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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Yuye Hu Jian Guo Weijie Zhang Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Kagawa Japan Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (纸本)9781509023974

This paper proposed a novel muscle force evaluation method to evaluate the patient's rehabilitation condition in the process of rehabilitation training. According to the related literature research, the complexity of the electromyography (EMG) signals were different under different muscle force. The physiological features and the state of muscle can be indirectly speculated by detecting the change of the dynamic complexity of EMG signals. The novel ideal of our research is to propose an EMG-based muscle force evaluation method using approximate entropy. The evaluation system consists of two main parts: the EMG acquisition (BIOFORCEN) and the measurement of muscle force (FingerTPS). Experiments were conducted with a healthy male. 15 groups EMG signals of biceps and triceps were acquired under different muscle force. Raw EMG data were recorded for off-line analysis. The approximate entropy (ApEn) and the power of EMG signals aiming at intercept relatively stable 10 section signal in each group were calculated to compose the training set. In addition, the additional 150 groups feature vectors were obtained to compose a sample set. 15 groups muscle force were divided into 6 levels and two classification method (linear discriminate analysis (LDA) and quadratic discriminate analysis (QDA)) were used to classify the feature vector. Experimental results have shown that the discrimination between ApEn and the power were obvious and 65% classification accuracy was got with the QDA method. The research of this paper can be a promising approach for further research in the field of rehabilitation evaluation.

关键词： Muscles Electromyography Force Training Entropy Force measurement Electrodes

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Performance evaluation of force feedback for the improved vascular interventional robotic system

Performance evaluation of force feedback for the improved va...

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IEEE International Conference on Mechatronics and Automation

作者： Lin Shao Jian Guo Shuxiang Guo Yang Yu Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781479970995

Currently, the study of the vascular interventional surgery (VIS) robot becomes more and more popular, which is to improve the safety of the surgery. In this paper, a novel master-slave robotic catheter system has been proposed for the VIS. The system uses MR (magneto rheological) fluid to implement force feedback. The force feedback to the operator on the master side is very important to improve the safety of the surgery. The damper is a piston structure with MR fluid. The coil winds around the piston. When the piston is moving in the piston cylinder, the resistance to the piston will appear as a certain amount of current applied to the coil. We can realize the force feedback by this way. The surgeon can feel the force through the operating catheter connected with the damper, which seems that the surgeon operates the catheter beside the patient. The force feedback evaluation experiments of the damper were done. The error between the detected force and the damping force is in the allowable range. The maximum of error is lower than 0.1N. According to a research presenting that the force larger than 0.12N will injure the vessel, it indicates that the error can meet our design requirement. The experimental results indicated that the damper was effective for realizing the force feedback of the master-slave system. It can provide force feedback to the surgeon in real time.

关键词： Catheters Force Force feedback Shock absorbers Surgery Pistons Fluids

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Modeling of muscle forces around the elbow in the RITS

Modeling of muscle forces around the elbow in the RITS

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IEEE International Conference on robotics and Biomimetics

作者： Wei Wei Wu Zhang Fan Zhang Shuxiang Guo Jian Guo Yuehui Ji Yunliang Wang Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory TianJin University of Technology TianJin China The School of Electrical Engineering TianJin University of Technology TianJin China The School of Mechanical Engineering TianJin University of Technology TianJin China The Intelligent Mechanical Systems Engineering Department TianJin University of Technology TianJin Kagawa China

ISBN: (纸本)9781479927456

Muscle forces modeling and computation around the elbow are focused on in this paper when the elbow flexing and extending in the sagittal plane. The paper introduces a Rehabilitation intelligent Training System (RITS) for restoration of motor function. The system has advantages of small size, less weight and interaction during the rehabilitation process. Furthermore, this system mainly consists of a force feedback device called PHANTOM Premium 1.5, ULERD, EEG (Electroencephalogram) based Brain-Computer Interfaces (BCI). The impaired hand wears the ULERD, so the therapist can control and move the injured hand by PHANTOM Premium in tele-operation. If the force feedback from PHAMTOM Premium is similar to the force generated by the muscle force of upper limb, the effect of upper limb rehabilitation to restore elbow motion may be suitable and satisfactory. This paper aims to computing the natural muscle forces and realizing the force which is generated by PHAMTOM and close to the computed one. Experiment has been performed to prove that the method is feasible in such robots. The development of this method can be a promising approach for further research in more effective rehabilitation to the elbow joint.

关键词： Muscles Force Elbow robots Joints Brain modeling Educational institutions

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A Method for Obtaining Contact Force between Catheter Tip and Vascular Wall in Master-slave robotic System

A Method for Obtaining Contact Force between Catheter Tip an...

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IEEE International Conference on Mechatronics and Automation

作者： Xiaoliang Jin Shuxiang Guo Jian Guo Peng Shi Dapeng Song Faculty of Engineering and Design Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan 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 China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In the research of vascular interventional surgery robotic system, the force information acquisition of surgical tools (guidewires and catheters) has a significant affect on the safety of surgery, especially the contact force between the catheter tip and vascular wall. Therefore. In order to obtain this contact force, we noticed the pressure sensitive rubber because of its piezoresistive effect and easy processing into any shape. a force sensor based on the pressure sensitive rubber was developed in this paper. Once a force is applied on the force sensor attached to the catheter tip, the contact force can be approximated by the piezoresistive effect of the pressure sensitive rubber. The feasibility of the developed force sensor was verified by the experiments in “Vitro”. And the results showed that the force sensor was developed in this paper can accurately detect the contact force between the catheter tip and vascular wall at different positions in the vascular model, the extraction of contact force information of catheter tip is of great significance to the safety of surgery, and the application potential of pressure sensitive rubber.

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A Large Capacity Expansion and Robust Recognition Method of Dot-Dispersing Coded Targets with Binary Step-Response Serial Encoding

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SSRN 2023年

作者： Song, Limei Zheng, Tenglong Li, Yunpeng Deng, Sanpeng Yang, Yangang Zhu, Xinjun Tianjin Key Laboratory of Intelligent Control of Electrical Equipment Tiangong University Tianjin300387 China School of Control Science and Engineering Tiangong University Tianjin300387 China School of Mechanical Engineering Tiangong University Tianjin300387 China School of Artificial Intelligence Tiangong University Tianjin300387 China School of Mechanical Engineering Tianjin University of Technology and Education Tianjin300222 China Institute of Robotics and Intelligent Equipment Tianjin University of Technology and Education Tianjin300222 China Tianjin Key Laboratory of Intelligent Robot Technology and Application Tianjin300350 China Tianjin Bonus Robotics Technology Co. Ltd Tianjin300350 China

In close-range photogrammetry, it is difficult to meet the measurement requirements of large scenes in actual engineering due to the limited capacity of coded targets. To expand the capacity of the coded target, we propose a binary step-response serial-coded target (BSSCT). The BSSCT introduces periodic binary wave information as an additional feature in the dot-dispersing coded target. Also, a robust recognition algorithm for the BSSCT is developed, the P2-Invariant, and the step period is used for decoding. The capacity of the coded target reaches 7 magnitudes without increasing the auxiliary points. Under different lighting conditions and viewing angles, the measurement experiments show that the BSSCT outperforms other state-of-the-art coded targets. Our BSSCT is a promising standard method for large field system calibration and object measurement. © 2023, The Authors. All rights reserved.

关键词： Signal encoding

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Movement characteristics evaluation of the spherical robot actuated by the magnetic field for medical applications

Movement characteristics evaluation of the spherical robot a...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Nan Liang Jian Guo Pengyu Liu Lili Wang Gang Sun Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Kagawa Japan Internal Medicine-Oncology Tianjin Hospital of ITCWM Naikai Hospital Tianjin China Gastrointestinal Surgery Tianjin Hospital of ITCWM Naikai Hospital Tianjin China

ISBN: (纸本)9781509023974

The capsule microrobot will play an important role in the medical application such as the minimally invasive surgery in the future. In this paper, we proposed the spherical capsule robot system driven by the external magnetic field. And then we did the finite element analysis of the electromagnetic device involved in the system using ANSYS software. In the end, to verify our analysis results and establish relationship with the experimental system, we conducted the comparison between experimental results and theoretical results. In addition, the spherical robot motion was also recorded in the tube and an open plastic sink. Combining with the proposed experimental platform, we can change the orientation of the capsule robot by changing the direction of the external magnetic field and change the moving speed by changing the frequency of the external magnetic field. The driving force of the Helmholtz coil on the capsule robot can be generated along the space any direction by changing the parameters of the input signal in theory. Besides that we found that the variation tendency of the magnetic field is the same between experimental values and simulation results. We can adjust the parameters of the input current on the basis of the simulation results in order to obtain the needed external magnetic field during the actual operation. The capsule robot motion indicated that the capsule robot motion is related to other factors except the external driving force. The experiments in an open plastic cup indicated that the spherical capsule robot can actively motion along the predetermined direction in the plane. The research results in this paper will provide the strong supports for actuating the capsule robot with the external magnetic field for medical applications in the future.

关键词： Magnetic fields Finite element analysis Force Atmospheric modeling robot motion Permanent magnets

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Opt2ada: An Universal Method for Single-Image Low-Light Enhancement

SSRN

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SSRN 2022年

作者： Guo, Xiaoyong Zhang, Kai Peng, Jiahan Chen, Xiaoyan Guo, Guangjie College of Electronic Information and Automation Tianjin University of Science and Technology Tianjin300457 China Xingtai Key Laboratory for research and application of robot intelligent detection and sorting technology Xingtai054001 China College of Mechanical Engineering Tianjin University of Science and Technology Tianjin300457 China School of Physics and Electrical Engineering Xingtai University Xingtai054001 China

In this paper, it is proposed that the task of single-image low-light enhancement can be accomplished by a straightforward method named Opt2Ada in which a series of operations are integrated including an \textbf{opt}imized illuminance map generation, an \textbf{ada}ptive illuminance enhancement, and an \textbf{ada}ptive global scaling. A rich variety of criteria is used for the evaluation, including full-reference, no-reference, and semantic metrics. Extensive experiments on real-world low-light images clearly verify the superiority of Opt2Ada against recently proposed state-of-the-art enhancing algorithms in RGB color space including both traditional and deep learning methods. Opt2Ada neither relies on specific architecture engineering nor dataset collection and preparation. It is not data-driven and its parameters are universal resulting to a generalization capability better than that of the data-driven methods. Moreover, we deploy Opt2Ada on various mobile phones, and find that a native CPU implementation can reach 3-9 frames per second. Since our method is simple and effective, this makes it convenient to be developed by any programming language and imbedded into the pre-processing subroutines for high-level machine vision tasks. © 2022, The Authors. All rights reserved.

关键词： Image enhancement

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Opt2ada: An Universal Method for Single-Image Low-Light Enhancement

SSRN

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SSRN 2022年

作者： Guo, Xiaoyong Zhang, Kai Peng, Jiahan Chen, Xiaoyan Guo, Guangjie College of Electronic Information and Automation Tianjin University of Science and Technology Tianjin300457 China Xingtai Key Laboratory for Research and Application of Robot Intelligent Detection and Sorting Technology Xingtai054001 China College of Mechanical Engineering Tianjin University of Science and Technology Tianjin300457 China School of Physics and Electrical Engineering Xingtai University Xingtai054001 China

关键词： Image enhancement

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Development of the Insect-inspired Biomimetic Underwater Microrobot for a Father-son robot System

Development of the Insect-inspired Biomimetic Underwater Mic...

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IEEE International Conference on Mechatronics and Automation

作者： Wenbo Sui Shuxiang Guo Liang Zheng Ruochen An Awa Tendeng Graduate School of Engineering Kagawa University Takamatsu Kagawa Japan Faculty of Engineering and Design Kagawa University Hayashi-cho Kagawa Japan 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 China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In this paper, the lifting platform structure of the father robot and the development of the insect-inspired biomimetic underwater microrobot are presented. The objective is to decrease the load of microrobot and realize more functions. In previous researchers, the platform of the father robot is fixed, which is not conducive to adopt and release the son robot. The structure of the lifting platform can effectively solve the problem in theory. The insect-inspired microrobot used wood which has high hydrophilism. It causes the body of microrobot increased weight and short-term works. The fillable structure with waterproof character which is made by a 3D printer. The new structure also can be changed weight for achieving different functions underwater efficiently. Then, two kinds of communication between the light source and microrobot like chasing rotation and fixed distance chasing are described in order to prove the feasibility of the software. In all these cases, experimental results show the performance of the microrobot.

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Design of a Capsule robot System for Gastric Hemorrhage Detection using Luminol

Design of a Capsule Robot System for Gastric Hemorrhage Dete...

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IEEE International Conference on Mechatronics and Automation

作者： Yuchen Mao Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Application Complicated Systems and Intelligent Robot Laboratory School of Electrical Engineering and Automation Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen 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 No.5 Zhongguancun South Street Beijing China

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system.

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