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IEEE International Conference on Mechatronics and Automation

作者： Ruijie He Shuxiang Guo He Li Hanze Wang Bin Wang Mingchao Ding The Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Department of Peripheral Vascular Intervention Aerospace Center Hospital School of Life Science Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

With the escalating aging population, the number of individuals suffering from upper limb hemiplegia is steadily rising each year. The upper limb rehabilitation robot plays a vital role in solving the above problems. As an essential bioelectrical signal, Surface Electromyography (sEMG) is widely used in rehabilitation training. However, in practical applications, the deviation of sEMG electrodes often has a bad effect on the accuracy of signal acquisition. The focus of this paper is to delve into the impact of sEMG electrode deviation on signal acquisition and to propose a viable solution strategy. We collected the standard signals and the signals of electrode deviation, respectively, and fused the data. Specifically, we used the Support Vector Machine (SVM) algorithm to address the issues caused by electrode deviation. The experimental results show that the SVM algorithm effectively solves the errors caused by sEMG electrode deviation in classification problems.

关键词： Electrodes Support vector machines Wrist Training Accuracy Sociology Electromyography

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Design and Performance Evaluation of a Three-Dimension Triphibian Robot Propulsion Unit Based on Electric Ducted Fan Engine

Design and Performance Evaluation of a Three-Dimension Triph...

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IEEE International Conference on Mechatronics and Automation

作者： Yingduo Chen Shuxiang Guo He Yin Ao Li Bin Wang Mingchao Ding The Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Department of Peripheral Vascular Intervention Aerospace Center Hospital School of Life Science Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Robots capable of traversing multiple environments impose stringent design requirements on their propulsion units. In order to add flying capabilities to the existing amphibious spherical robot and enhance its maneuverability while optimizing propulsion strategies, this paper proposes a three-dimension triphibian robot propulsion unit based on electric ducted fan engine. The paper begins by introducing the concept of the robot and its significance. Subsequently, it analyzes the design requirements for the propulsion unit based on the functional upgrade. Following this, an evaluation system is designed to conduct thrust tests and verify the power of the propulsion unit, demonstrating the effectiveness of its design. This lays the groundwork for the comprehensive design and experimentation of the three-dimensional triphibian robot propulsion unit.

关键词： Performance evaluation Fans Mechatronics Sea measurements Electric variables measurement Propulsion Task analysis

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A Clamping Perception system Based on Multi-source Sensors for Amphibious Spherical Robots

A Clamping Perception System Based on Multi-source Sensors f...

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IEEE International Conference on Mechatronics and Automation

作者： Chengchao Gu Shuxiang Guo He Yin Ao Li Bin Wang Mingchao Ding The Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Department of Peripheral Vascular Intervention Aerospace Center Hospital School of Life Science Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Robots replacing divers to collect and search underwater is a widely concerned field at present. In order to enable the robot to better complete the grasping task underwater, building a grasp perception system suitable for the robot is helpful for the robot to complete the autonomous grasping task. This paper presents a grasp perception system based on an amphibious robot platform. This system mainly uses four kinds of sensors. They are IMU, pressure sensor, binocular camera, and ultrasonic distance sensor. In order to control the robot to maintain the balance posture in grasping, we combine the data of IMU and pressure sensor, so that the robot can get more posture information. The accurate relative position information between the robot and the target is obtained in real time by fusing the data of binocular camera and ultrasonic ranging. Underwater experiments showed that the robot had good perception ability.

关键词： Pressure sensors Robot vision systems Grasping Cameras Distance measurement Acoustics Sensor systems

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Premilitary Performance Evaluation of Model-mediated Telerehabilitation system with Task Stiffness Estimation

Premilitary Performance Evaluation of Model-mediated Telereh...

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IEEE International Conference on Mechatronics and Automation

作者： Ziyi Yang Shuxiang Guo Graduate School of Engineering Kagawa University Hayashi-cho Takamatsu Japan The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Haidian District Beijing China

For the telerehabilitation robotic system, the stable and transparent remote therapist-patient interaction under the internet communication latency remains an open challenge. In this paper, we proposed a model-mediated telerehabilitation system to avoid the delayed force feedback on the therapist side. Moreover, a variable stiffness robot is employed in the proposed telerehabilitation system to improve the patient-robot interaction on the slave side. On the slave side, a performance-based variable stiffness interactive assistance control law was utilized and the task stiffness estimation method is designed for master-side interaction model updating. On the master side, the master subsystem was implemented by a haptic device with visual and force feedback. The overall telerehabilitation was realized by the TCP/IP internet communication method. From the premilitary experimental results, the therapist subject could conduct the therapy with the aid of visual and force feedback, and the patient subject could complete the training task with their active efforts.

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A Preliminary Study of Vibration Feedback for Robot-assisted Endovascular Surgery

A Preliminary Study of Vibration Feedback for Robot-assisted...

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IEEE International Conference on Mechatronics and Automation

作者： Xinming Li Shuxiang Guo Graduate School of Engineering Kagawa University Hayashi-cho Takamatsu Japan The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing Haidian District China

The study of haptic perception is significant and general for robot-assisted endovascular surgery. During actual surgical procedure, feedback information has advantages in monitoring the insertion process, providing direct instruction for surgeons, and improving operation safety. In this work, a new implementation of haptic perception named vibration feedback is concepted and proposed based on micro vibration motor. Related working principles and kinetic analysis of vibration feedback are descripted based on three kinds of vibration patterns. Two kinds of experiments are conducted to determine suitable parameters of duty cycle for vibration feedback and test the using performance in human model. Experimental results indicate that the proposed vibration feedback is feasible and helpful to offer a haptic perception. Moreover, benefiting from the micro size of vibration motor, this study also has potential value for some research fields like small wearable device, micro haptic feedback, multi-level feedback perception for robotic systems.

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Design and Static Analysis of Feet-legs Device of a Natatores-like Amphibious Robot

Design and Static Analysis of Feet-legs Device of a Natatore...

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IEEE International Conference on Mechatronics and Automation

作者： Xinru Lin Liwei Shi Shuxiang Guo School of Medical Technology Beijing Institute of Technology Beijing China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology (Beijing Institute of Technology) Ministry of Industry and Information Technology Beijing China School of Life Science Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

With the increased demand for the exploration of the ocean, the focus of research in the field of robotics has changed. Amphibious robots show broad application prospects. In order to design an amphibious robot adapted to multiple environments, a feet-legs device inspired by natatores was designed. Each webbed foot is made up of three sets of four-linked rods that allow the toe bones to fold and shrink, enabling better imitation of the webbed feet motion of natatores paddling. In order to analyse and optimize the mechanical strength of the critical components of the device during operation, static analysis and structural improvements are made to the webbed feet and the roller of the cylindrical cam. The results show that the static strength of improved webbed feet and the cam roller meet the requirements.

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Research on Target Encirclement Strategy of Amphibious Spherical Robots in 3D Underwater Environments

Research on Target Encirclement Strategy of Amphibious Spher...

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IEEE International Conference on Mechatronics and Automation

作者： Dan Yang Liwei Shi Shuxiang Guo Shilong Feng School of Medical Technology Beijing Institute of Technology Beijing China Ministry of Industry and Information Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology(Beijing Institute of Technology) Beijing China School of Life Science Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

The cooperative trapping of multiple amphibious robots in a 3D underwater environment is a comprehensive research topic that mainly includes the generation of dynamic alliances for trapping and path planning. To address this problem, this paper first proposes a “trap point occupancy strategy” to realize the generation of dynamic alliances among multiple robots during the trapping process. Secondly, based on this, an improved gray wolf algorithm is proposed in this paper to implement robot target guidance and adaptive obstacle avoidance functions, used for the path planning of the robot’s arrival at the trapping point during the trapping process, thus completing the entire trapping task. Then, this paper conducts simulation experiments in a 3D underwater environment with static obstacles, and the results confirm that the proposed cooperative trapping algorithm has high efficiency and robustness. Finally, the innovations and all the work in the article are summarized, and prospects are put forward.

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Fatigue Analysis of Leg Structure of a Natatores-Like Amphibious Robot

Fatigue Analysis of Leg Structure of a Natatores-Like Amphib...

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IEEE International Conference on Mechatronics and Automation

作者： Yan Niu Liwei Shi Shuxiang Guo School of Medical Technology Beijing Institute of Technology Beijing China Ministry of Industry and Information Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology(Beijing Institute of Technology) Beijing China School of Life Science Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

With the increasing demand for ocean exploration and development, the research about the amphibious robot is of great significance. In this paper, a natatores-like amphibious robot was designed by using the driving method of paddling by webbed foot. This mode has the advantages of high propulsion efficiency, good mobility and good stability. Due to the characteristics of this propulsion mode, the leg structure of the robot is often applied with periodic loads. And therefore it is necessary to verify the mechanical performance of the leg structure. The elastoplastic finite element model of the leg structure of the robot was modelled, and the fatigue analysis of the model under the walking gait were carried out. The results showed that the fatigue failure of the thigh and the shank would not occur within the design life, which met the design requirements. The analysis results can provide reference for the material selection and structural optimization design of leg in the subsequent work.

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YOLOv7-Based Land and Underwater Target Detection and Recognition

YOLOv7-Based Land and Underwater Target Detection and Recogn...

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IEEE International Conference on Mechatronics and Automation

作者： Jieren Li Liwei Shi Shuxiang Guo School of Medical Technology Beijing Institute of Technology Beijing China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology (Beijing Institute of Technology) Ministry of Industry and Information Technology Beijing China School of Life Science Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

There is a growing demand for marine resource development. Bionic amphibious robots can replace humans to conduct land and underwater exploration, which has important research significance. Deep learning has developed rapidly in recent years, and many kinds of target detection algorithms have emerged. We select one two-stage target detection algorithm Faster R-CNN, three single-stage target detection algorithms SSD, Centernet, and YOLOv7. We use each of these four algorithms to train the VOC2007 dataset in a deep learning environment. After the training is completed, these four models are evaluated and predicted separately. We find an algorithm that is most suitable for the amphibious robot applicationYOLOv7. Finally, we use the YOLOv7 model to detect the underwater dataset, and the results prove that the model is promising for detecting small underwater targets.

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Lightweight Method for Interactive 3D Medical Image Segmentation with Multi-Round Result Fusion

arXiv

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arXiv 2024年

作者： Shen, Bingzhi Chang, Lufan Chen, Siqi Guo, Shuxiang Liu, Hao Aerospace Center Hospital School of Life Science The Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing100081 China Yizhun Medical AI Co. Ltd Beijing100081 China Shenzhen Key Laboratory of Ubiquitous Data Enabling Tsinghua Shenzhen International Graduate School Tsinghua University Shenzhen China Department of Electronic and Electrical Engineering Southern University of Science and Technology Guangdong Shenzhen518055 China

In medical imaging, precise annotation of lesions or organs is often required. However, 3D volumetric images typically consist of hundreds or thousands of slices, making the annotation process extremely time-consuming and laborious. Recently, the Segment Anything Model (SAM) has drawn widespread attention due to its remarkable zero-shot generalization capabilities in interactive segmentation. While researchers have explored adapting SAM for medical applications, such as using SAM adapters or constructing 3D SAM models, a key question remains: CAN TRADITIONAL CNN NETWORKS ACHIEVE THE SAME STRONG ZERO-SHOT GENERALIZATION IN THIS TASK? In this paper, we propose the Lightweight Interactive Network for 3D Medical Image Segmentation (LIM-Net), a novel approach demonstrating the potential of compact CNN-based models. Built upon a 2D CNN backbone, LIM-Net initiates segmentation by generating a 2D prompt mask from user hints. This mask is then propagated through the 3D sequence via the Memory Module. To refine and stabilize results during interaction, the Multi-Round Result Fusion (MRF) Module selects and merges optimal masks from multiple rounds. Our extensive experiments across multiple datasets and modalities demonstrate LIM-Net’s competitive performance. It exhibits stronger generalization to unseen data compared to SAM-based models, with competitive accuracy while requiring fewer interactions. Notably, LIM-Net’s lightweight design offers significant advantages in deployment and inference efficiency, with low GPU memory consumption suitable for resource-constrained environments. These promising results demonstrate LIM-Net can serve as a strong baseline, complementing and contrasting with popular SAM models to further boost effective interactive medical image segmentation. The code will be released at https://***/goodtime-123/LIM-Net. Copyright © 2024, The Authors. All rights reserved.

关键词： Image segmentation

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