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Developing a mechatronics-Twin Framework for Effective Exploration of Operational Behaviors of Prosthetic Sockets

SN Computer Science 2024年第2期5卷 205页

作者： Chen, Dejiu Ottikkutti, Suranjan Tahmasebi, Kaveh Nazem Unit of Mechatronics and Embedded Control Systems KTH Royal Institute of Technology Stockholm Sweden

A Stewart platform is a six-degree-of-freedom parallel manipulator widely used as the motion base for flight simulators and antenna positioning systems, among others. This work presents a novel mechatronics-twin framework that integrates such a manipulator with advanced biomechanical models and simulations for effective exploration of operational behaviors of prosthetic sockets with amputees. By means of the biomechanical models and simulations, the framework allows the users to first analyze the fundamental operational characteristics of individual amputees according to their specific body geometries, pelvis-femur structures, and sizes of transfemoral sockets. Such operational characteristics are then fed to one Stewart platform as the reference control signals for the generation of dynamic loads and behaviors of prosthetic sockets that are otherwise difficult to observe or realize with the real amputees. Experiments in form of integration testing show that the proposed control strategy is capable of generating expected dynamic operational conditions. Currently, the mechatronics-twin framework supports a wide range of biomechanical configurations and the quantification of the respective intra-socket load conditions for socket design optimization and anomaly detection. © 2024, The Author(s).

关键词： Biomechanical modeling Cyber-physical system Force-control Human-in-the-loop mechatronics-Twin Prosthetics Stewart manipulator Transfemoral amputee

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A mechatronics-twin Framework based on Stewart Platform for Effective Exploration of Operational Behaviors of Prosthetic Sockets with Amputees

A Mechatronics-twin Framework based on Stewart Platform for ...

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15th International Joint Conference on Biomedical Engineering systems and Technologies, BIOSTEC 2022

作者： Chen, Dejiu Ram Ottikkutti, Suranjan Nazem Tahmasebi, Kaveh Unit of Mechatronics and Embedded Control Systems KTH Royal Institute of Technology Stockholm10044 Sweden

A Stewart platform is a six-degree-of-freedom parallel manipulator widely used as the motion base for flight simulators, antenna positioning systems, machine tool technology, etc. This work presents a novel mechatronics-twin framework that integrates such a manipulator with advanced biomechanical models and simulations for effective exploration of operational behaviors of prosthetic sockets with amputees. By means of the biomechanical models and simulations, the framework allows the users to first analyze the fundamental operational characteristics of individual amputees according to their specific body geometries, pelvis-femur structures, sizes of transfemoral sockets, etc. Such operational characteristics are then fed to one Stewart platform as the reference control signals for the generation of dynamic loads and behaviors of prosthetic sockets that are otherwise difficult to observe or realize with the real amputees. Experiments in form of integration testing show that the proposed control strategy is capable of generating expected dynamic operational conditions. Currently, the mechatronics-twin framework supports a wide range of biomechanical configurations and the quantification of the respective intra-socket load conditions for socket design optimization and anomaly detection. © 2022 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved.

关键词： Degrees of freedom (mechanics)

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A Survey on the Current Trends and Applications of Design Optimization for Compliant and Soft Robotics

A Survey on the Current Trends and Applications of Design Op...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Seshagopalan Thorapalli Muralidharan Georgios Andrikopoulos Lei Feng Mechatronics & Embedded Control Systems Unit KTH Royal Institute of Technology Stockholm Sweden

This paper aims to provide a systematic review of the published results on design optimization techniques in the area of compliant and soft robots, with a focus on the manufacturing processes, actuation methods and application areas. The goal of this work is to provide a comprehensive view and categorization of recent efforts using optimization for improving the design paradigms of such robot technologies, while focusing on the popular methods of topology optimization and generative design. In addition, this paper provides insights into the technical and technological trends that could potentially steer this area towards widespread adoption in domestic and industrial settings.

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On the Design and Development of a Tabletop Robot for Interaction with Children

On the Design and Development of a Tabletop Robot for Intera...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Christos Andreanidis Johanna Bergsten Marcel Brümmer Joel Fröberg Algot Lindestam Annie Persson Fahim Pirmohamed Maria Sandahl Seshagopalan Thorapalli Muralidharan Georgios Andrikopoulos Mechatronics & Embedded Control Systems Unit KTH Royal Institute of Technology Stockholm Sweden

This article presents a novel emotionally expressive robot platform targeting social engagement with children. This platform was implemented in accordance with UNICEF’s policy guidance on artificial intelligence (AI) for children, focusing on factors such as safety, transparency, reliability and explainability. The robot prototype is presented from a design and development perspective, outlining all utilized electromechanical components that enable its 11 degrees-of-freedom and sensing functions. Preliminary evaluation results are provided in terms of dependability and expressiveness of basic emotions, thus demonstrating the robot’s potential to facilitate trustworthy and secure interactions with children.

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EMG Onset and Offset Detection via a Modified Threshold Crossings Algorithm

EMG Onset and Offset Detection via a Modified Threshold Cros...

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Mediterranean Conference on control and Automation (MED)

作者： Vasiliki Theofili Nikolaidi George Andrikopoulos Dimitris Tsipianitis Dimosthenis Kazakos Department of Electrical and Computer Engineering University of Patras Greece Unit of Mechatronics and Embedded Control Systems KTH Royal Institute of Technology Stockholm Sweden

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

In this study, we propose a novel family of onset and offset detection algorithms for electromyographic (EMG) signals, based on the Teager-Kaiser Energy Operator (TKEO). These algorithms are derived from an existing double-threshold statistical detector, which is modified to use Shifted Skew Log Laplace Distribution (SSLLD) probabilities and likelihoods to take advantage of the improved TKEO SNR ratio. The performance of the proposed algorithms are compared against existing approaches on synthetic EMG signals generated using an heteroscedastic autoregressive Gaussian model.

关键词： Automation Detectors Benchmark testing Probability Approximation algorithms Electromyography Real-time systems

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Non-Axiomatic Reasoning for an Autonomous Mobile Robot

Non-Axiomatic Reasoning for an Autonomous Mobile Robot

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Patrick Hammer Peter Isaev Lei Feng Robert Johansson Jana Tumova Division of Robotics Perception and Learning KTH Royal Institute of Technology Stockholm Sweden Department of Computer and Information Systems Temple University Philadelphia PA USA Unit of Mechatronics and Embedded Control Systems KTH Royal Institute of Technology Stockholm Sweden Department of Psychology Stockholm University Stockholm Sweden

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

We present the integration of a Non-Axiomatic Reasoning System (NARS) with mobile robots for planning and decision making. NARS enables robots to effectively handle uncertainty in real-time with complete sensor and actuator integration, thereby ensuring adaptability to evolving scenarios. We discuss essential parts of the logic, the architecture and working principles of NARS, and the integration of NARS as a ROS node. A case study is provided demonstrating the system’s proficiency to carry out a garbage collection task in an open-air environment by operating a mobile robot with manipulator arm, and we demonstrate its ability to learn about the place-dependent accumulation of garbage items. Case study also reveals that our approach performs more effectively on the overall task than the Belief-Desire-Intention model we compared with.

关键词： Actuators Uncertainty Object detection Switches Robot sensing systems Manipulators Cognition

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A Bibliometric Analysis on Model-based systems Engineering

A Bibliometric Analysis on Model-based Systems Engineering

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IEEE International Symposium on systems Engineering (ISSE)

作者： Zihang Li Jinzhi Lu Guoxin Wang Lei Feng Didem Gurdur Broo Dimitris Kiritsis School of Mechanical Engineering Beijing Institute of Technology Beijing China ICT4SM Lab EPFL - École Polytechnique Fédérale de Lausanne Lausanne Switzerland Unit of Mechatronics and Embedded Control Systems KTH Royal Institute of Technology Stockholm Sweden Centre for Smart Infrastructure Laing O'Rourke Centre for Construction Engineering and Technology Centre for Digital Built Britain University of Cambridge Cambridge United Kingdom

Model-based systems engineering (MBSE) has been accepted as an extremely important approach to understanding the multi-domain research field comprehensively. In this paper, a bibliometric analysis is used to conduct a comprehensive survey of model-based systems engineering literature of the last five years. The VOSViewer is used to implement visual network analysis for co-authorship, citation, and co-occurrence of the MBSE related papers. The results of the bibliometric study, firstly, reveal the influential research teams and sources. Secondly, research hotspots in the current MBSE domain are identified. The findings of this study aim to help researchers to gain a faster and deeper understanding of the current literature on MBSE.

关键词： Analytical models Visualization Digital twin Bibliometrics Collaboration Tools Market research

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