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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Wang, Xinyu Yang, Chenguang Ma, Hongbin Cheng, Long Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China Univ Plymouth Sch Comp & Math Ctr Robot & Neural Syst Plymouth PL4 8AA Devon England S China Univ Technol Key Lab Autonomous Syst & Network Control Minist Educ Guangzhou 510641 Guangdong Peoples R China S China Univ Technol Coll Automat Sci & Engn Guangzhou 510641 Guangdong Peoples R China Beijing Inst Technol State Key Lab Intelligent Control & Decis Complex Beijing 100081 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China

ISBN: (纸本)9781479999941

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Teleoperation Shared control Obstacle Avoidance

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Decentralized Fuzzy control of Multiple Cooperating Robotic Manipulators With Impedance Interaction

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IEEE TRANSACTIONS ON FUZZY systemS 2015年第4期23卷 1044-1056页

作者： Li, Zhijun Yang, Chenguang Su, Chun-Yi Deng, Shuming Sun, Fuchun Zhang, Weidong S China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China Univ Plymouth Ctr Robot & Neural Syst Plymouth PL4 8AA Devon England Concordia Univ Dept Mech & Ind Engn Montreal PQ 1455 Canada Tsinghua Univ Dept Comp Sci & Technol Beijing 100084 Peoples R China Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China

In this paper, a decentralized adaptive fuzzy control has been developed for two cooperating robotic manipulators moving an object with impedance interaction. The contact forces are described using gradients of nonlinear potentials;then, the deformations of the contact surface can be obtained by an impedance approach. The cooperating manipulators are considered as a combination of subsystems, and the decentralized local dynamics coupled with physical interactions among the subsystems are developed. To compensate for the effect of dynamics uncertainties and external disturbances, decentralized fuzzy control combining parameter adaptations and disturbance observers is constructed. It guarantees the motion trajectories and impedance forces of the constrained object converging to the desired manifolds. It is theoretically established that the disturbance observers compensate for unparameterizable uncertainties, while the adaptive fuzzy mechanism compensates for the fast-changing components of the uncertainties that go beyond the disturbance observers. Moreover, unknown nonlinear dynamics such as the inertia matrix, Coriolis/centripetal matrix, and frictions, as well as interconnections with nonlinear bounds, can be accommodated through online learning. The experiments on two real robots have been carried out to verify the effectiveness of the proposed theoretical results.

关键词： Decentralized control fuzzy system impedance interaction

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Automatic Obstacle Avoidance using Redundancy for Shared controlled Telerobot Manipulator 5

Automatic Obstacle Avoidance using Redundancy for Shared Con...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems (CYBER)

作者： Wang, Xinyu Yang, Chenguang Ma, Hongbin Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China Univ Plymouth Sch Comp & Math Ctr Robot & Neural Syst Plymouth PL4 8AA Devon England South China Univ Technol Key Lab Autonomous Syst & Network Control Minist Educ Guangzhou Guangdong Peoples R China South China Univ Technol Coll Automat Sci & Engn Guangzhou Guangdong Peoples R China Beijing Inst Technol State Key Lab Intelligent Control & Decis Complex Beijing 100081 Peoples R China

ISBN: (纸本)9781479987306

In this paper, a novel obstacle avoidance method is developed in the framework of shared control for teleoperation robot manipulator, such that the human operator only need to tele-operate the end-effector motion of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end-effector performance by using its joint space redundancy. The obstacle is detected using Kinect (R) sensor, and a novel obstacle avoidance method is used based on the general solution of the inverse kinematic problem. By employment of an artificial parallel system of the teleoperator manipulator, the proposed control method enables the robot restoring back to the commanded pose when the obstacle avoidance task is accomplished. The performance of the proposed methods is demonstrated by simulation studies. The developed techniques are of great advantage to be used in teleoperation which requires safe interaction with environment.

关键词： Teleoperation Shared control Kinematically Redundant Obstacle Avoidance

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Teleoperated Robot Writing using EMG Signals

Teleoperated Robot Writing using EMG Signals

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IEEE International Conference on Information and Automation 2015

作者： Yang, Chenguang Chang, Sai Liang, Peidong Li, Zhijun Su, Chun-Yi Univ Plymouth Ctr Robot & Neural Syst Plymouth PL4 8AA Devon England South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou 510640 Guangdong Peoples R China Harbin Inst Technol State Key Lab Robot Syst Harbin 150001 Peoples R China Concordia Univ Dept Mech & Ind Engn Montreal PQ H3G 1M8 Canada

ISBN: (纸本)9781467391047

In this paper, we have developed a method to tele-control a robot arm to imitate human writing skills using electromyography (EMG) signals. The control method is implemented on the Baxter (R) robot with a brush attached on the endpoint of its arm to imitate human writing skills, and a MYO sensor is used to measure the surface electromyographic (sEMG) signals generated by contractions of human muscles involved in writing tasks. A haptic device Sensable (R) Omni is used to control the motion of the Baxter (R) robot arm, and V-Rep (R) is employed to simulate the movement of the arm and to calculate the inverse kinematic of Baxter (R) robot arm. All the communications for Baxter (R) robot, V-Rep simulator, Omni device and MYO are integrated in MATlab (R)/Simulink (R). The main test is to make the Baxter (R) arm following the movement of a human subject when writing with Omni stylus, and the EMG signals are processed using low pass filter and moving average technique to extract the smoothed envelope which is utilised to control the variation of position instead of variation of force along the vertical Z axis, so when the operator writes with force variations, the Baxter (R) can draw lines with variable thickness. This imitation system is successfully tested to make the Baxter (R) arm to follow the writing movement of the operator's hand and would have potential applications in more complicated human robot teleoperation tasks such as tele-rehabilitation and tele-surgery.

关键词： Teleoperation sEMG V-Rep Baxter (R) robot

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Development of multi-fingered dexterous hand for grasping manipulation

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Science China(Information Sciences) 2014年第12期57卷 76-85页

作者： LIN GuoDong LI ZhiJun LIU Lan SU Hang YE WenJun The Key Lab of Autonomous System and Network Control Ministry of EducationCollege of Automation Science and Engineering South China University of Technology School of Material Science and Engineering South China University of Technology Department of Mechanical and Industrial Engineering Concordia University

In this paper,a developed multi-fingered dexterous hand with flexible tactile skin is *** dexterous hand has 5-fingers with 6-DOFs and each finger is equipped with a small harmonic drive gear and a fine high-power mini *** achieve the goal of grasping with high accuracy,each fingertip is covered with the tactile array sensors for determination of the force between the finger and the grasped *** preliminary experiments are conducted to illustrate the performance of the grasping of the developed dexterous hand.

关键词： multi-fingered dexterous hand grasping tactile sensors

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Characterising acute and chronic care needs: insights from the Global Burden of Disease Study 2019

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Nature communications 2025年第1期16卷 4235-4235页

作者： Cecilia Anza-Ramirez J. Jaime Miranda Benedetta Armocida Jorge César Correia Harriette Gillian Christine Van Spall David Beran Amirali Aali Kalkidan Hassen Abate Semagn Mekonnen Abate Cristiana Abbafati Mohsen Abbasi-Kangevari Zeinab Abbasi-Kangevari Zahra Aryan Sina Azadnajafabad Mohammadreza Azangou-Khyavy Seyyed-Hadi Ghamari Mohammad keykhaei Javad Khanali Sara Momtazmanesh Fateme Montazeri Shayan Rahmani Mohammad-Mahdi Rashidi Nazila Rezaei Negar Rezaei Sahar Saeedi Moghaddam Hossein Hassanian-Moghaddam Ali-Asghar Kolahi Ali Nikoobar Hedayat Abbastabar Ahmed M. Abdel-Azeem Michael Abdelmasseh Juan Sanabria Sherief Abd-Elsalam Ahmed Abdelwahab Gholamreza Abdoli Mohammad Abdollahi Meriem Abdoun Deldar Morad Abdulah Abu Yousuf Md Abdullah Ame Mehadi Abdurehman Getachew Abebe Aidin Abedi Chirag P. Doshi Vida Abedi Hassan Abidi Richard Gyan Aboagye Hassan Abolhassani Nima Rezaei Lucas Guimarães Abreu Michael R. M. Abrigo Yonas Derso Abtew Hiwa Abubaker Ali Eman Abu-Gharbieh Hiba Jawdat Barqawi Rabih Halwani Maha Mohamed Saber-Ayad Iman M. Talaat Ahmed Abu-Zaid Manfred Mario Kokou Accrombessi Juan Manuel Acuna Denberu Eshetie Adane Tigist Demssew Adane Isaac Yeboah Addo Giovanni Addolorato Oluwafemi Atanda Adeagbo Victor Adekanmbi Miracle Ayomikun Adesina Isaac Iyinoluwa Olufadewa Olatunji O. Adetokunboh Daniel Adedayo Adeyinka Qorinah Estiningtyas Sakilah Adnani Aanuoluwapo Adeyimika Afolabi Olayinka Stephen Ilesanmi Muhammad Sohail Afzal Saira Afzal Gina Agarwal Prerna Agarwal Pradyumna Agasthi Anurag Agrawal Marcela Agudelo-Botero Adolfo Martinez-Valle Bright Opoku Ahinkorah Aqeel Ahmad Sajjad Ahmad Sohail Ahmad Tauseef Ahmad Ali Ahmadi Siamak Sabour Keivan Ahmadi Sanjay Basu Sepideh Ahmadi Ali Ahmed Shaun Wen Huey Lee Ayman Ahmed Haroon Ahmed Jivan Qasim Ahmed Gahin Abdulraheem Tayib Yahya Yahya Luai A. Ahmed Iffat Elbarazi Syed Mahboob Shah Janardhana P. Aithala Marjan Ajami Budi Aji Hossein Akbarialiabad Yibeltal Akelew Meisam Akhlaghdoust Elham Jamshidi Addis Aklilu Azene Tesfaye Melat Woldemariam Maxwell Ak CRONICAS Center of Excellence in Chronic Diseases Universidad Peruana Cayetano Heredia Lima Peru School of Medicine Universidad Peruana Cayetano Heredia Lima Peru Sydney School of Public Health Faculty of Medicine and Health University of Sydney Sydney NSW Australia Faculty of Epidemiology and Population Health London School of Hygiene & Tropical Medicine London UK Division of Tropical and Humanitarian Medicine University of Geneva Geneva Switzerland Department of Cardiovascular Endocrine-metabolic Diseases and Aging Istituto Superiore di Sanità Rome Italy Division of Endocrinology Diabetology Nutrition and Therapeutic Patient Education Department of Medicine Geneva University Hospitals Geneva Switzerland Department of Medicine and Department of Health Research Evidence and Impact McMaster University Hamilton ON Canada Research Institute of St. Joe’s Hamilton ON Canada Population Health Research Institute Hamilton Canada Geneva University Hospitals Geneva Switzerland Faculty of Medicine Mashhad University of Medical Sciences Mashhad Iran Department of Nutrition and Dietetics Jimma University Jimma Ethiopia Anesthesiology Department Dilla University Addis Ababa Ethiopia Department of Juridical and Economic Studies La Sapienza University Rome Italy Non-Communicable Diseases Research Center Tehran University of Medical Sciences Tehran Iran Social Determinants of Health Research Center Shahid Beheshti University of Medical Sciences Tehran Iran Brigham and Women’s Hospital Harvard University Boston MA USA Students’ Scientific Research Center (SSRC) Tehran University of Medical Sciences Tehran Iran School of Medicine Tehran University of Medical Sciences Tehran Iran School of Medicine Shahid Beheshti University of Medical Sciences Tehran Iran Endocrinology and Metabolism Research Institute Tehran University of Medical Sciences Tehran Iran Chapter of Addiction Medicine University of Sydney Sydney NSW Australia Advanced Diagnostic and Intervent

Chronic care manages long-term, progressive conditions, while acute care addresses short-term conditions. Chronic conditions increasingly strain health systems, which are often unprepared for these demands. This study examines the burden of conditions requiring acute versus chronic care, including sequelae. Conditions and sequelae from the Global Burden of Diseases Study 2019 were classified into acute or chronic care categories. Data were analysed by age, sex, and socio-demographic index, presenting total numbers and contributions to burden metrics such as Disability-Adjusted Life Years (DALYs), Years Lived with Disability (YLD), and Years of Life Lost (YLL). Approximately 68% of DALYs were attributed to chronic care, while 27% were due to acute care. Chronic care needs increased with age, representing 86% of YLDs and 71% of YLLs, and accounting for 93% of YLDs from sequelae. These findings highlight that chronic care needs far exceed acute care needs globally, necessitating health systems to adapt accordingly. © 2025. The Author(s).

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Optimization of Parameters for an USV Autopilot 1

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8th International Conference on Intelligent Robotics and Applications (ICIRA)

作者： Annamalai, Andy S. K. Yang, Chenguang Univ Highlands & Isl Moray Coll Inverness Scotland Univ Plymouth Ctr Robot & Neural Syst Plymouth PL4 8AA Devon England S China Univ Technol Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China S China Univ Technol Coll Automat Sci & Engn Guangzhou 510641 Guangdong Peoples R China

ISBN: (数字)9783319228792

ISBN: (纸本)9783319228792;9783319228785

The purpose of this research is to provide an insight into the effect of different parameters on the autopilot design. Various independent parameters of three autopilots namely, proportional integral derivative, linear quadratic regulator and model predictive controller are analyzed and evaluated to obtain optimum performance. Further these optimal parameters are employed in a controller design which is integrated with a Kalman filter and an interval Kalman filter based navigation system and a line of sight based guidance system. Overall performance of the autopilots with the optimum parameters are presented in a tabular form to enable easier comparison and to serve as a benchmark to tune autopilot parameters of an uninhabited surface vehicles.

关键词： Proportional integral derivative Linear quadratic regulator Model predictive control Kalman filtering Navigation, guidance and control Uninhabited surface vehicle

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Shared control of an Intelligent Wheelchair with Dynamic Constraints Using Brain-Machine Interface 1

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8th International Conference on Intelligent Robotics and Applications (ICIRA)

作者： Li, Z. Yang, C. Zhao, S. Wang, N. Su, C. -Y. S China Univ Technol Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China S China Univ Technol Coll Automat Sci & Engn Guangzhou 510641 Guangdong Peoples R China Univ Plymouth Ctr Robot & Neural Syst Plymouth PL4 8AA Devon England Concordia Univ Dept Mech & Ind Engn Montreal PQ Canada

ISBN: (数字)9783319228761

ISBN: (纸本)9783319228761;9783319228754

In this paper, a human-machine shared control strategy is developed for the navigation of a wheelchair. The shared controller switches between a brain-machine control mode and an autonomous control mode. In the brain-machine control mode, a novel brain-machine interface (BMI) using only two command signals produced by steady state visual evoked potentials (SSVEP) instead of traditional four-direction command signals is developed. These two brain signals are involved to generate a polar polynomial trajectory (PPT), which is continuous in curvature without violating dynamic constraints of the wheelchair. In the autonomous control mode, the synthesis of angle-based potential field (APF) and vision-based simultaneous localization and map-building (SLAM) technique is proposed to guide the robot navigating in environments where obstacles exist. Experimental studies have been carried out with a number of volunteers and the effectiveness of the proposed shared control scheme has been verified.

关键词： Shared control Brain-machine interfaces Dynamic constraints

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Adaptive neural network control of bilateral teleoperation with unsymmetrical stochastic delays and unmodeled dynamics

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2014年第11期24卷 1628-1652页

作者： Li, Zhijun Xia, Yuanqing S China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou Guangdong Peoples R China Beijing Inst Technol Dept Automat Control Beijing 100081 Peoples R China

In this paper, adaptive NN control is proposed for bilateral teleoperation system with dynamic uncertainties, unknown external disturbances, and unsymmetrical stochastic delays in communication channel to achieve transparency and robust stability. Compared with previous passivity-based teleoperation framework, the communication delays are unsymmetrical and stochastic. By partial feedback linearization using nominal dynamics, the nonlinear dynamics of the teleoperation system are transformed into two subsystems: local master/slave dynamics control and time-delay motion tracking. By integrating Markov jump systems and adaptive parameters updating, adaptive NN control strategy is developed. The stability of the closed-loop system and the boundedness of tracking errors are proved using Lyapunov-Krasovskii functional synthesis under specific linear matrix inequalities conditions. The proposed adaptive NN control is robust against motion disturbances, parametric uncertainties, and unsymmetrical stochastic delay, which effectiveness is validated by extensive simulation studies. Copyright (c) 2013 John Wiley & Sons, Ltd.

关键词： neural network teleoperation random delay

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Barrier Lyapunov based control of dual-arm exoskeleton robots performing asymmetric bimanual tasks

Barrier Lyapunov based control of dual-arm exoskeleton robot...

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2014 International Conference on Advanced Mechatronic systems, ICAMechS 2014

作者： Li, Zhijun Su, Hang Zhang, Hongbin Su, Chun-Yi Chai, Tianyou Yang, Chenguang Key Lab of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou China State Key Lab of Synthetical Automation for Process Industries Northeastern University Shengyang China

ISBN: (纸本)9781479963812

This paper presents Barrier Lyapunov Based control of a dual-arm exoskeleton system by using the relative Jacobian technique. Two upper exoskeletons operates in a constrained region of the operational space, whose end-effector motions are defined by the relative motion between the two end effectors. Barrier composite energy function (BCEF) scheme with a novel Barrier Lyapunov Function is developed to help exoskeleton tracking desired trajectories within the constrained range and provides a convenient way of dynamics cancellation with minimal knowledge of the dynamics parameters of the dual arm. Finally, the performance of the proposed adaptive control is illustrated through extensive experiments using the developed exoskeleton. © 2014 IEEE.

关键词： Lyapunov functions

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