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2024 Design of Medical Devices Conference, DMD 2024

作者： Hage, Benjamin D. Krings, Ethan J. Walker, Quentin Markvicka, Eric J. Bashford, Gregory R. Biomedical Imaging and Biosignal Analysis Laboratory Department of Biological Systems Engineering University of Nebraska-Lincoln LincolnNE United States Smart Materials and Robotics Laboratory Department of Mechanical & Materials Engineering University of Nebraska-Lincoln LincolnNE United States Department of Biomedical Engineering The Ohio State University ColumbusOH United States

ISBN: (纸本)9780791887752

Aneurysmal subarachnoid hemorrhage affects 6.1/100, 000 people annually worldwide. After initial bleeding has stopped, victims are at high risk of vasospasm, a narrowing of cerebral arteries that may lead to stroke, for two weeks. One currently used method of monitoring for vasospasm involves calculation of the Lindegaard ratio, a ratio of blood flow velocity in the middle cerebral artery to the ipsilateral internal carotid artery. However, this method requires trained operators, limiting the frequency at which it is performed (no more than once per day). This work demonstrates a proof-of-concept device for frequent Lindegaard ratio calculation via periodic monitoring of blood flow in the internal carotid artery. © 2024 by ASME.

关键词： Ultrasonic devices

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Multimodal Emotion Classification Supported in the Aggregation of Pre-trained Classification Models 1

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23rd International Conference on Computational Science, ICCS 2023

作者： Cardoso, Pedro J. S. Rodrigues, João M. F. Novais, Rui LARSyS – Laboratory for Robotics and Engineering Systems ISR-Lisbon Lisboa1049-001 Portugal Instituto Superior de Engenharia Universidade do Algarve Faro8005-129 Portugal

ISBN: (数字)9783031360305

ISBN: (纸本)9783031360299

Human-centric artificial intelligence struggles to build automated procedures that recognize emotions which can be integrated in artificial systems, such as user interfaces or social robots. In this context, this paper researches on building an Emotion Multi-modal Aggregator (EMmA) that will rely on a collection of open-source single source emotion classification methods aggregated to produce an emotion prediction. Although extendable, tested solution takes a video clip and divides into its frames and audio. Then a collection of primary classifiers are applied to each source and their results are combined in a final classifier utilizing machine learning aggregator techniques. The aggregator techniques that have been put to the test were Random Forest and k-Nearest Neighbors which, with an accuracy of 80%, have demonstrated superior performance over primary classifiers on the selected dataset. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Nearest neighbor search

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SoSpider:A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration

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Science China(Technological Sciences) 2023年第11期66卷 3090-3106页

作者： NIU LiZhou DING Liang ZHANG ShengJie YANG HuaiGuang GAO HaiBo DENG ZongQuan LIU GuangJun HOSSAIN Mokarram State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China Department of Aerospace Engineering Ryerson UniversityToronto ON M5B 2K3Canada Zienkiewicz Institute for Modelling Data and AISwansea UniversitySwansea SA18ENUnited Kingdom

Soft robots have tremendous potential for applications in various fields,owing to their safety and flexibility embedded at the material *** robots,especially bio-inspired soft legged robots,have become one of the most active fields of current research in robotics thanks to their superior mobility and ability to face complex ***,it is arduous to establish a dynamic simulation model for soft robots,owing to their hyper-redundant degrees of freedom,hyper-elasticity,and nonlinearity of their soft *** this study,we designed,simulated,and fabricated a hexapod robot that achieves walking,crawling,pronking,and rolling with wheeled legs plus a soft body capable of shape change.A robot prototype was fabricated using 3D printing technology and soft silicone pneumatic ***,battery power,and control boards were integrated into the body of the robot for untethered *** have explored the capabilities of the robot in different conditions,especially in scenarios that simulate lunar and Martian environments,demonstrating the motion performance of the *** results have shown promising potentials of the developed robot for future applications in planetary lava tube *** experimental and simulation results also show good agreements that indicate the potential predictive roles of simulation tools for soft robot design,planning,and control.

关键词： multimodal soft robot pneumatic simulation planetary exploration

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A Stair-Climbing Robot with Star-wheel Configuration

A Stair-Climbing Robot with Star-wheel Configuration

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Cui, Tongxin Wang, Wenhui Zhu, Zheng Wu, Jing Jia, Zhenzhong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Shenzhen518055 China

ISBN: (纸本)9781665481090

This paper proposes a four-wheel mobile robot that uses passive star-wheel configuration to climb stairs. Without adding any control complexity, the robot can climb a standard indoor staircase of 15 × 28cm at a speed of 0.7s/step. For stairs of other sizes, it also has a certain adaptability, avoiding the problem of slipping when using active star-wheel to climb stairs. This paper analyzes the obstacle-surmounting conditions of the four-star-wheel robot during stair climbing, and uses statics to calculate the driving torque. We use simulation to validate the torque consumption study, and prove the stability of the robot's central trajectory during stair climbing. These results provide a basis to quantify the robot's stair-climbing capability under certain load. We build an robot prototype platform and conduct physical experimentation to validate the robot performance. © 2022 IEEE.

关键词： Stairs

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Droplet 3D cryobioprinting for fabrication of free-standing and volumetric structures

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Aggregate 2024年第5期5卷 433-444页

作者： Joshua Weygant Ali Entezari Fritz Koch Ricardo AndréGalaviz Carlos Ezio Garciamendez Pável Hernández Vanessa Ortiz David Sebastián Rendon Ruiz Francisco Aguilar Andrea Andolﬁ Ling Cai Sushila Maharjan Anayancy Osorio Yu Shrike Zhang Division of Engineering in Medicine Department of MedicineBrigham and Women’s HospitalHarvard Medical SchoolCambridgeMassachusettsUSA School of Biomedical Engineering University of Technology SydneyBroadwayNew South WalesAustralia Laboratory for Bioinspired Materials for Biomedical Engineering IMTEK—Department of Microsystems EngineeringUniversity of FreiburgFreiburgGermany Department of Informatics BioengineeringRobotics and Systems Engineering(DIBRIS)University of GenovaGenovaItaly Department of Engineering University of CambridgeCB21PZ CambridgeUK

Droplet-based bioprinting has shown remarkable potential in tissue engineering and regenerative ***,it requires bioinks with low viscosities,which makes it challenging to create complex 3D structures and spatially pattern them with different *** study introduces a novel approach to bioprinting sophisti-cated volumetric objects by merging droplet-based bioprinting and cryobioprinting *** leveraging the beneﬁts of cryopreservation,we fabricated,for theﬁrst time,intricate,self-supporting cell-free or cell-laden structures with single or multiple materials in a simple droplet-based bioprinting process that is facilitated by depositing the droplets onto a cryoplate followed by crosslinking during *** feasibility of this approach is demonstrated by bioprinting several cell types,with cell viability increasing to 80%–90%after up to 2 or 3 weeks of ***,the applicational capabilities of this approach are showcased by bio-printing an endothelialized breast cancer *** results indicate that merging droplet and cryogenic bioprinting complements current droplet-based bioprinting techniques and opens new avenues for the fabrication of volumetric objects with enhanced complexity and functionality,presenting exciting potential for biomedical applications.

关键词： 3D bioprinting biofabrication cryogenic bioprinting droplet printing inkjet tissue engineering

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Multi-Quadrotor Cooperative Encirclement and Capture Approach in Obstacle Environments

Multi-Quadrotor Cooperative Encirclement and Capture Approac...

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2025 IEEE International Conference on Mechatronics, ICM 2025

作者： Li, Zhenyu Wu, Ruixin Wang, Jin Hu, Chuanqi Zheng, Zhi Meng, Jun Lu, Guodong Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310058 China Zhejiang University Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems Hangzhou310058 China Robotics Research Center of Yuyao City Ningbo315400 China College of Electrical Engineering Zhejiang University Hangzhou310027 China Center for Data Mining and Systems Biology College of Electrical Engineering Zhejiang University Hangzhou310027 China

ISBN: (纸本)9798331533892

This article proposes an algorithm designed for autonomous quadrotors to capture target quadrotors in complex obstacle environments, enabling multiple pursuers to perform distributed capture while simultaneously avoiding obstacles and collisions. We first introduce a 3D obstacle space representation method based on safety-priority reachable region (SPRR) and implement real-time construction for general point cloud maps. Subsequently, leveraging SPRR, we employ an area minimization approach to ensure the effective capture of the evader within a limited time. The outcomes are then integrated into a MINCO-based trajectory planning framework to ensure their practical execution by real quadrotors. Relying on SPRR, the optimization problem is simplified and the solution efficiency is improved. In the scenario of simulating the dynamics of real quadrotors, we compare the proposed algorithm with state-of-the-art evasion and pursuit methods, validating its effectiveness and advancements. This work presents a practical solution for multi-quadrotor collaborative capture. © 2025 IEEE.

关键词： Motion planning

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Design of a Mesh Crawling Robot with Beetle-Inspired Variable Stiffness Tarsus

Design of a Mesh Crawling Robot with Beetle-Inspired Variabl...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Chen, Hao Hu, Kai Hu, Longlong Zhou, Ziqi Li, Yao Li, Bing Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9781665481090

Compared with large robots, micro-robots have the advantages of small size, low power consumption, and high concealment. For complex terrain, the crawling performance of micro-robots will be significantly reduced. In this study, the mesh surface was used as the crawling base of the robot, and a variable stiffness tarsus was designed with the beetle as a reference. This tarsus composed of multiple bending parts achieves a large range of stiffness changes, 0.070.495 N/mm. We have achieved stiffness control of the tarsus in a single actuation by trajectory planning of the claw ends. The proposed robot can achieve a big stiffness of the tarsus to resist the deformation of the tarsus due to external forces, which means that the robot can increase the adhesion ability when crawling at the stance phase. Therefore, even when the load was increased from 10g to 40g, the average crawling speed of the robot was not significantly reduced. This new tarsus can improve the crawling performance of the micro-robot on the mesh. © 2024 IEEE.

关键词： Microrobots

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KNTU-RoboGlove: Design of a Pneumatic Soft Robotic Glove 11

KNTU-RoboGlove: Design of a Pneumatic Soft Robotic Glove

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11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Boka, Tanin Nikkhah, M. Navid Moosavian, S. Ali A. Toosi University of Technology Tehran Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Dept of Mechanical Engineering K. N. Tehran Iran K. N. Toosi University of Technology Tehran Dept of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798350308105

This paper introduces an innovative advancement in the field of wearable assistive technology by presenting a revolutionary portable soft robotic glove designed to assist individuals with hand impairments during rehabilitation exercises and daily tasks. The glove offers both active finger flexion and passive extension to aid in hand support and rehabilitative training. It achieves this by utilizing integrated soft actuators, including a variable stiffness layer and a pneumatic-driven layer, which guide specific bending, twisting, and extending movements when air pressure is applied. Notably, the variable stiffness layer takes inspiration from pangolins, whose scales are pliable during daily activities but become rigid when facing threats. To provide increased power with enhanced stiffness, a toothed pneumatic actuator is specially designed. The three-finger soft glove is manufactured by molding super-elastic material, creating the actuator mold using a 3D printer. The glove's grasping abilities have been thoroughly tested, and experimental results demonstrate that, when compared to previously developed elastomeric-based actuators, these actuators can generate substantial force and torque to facilitate finger flexion even at lower air pressure levels. This capability allows the glove to grasp a wide range of objects, assisting individuals in their rehabilitative training. Furthermore, a control system for grasping has been developed, which includes motion processing unit sensors for collecting feedback signals aligned with the actuators, along with a closed-loop controller for regulating the pressure. In contrast to existing devices, this glove, thanks to its portable design, has the potential to significantly enhance user autonomy and independence. © 2023 IEEE.

关键词： Pneumatic actuators

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A Distance-Geometric Method for Recovering Robot Joint Angles From an RGB Image

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IFAC-PapersOnLine 2023年第2期56卷 1003-1008页

作者： Ivan Bilić Filip Marić Ivan Marković Ivan Petrović University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Autonomous Systems and Mobile Robotics University of Toronto Space and Terrestrial Autonomous Robotic Systems Laboratory

Autonomous manipulation systems operating in domains where human intervention is difficult or impossible (e.g., underwater, extraterrestrial or hazardous environments) require a high degree of robustness to sensing and communication failures. Crucially, motion planning and control algorithms require a stream of accurate joint angle data provided by joint encoders, the failure of which may result in an unrecoverable loss of functionality. In this paper, we present a novel method for retrieving the joint angles of a robot manipulator using only a single RGB image of its current configuration, opening up an avenue for recovering system functionality when conventional proprioceptive sensing is unavailable. Our approach, based on a distance-geometric representation of the configuration space, exploits the knowledge of a robot's kinematic model with the goal of training a shallow neural network that performs a 2D-to-3D regression of distances associated with detected structural keypoints. It is shown that the resulting Euclidean distance matrix uniquely corresponds to the observed configuration, where joint angles can be recovered via multidimensional scaling and a simple inverse kinematics procedure. We evaluate the performance of our approach on real RGB images of a Franka Emika Panda manipulator, showing that the proposed method is efficient and exhibits solid generalization ability. Furthermore, we show that our method can be easily combined with a dense refinement technique to obtain superior results.

关键词： Manipulation Mechatronic systems robotics Joint angle estimation

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Robust Tracking for Electromagnetic-Actuated Microrobot Via Sliding Mode Control 49

Robust Tracking for Electromagnetic-Actuated Microrobot Via ...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Wu, Yihang Qu, Ziyao Chang, Xiaocong Hu, Zhijian Yang, Rongni Ma, Renjie Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China School of Electrical and Electronic Engineering Nanyang Technological University Singapore School of Control Science and Engineering Shandong University Jinan China

ISBN: (纸本)9798350331820

Microrobots can work in small, enclosed spaces and complete complex tasks. It has potential applications in the field of biomedical and life sciences. This paper focuses on investigating robust dynamic tracking for electromagnetic-actuated microrobot via sliding mode control. First, we generalize the planar motion to the case of spatial trajectory tracking and then establish the three-dimensional tracking error model of microrobot. Then, we deploy a novel sliding control strategy and ensure the stability of sliding mode dynamics, once the robotic state reaches the sliding surface and sustains there in the sequel. Finally, the numerical simulation is conducted, compared to the traditional proportion-integration-differentiation control strategy, to verify the effectiveness and advantages of our proposed control scheme. © 2023 IEEE.

关键词： Sliding mode control

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