditions,respectively, representing a 7-8-fold enhancement compared to H2PDI. Particularly, TiF-PDI retained ~80% of its initial catalytic activity after 500 hours of continuous illumination under room temperature and near atmospheric pressure, demonstrating the highest HER long-term stability of perylene-based semiconductors to date. The introduction of Ti4+ ions facilitated charge separation and transfer, while F- ions played a vital role in further enhancing system polarization, stabilizing photogenerated excitons, and mitigating Ti4+ ions leaching by intercalating into the molecular lattice. This cooperative regulation of dual ions improved both photocatalytic performance and durability. This work provides valuable insights into structural modification and charge stabilization in designing high-performance and long-lived photocatalysts for sustainable energy applications. © 2025, The Authors. All rights reserved.

关键词： Atmospheric corrosion

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Complete Gait Phases Recognition Based on Muscle Synergy Using PSO-CNN-LSTM Algorithm

引用

IEEE Sensors Journal 2025年第10期25卷 16775-16786页

作者： Zhang, Kewen Li, Xiaoling Chen, Xin Yu, Longjie Jin, Yinan Fan, Bingfei Du, Mingyu Bao, Guanjun Wu, Xinyu Cai, Shibo Zhejiang University of Technology College of Mechanical Engineering Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of Education Hangzhou China Zhejiang University of Technology College of Mechanical Engineering Hangzhou China ZJUT Yinhu Research Institute of Innovation and Entrepreneurship ZJUT Yinhu Research Institute of Innovation and Entrepreneurship ZJUT Yinhu Research Institute of Innovation and Entrepreneurship Fuyang District Hangzhou311400 China Chinese Academy of Sciences Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Shenzhen China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Shenzhen China

Accurately recognizing gait phases, by applying proper instrumentation and measurement, is significant in walking rehabilitation training for patients with impaired mobility. In this study, seven phases of complete stand-walk-stand cycle as well as continuous daily walking were recognized based on muscle synergy and PSO-CNN-LSTM model. Firstly, the complete stand-walk-stand walking cycle were divided into starting phase, terminal swing phase, loading response phase, mid-stance phase, terminal stance phase, initial swing phase, and stopping phase, based on the features of surface electromyography (sEMG) collected by portable sEMG acquisition system and measured motion data of lower limb. Secondly, a muscle weight matrix and an activation sequence matrix were calculated by using non-negative matrix factorization (NMF). Finally, a PSO-CNN-LSTM network was designed to recognize the complete stand-walk-stand cycle by applying above mentioned matrices as input. Fourteen subjects volunteered to perform linear walking experiments under procedure to verify the feasibility of the proposed approach by comparing results with other classifiers and features. Experimental results show that the proposed approach was capable of achieving an average recognition accuracy of up to 85.384%. This work will offer promising gait recognition method for rehabilitation robots to achieve natural and flexible human-robot interaction. © 2001-2012 IEEE.

关键词： Non-negative matrix factorization

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Semantic Mapping Based on Visual SLAM with Object Model Replacement Visualization for Cleaning Robot

Semantic Mapping Based on Visual SLAM with Object Model Repl...

引用

2022 IEEE International Conference on robotics and biomimetics, ROBIO 2022

作者： Wang, Zirui Liao, Haiou Jia, Zhenzhong Wu, Jing Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems China Shenzhen518055 China

ISBN: (纸本)9781665481090

Cleaning robots have been widely used in our daily life, achieving huge success in the service robot sector. The autonomous movement and decision-making of these robots directly depend on their environmental perception capability, which is implemented using SLAM (simultaneous localization and mapping) technique. In order to achieve better environmental perception and intelligent decision-making, it is necessary to introduce visual SLAM into cleaning robot and take full advantage of visual information to achieve higher-level perception, instead of sticking to current feature point or pixel level perception capability. In this paper, we propose a framework for semantic mapping with object model replacement visualization in indoor scenes for cleaning robot. We use an EKF-based method to fuse wheel odometry and visual odometry, and build a map representation for navigation in the framework. We obtain a semantic map by fusing object detection and point cloud segmentation. We also develop object model replacement for better visualization purposes. Finally, we conduct dataset tests and real experiments to validate our proposed framework. © 2022 IEEE.

关键词： Visualization

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SmallRhex: A Fast and Highly-Mobile Hexapod Robot

SmallRhex: A Fast and Highly-Mobile Hexapod Robot

引用

2022 IEEE International Conference on robotics and biomimetics, ROBIO 2022

作者： Wang, Wenhui Shi, Wujie Li, Zerui Zhuang, Weiheng Zhu, Zheng Jia, Zhenzhong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems China Shenzhen518055 China

ISBN: (纸本)9781665481090

Relying on the unique C-leg structure, RHex robots have good mobility and traffic ability when having relatively simple structures. Based on the existing RHex robots, taking into account the performance and cost, this design develops a small hexapod robot, named smallRhex, with low cost but strong performance. This paper mainly introduces the mechanical structure, robot gaits, simulation, and physical performance tests of smallRhex robots. The hardware is mainly based on the raspberry pie microcomputer and Robomaster motor and accessories. The high power density meets the dual requirements of performance and cost. Then cooperates with 3D printing and sheet metal and machined parts processing to complete the design of the mechanical structure and assembly of the robot. At the control level, raspberry pie directly controls the movement of 6 motors. The gait design includes basic motion gait, which includes straight walking and turning, and other gaits of complex motion: stair climbing, jumping, and high obstacle climbing. They are simulated in Webots. Finally, the performance test and the gait test of the robot are carried out. Then the gait design is further optimized, and the basic design of smallRhex robot is completed. © 2022 IEEE.

关键词： Sheet metal

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A Bipedal Wheel-Legged Robot with High-frequency Force Control by Qausi-Direct Drive: Design and Experiments

A Bipedal Wheel-Legged Robot with High-frequency Force Contr...

引用

2022 IEEE International Conference on robotics and biomimetics, ROBIO 2022

作者： Zhao, Yuntian Lin, Shiyuan Zhu, Zheng Jia, Zhenzhong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems China Shenzhen518055 China

ISBN: (纸本)9781665481090

Under-actuated systems like bipedal wheel-legged robots have dynamics coupled with force control, which cannot be separated or integrated out. Joint force control is necessary for these robots to realize model based controllers. In this paper, we design a bipedal wheel-legged robot prototype with proprioceptive quasi-direct drive (QDD) actuators to realize high-frequency force control and good back-drivability to deal with unexpected impacts. We compare the control bandwidth, back-drivability (impact mitigation capability) of three commonly used force-control actuation paradigms including geareddown motor with integrated torque sensor, QDD, and SEA (series elastic actuation) in details. Detailed actuator calibration reveals good current-torque linearity, thereby simplifying the control problem. We also use EtherCAT-based communication network and real-time main controller to ensure high control frequency. We derive the robot dynamics model, establish the simulation model, and design a LQR controller, in order to demonstrate our proposed design. Moreover, in the real-world experiments, we use a velocity-based balance controller together with position joint controller to show preliminary mobility, including balancing, rotating, and forward motion. © 2022 IEEE.

关键词： Force control

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Adaptive Planar Foot with Compliant Ankle Joint and Multi-modal Sensing for Quadruped Robots

Adaptive Planar Foot with Compliant Ankle Joint and Multi-mo...

引用

2022 IEEE International Conference on robotics and biomimetics, ROBIO 2022

作者： Shi, Guowei Yao, Chen Wang, Wenhui Zhu, Zheng Jia, Zhenzhong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems China Shenzhen518055 China

ISBN: (纸本)9781665481090

An adaptive sensorized robot foot that can adapt to uneven and rough terrains and have contact state sensing capability is vital for legged locomotion in exploration missions. Inspired by quadruped animals, we present an adaptive planar foot with large contact area to reduce sinkage, two degrees of freedom (2-DOF) compliant ankle joint for better terrain adaptation, in-foot multi-modal sensing capability. We propose customized ankle design with encoders instead of IMU for ankle joint angle measurement, in order to mitigate the noise injected by large impact forces. The foot also provides an accurate estimated force according to foot-shank relative orientation and the 6-axis force/torque sensor data. We develop a control algorithm for a quadruped robot equipped with our proposed robot feet and test its performance through simulation. Real-world experiments including foot orientation estimation, swing sensitivity, and force perception verify that our robot foot is suitable for dynamic quadruped locomotion. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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