检索结果-内蒙古大学图书馆

6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Cui, Yuding Xiong, Caihua Sun, Ronglei State Key Lab of Digital Manufacturing Equipment and Technology Institute of Rehabilitation and Medical Robotics Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9783642408519

The purpose of this research is to eliminate the noise of sEMG signal which it used to control the upper arm rehabilitation robot. In this paper, we propose an anti-aliasing and de-noising hybrid algorithm for signal processing based on wavelets theory and FFT. Experimental results showed that the hybrid algorithm is quite effective for signal anti-aliasing and de-noising. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Fast Fourier transforms

来源：评论

学校读者我要写书评

暂无评论

A principle of mechanical implementing the kinematic synergy for designing anthropomorphic hand

A principle of mechanical implementing the kinematic synergy...

引用

6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Chen, Wenbin Xiong, Caihua State Key Lab of Digital Manufacturing Equipment and Technology Institute of Rehabilitation and Medical Robotics Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9783642408519

The kinematic synergy observed in angular velocity profile are employed by human hand in skilled grasping movement. Comparing to the static posture synergy, the reconstruction error of hand shape from kinematic synergy is obviously smaller when both using two most significant principle components. What's more, the whole process of hand dynamic movement can be reconstructed just by several constant parameters as weight coefficient to linear combine the kinematic synergies. However, no work in literature mechanically implement the kinematic synergy for designing anthropomorphic hand. In this paper, real-world data of hand grasping process is collected using a data glove, and two most important kinematic synergies are extracted. A novel mechanical designing principle is proposed to synthesize the synergies by groups of cams. The mechanism design has the potentially attractive benefit to greatly reduce the complexity of motion control of anthropomorphic hand. The full grasping process of anthropomorphic hand can be implemented just by keeping input-shaft rotate one cycle at constant velocity. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Kinematics

来源：评论

学校读者我要写书评

暂无评论

Joint Motion Angle Prediction Based on Hammerstein Model for Human-robot Interaction Control 41

Joint Motion Angle Prediction Based on Hammerstein Model for...

引用

第41届中国控制会议

作者： Hui-Qi Niu Xu Zhong Ji-Wei Li Bi Zhang Xin-Gang Zhao State Key Lab of Robotics Shenyang Institute of AutomationChinese Academy of Sciences Institutes of Robotics and Intelligent Manufacturing Chinese Academy of Sciences College of Automation and Electrical Engineering Shenyang Ligong University School of Intelligent Medicine China Medical University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Human surface electromyography(sEMG) contains rich human motion information,which can effectively help determine the state of muscles,and is further directly related to joint motion,so it has been widely used in scientific research and clinical *** analyzing the motion information or intention contained in the patient's EMG signal and applying it to the control system of human-computer interaction is of great significance in the practical application of exoskeleton rehabilitation/assistance *** at the problem that the robot system needs to use the joint motion angle of the patient in the motion control of the exoskeleton,this paper proposes a new method to predict the joint motion angle based on the muscle electrical signal and the motion angle of the previous *** Hammerstein model is used to map the nonlinear relationship between EMG signals and joint motion *** unique structure of the Hammerstein model simplifies the computational complexity of model parameter ***,while collecting muscle EMG signals and motion angles related to joint motion,the parameters are identified to establish the corresponding Hammerstein ***,the motion angle of the ankle joint is predicted by using the EMG signal and the motion angle of the previous moments as the input of the motion *** is proved by experiments that the motion model established by this method can realize the accurate prediction of continuous motion angle,and can be applied to the control signal of the actual control system in the future.

关键词： sEMG Hammerstein model joint movement angle prediction

来源：评论

学校读者我要写书评

暂无评论

OROCOS-based generic control system for a 6 DOF industrial manipulator

OROCOS-based generic control system for a 6 DOF industrial m...

引用

2016 IEEE Workshop on Advanced robotics and its Social Impacts, IEEE ARSO 2016

作者： Cheruiyot, Gilbert K. Zhu, Xiaoxiao Cao, Qixin Research Institute of Robotics School of Mechanical and Power Engineering Shanghai Jiaotong University China State Key Lab of Mechanical Systems and Vibration Research Institute of Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781509040773

This paper presents the design and implementation of a PC-based control application retrofitted to an existing industrial manipulator. The system uses the OROCOS component-based framework for real-time functionality as well as its infrastructure for software component interaction. This together with the use some of the provided libraries and built-in development tools allowed for a rapid development approach. Direct addressing of a PCI-based I/O card peripheral hardware is described and proposed as a solution to the perennial challenge of hardware I/O in Linux partly occasioned by a lack of support for device drivers. The result is a fully functional control application that provides standard manipulator functionality as well as on-board analysis tools and capacity for sensor-based extended functionality. Moreover the resulting scheme is based on generic hardware that is available commercially off-the-shelf and can thus be replicated in its entirety. © 2016 IEEE.

关键词： Industrial manipulators

来源：评论

学校读者我要写书评

暂无评论

Optimization algorithms and application in milling machine

Optimization algorithms and application in milling machine

引用

International Conference on Machine Learning and Cybernetics, ICMLC 2005

作者： Li, Jian-Ping Zhang, Fu-Bo Wang, Dong-Shu State Key Lab of Rolling and Automation Northeastern University Shenyang 110004 China Institute of Artificial Intelligence and Robotics Northeastern University Shenyang 110004 China

ISBN: (纸本)078039092X

About the calibration of milling machine geometrical parameters, firstly, this paper introduces the principle of pose matching and two optimization algorithms: nonlinear optimization procedure and iterative linearization of the equations, which are used respectively to calibrate the geometrical parameters of a milling machine. Both of the optimization algorithms can reduce the machine pose error to about 1/6 of initial values. Based on analyzing the elements affecting the position error, the algorithms eliminate the parameters those are non-sensitive to position accuracy and whose effects are indistinguishable to others, and repeating the calibration process. The simulation results show that calibration effect is not quite different from the algorithms obtained with the complete parameter set. In some cases, the latter is even better than the former. So it is feasible to calibrate the machine substituting the complete parameter set with reduced set, with an improved accuracy. © 2005 IEEE.

关键词： Milling machines

来源：评论

学校读者我要写书评

暂无评论

Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

引用

Journal of Bionic Engineering 2020年第6期17卷 1163-1174页

作者： Ning Li Tie Yang Yang Yang Peng Yu Xiujuan Xue Xingang Zhao Guoli Song Imad HElhajj Wenxue Wang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Itelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Bejing 100049China Rehabilitation Center for the Disabled Shenyang 110015China Vision and Robotics Lab Department of Electrical and Computer EngineeringAmerican University of BeirutBeirut 11072020Lebanon Emerging Technologies Instinute Department of Industrial&Manufacturing Systems EngineeringUniversity of Hong KongPokfulamHong Kong 999077China

Exoskeleton robots have demonstrated the potential to rehabilitate stroke ***,poor human-machine physiological coupling causes unexpected damage to human of muscles and ***,inferior humanoid kinematics control would restrict human natural *** to deal with these problems results in bottlenecks and hinders its *** this paper,the simplified muscle model and muscle-liked kinematics model were proposed,based on which a soft wrist exoskeleton was established to realize natural human ***,we simplified the redundant muscular system related to the wrist joint from ten muscles to four,so as to realize the human-robot physiological ***,according to the above human-like musculoskeletal model,the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the *** results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3%and 35.6%,***,the humanoid motion trajectories similarity of the robot reached 91.5%.Stroke patients could recover 90.3%of natural motion ability to satisfy for most daily *** work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.

关键词： stroke rehabilitation simplified muscle model soft wrist exoskeleton robot bionic kinematics model

来源：评论

学校读者我要写书评

暂无评论

Tool-path generation algorithm of sculptured surface by 3-axis swing grinding

引用

Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS 2008年第7期14卷 1417-1420页

作者： Fan, Li-Cheng Du, Zhi-Jiang Sun, Li-Ning State Key Lab. of Robotics and System Harbin Institute of Technology Harbin 150080 China

In conventional Numerical Control (NC) machining of sculptured surface based on triangular facet model, to calculate each Cutter Location (CL) point of the flatted cutter, only few facets were actually used in the calculation of the tool projection region. However, most calculations were conducted to search those triangular facets overlapped by the tool projection region from the total facet set. To overcome such weakness, a novel rectangle envelope method was proposed, in which most facets outside the projection region were filtered out. During the course of a searching process, all facets overlapped by the tool projection region were saved independently so as to avoid searching the total STL (STereo Lithography) file again in next steps. For each facet overlapped by the tool projection region, the CL point was calculated by the cutter contract points with the vertexes, sides and the plane, finally the tool-path was obtained. Simulation experiment was used to demonstrate the feasibility of the proposed method.

关键词： Grinding (machining)

来源：评论

学校读者我要写书评

暂无评论

Force modeling for tooth preparation in a dental training system

引用

Virtual Reality 2008年第3期12卷 125-136页

作者： Liu, Guanyang Zhang, Yuru Townsend, William T. State Key Lab. of Virtual Reality Technology and System Beihang University Beijing China Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China Barrett Technology Inc. Boston MA United States

Feedback force is very important for novices to simulate tooth preparation by using the haptic interaction system (dental training system) in a virtual environment. In the process of haptic simulation, the fidelity of generated forces by a haptic device decides whether the simulation is successful. A force model computes feedback force, and we present an analytical force model to compute the force between a tooth and a dental pin during tooth preparation. The force between a tooth and a dental pin is modeled in two parts: (1) force to resist human's operation and (2) friction to resist the rotation of the dental engine. The force to resist the human's operation is divided into three parts in the coordinates that are constructed on the bottom center of the dental pin. In addition, we also consider the effects of dental-pin type, tooth stiffness, and contact geometry in the force model. To determine the parameters of the force model, we construct a measuring system by using machine vision and a force/torque sensor to track the human's operations and measure the forces between the dental pins and teeth. Based on the measuring results, we construct the relation between the force and the human's operation. The force model is implemented in the prototype of a dental training system that uses the Phantom as the haptic interface. Dentists performing virtual operations have confirmed the fidelity of feedback force. © Springer-Verlag London Limited 2008.

关键词： Haptic interfaces

来源：评论

学校读者我要写书评

暂无评论

Automatic detection of circulating tumor cells with very deep residual networks 19

Automatic detection of circulating tumor cells with very dee...

引用

9th International Conference on Biomedical Engineering and Technology, ICBET 2019

作者： Li, Bin Ge, Yunhao Zhao, Yanzheng Yan, Weixin Robotics Institute Shanghai Jiao Tong University Shanghai China State Key Lab of Mechanical System Vibration Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781450361309

Automatic detection of circulating tumor cells (CTCs) in microscopic images is a very challenging task due to the variable artificial and environmental factors, such as inconsistency of light intensity and staining, cell adhesion, multiple impurities and so on. In order to meet these challenges, we propose a novel deep multiscale residual network (DMRN) for CTCs detection. Compared with existing methods either low-level hand-crafted features or CNNs with shallower architectures, our deep networks can acquire more discriminative features for more accurate detection. To train very deep networks more efficiently, we propose a set of schemes to ensure effective training and learning under limited training data. First, we apply the residual learning to generate more discriminative features and overcome the overfitting problem when a network goes to deeper. Then, a fully residual convolutional network (FRCN) is proposed to produce the prediction maps of CTCs. Finally, we propose to integrate multi-scale contextual information in proposed FRCN and fuse these prediction maps both global and local features of CTCs, making the prediction more accurate and robust. We built three DMRN models to study the impact of network depth on model performance. Each model was tested on our own dataset containing complex jamming information. The DRMN-50 model which has a depth of 50 layers performs best among three models with Jaccard-index of 0.810 (with a pixel accuracy of 99.8% as a reference index) and its performance outperform other existing state-of-art methods such as U-Net in other domain. The result also depicts the accurate and robust performance of proposed method in complex environment. © 2019 Association for Computing Machinery.

关键词： Forecasting

来源：评论

学校读者我要写书评

暂无评论

A Recurrent Neural Network Based Prediction Method for Continuous Joint Angle Movement 13

A Recurrent Neural Network Based Prediction Method for Conti...

引用

13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023

作者： Su, Juhua Cheng, Tao Tan, Xiaowei Li, Mengze Zhang, Bi Zhao, Xingang College of Information Science and Engineering Northeastern University Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences State Key Lab of Robotics Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350315196

Motion intention recognition has been widely used in fields such as robotics and medical assistance. However, traditional non-electromyographic signal cannot meet the demands of certain special scenarios, which limits the development of robots that rely on human-machine interaction. In this paper, we research an RNN algorithm that allows for online parameter tuning, which adopts LSTM and GRU models to predict joint angle changes based on surface electromyography (sEMG) and joint angle information. Moreover, we have identified optimal parameters through extensive experimentation and validated the significant impact of different model parameters on prediction performance. © 2023 IEEE.

关键词： Long short-term memory

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：