
Intelligent Robotics and Applications
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The 299 papers included in these proceedings were carefully reviewed and selected from 386 submissions. They were organized in topical sections as follows: Robotics dexterous manipulation; sensors, actuators, and controllers for soft and hybrid robots; cable-driven parallel robot; human-centered wearable robotics; hybrid system modeling and human-machine interface; robot manipulation skills learning; micro_nano materials, devices, and systems for biomedical applications; actuating, sensing, control, and instrumentation for ultra-precision engineering; human-robot collaboration; robotic machining; medical robot; machine intelligence for human motion analytics; human-robot interaction for service robots; novel mechanisms, robots and applications; space robot and on-orbit service; neural learning enhanced motion planning and control for human robot interaction; medical engineering.
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Content
- Intro
- Preface
- Organization
- Contents - Part I
- Robotic Dexterous Manipulation
- A Spatial Layout Method of Robots Relative to Operating Space Based on Its Flexible Workspace Simulation
- 1 Introduction
- 2 Kinematics Analysis Based on Screw Theory
- 3 Workspace Optimization and Layout of the Six-DOFs Robot
- 3.1 Workspace Optimization of the Six-DOFs Robot
- 3.2 Layout of the Six-DOFs Robot
- 4 Simulation Example and Its Analysis
- 5 Conclusion and Future Work
- References
- Hand Posture Reconstruction Through Task-Dependent Hand Synergies
- 1 Introduction
- 2 Experiment Description
- 2.1 Participants
- 2.2 Apparatus and Experimental Procedure
- 3 Hand Synergies Extraction
- 3.1 Grasp Types Clustering
- 3.2 Task-Dependent Hand Synergies Extraction
- 4 Results and Discussion
- 4.1 Clustering Results of the GRASP Taxonomy
- 4.2 Overall Dependencies Between Finger Joints
- 4.3 The Joint Contribution to Task-Dependent Hand Synergies
- 5 Conclusion
- References
- Application of CG Pseudo-spectral Method to Optimal Posture Adjustment of Robot Manipulator
- 1 Introduction
- 2 Problem Formulation
- 2.1 Dynamic Model of the Robot Manipulator
- 2.2 Optimal Control
- 3 CG Pseudo-spectral Method
- 3.1 The Affine Transformation of Time and Approximation of Variable
- 3.2 Procedure of Optimization
- 4 Simulation Results
- 4.1 Parameters and Objective Settings
- 4.2 Results of Three Cases
- 4.3 Discussions
- 5 Conclusions
- References
- Semi-autonomous Robotic Manipulation by Tele-Operation with Master-Slave Robots and Autonomy Based on Vision and Force Sensing
- 1 Introduction
- 2 Architecture of the Semi-autonomous System
- 3 Master-Slave Mapping for Teleopertation
- 4 Identification and Location of Screw Nut by Vision
- 5 Fitting Screw Nut Based on Force Sensing
- 6 Implementation and Experiments
- 7 Conclusion
- References
- Adaptive Grasping Strategy of Dexterous Hand Based on T-test
- 1 Introduction
- 2 Hardware Setup
- 3 Method
- 3.1 Slip Detection Algorithm Based on T-test
- 3.2 Adaptive Grasping Strategy
- 4 Experimental Evaluation
- 4.1 Experimental Evaluation of Slip Detection Algorithm
- 4.2 Experimental Evaluation of Adaptive Grasping Strategy
- 5 Conclusion
- References
- Reinforcement Learning Strategy Based on Multimodal Representations for High-Precision Assembly Tasks
- 1 Introduction
- 2 Learning Strategy Based on Multimodal Fusion
- 2.1 Latent Representation
- 2.2 Pose Estimation Based on Supervised Learning
- 2.3 Policy Learning
- 2.4 Controller
- 3 Simulation and Results Analysis
- 3.1 Simulation Environment
- 3.2 Design of Reward Function
- 3.3 Implementation Details
- 3.4 Results
- 4 Conclusions
- References
- A Scalable Resource Management Architecture for Industrial Fog Robots
- 1 Introduction
- 2 Architecture
- 2.1 Resource Management
- 2.2 The Architecture
- 3 Case Study
- 3.1 Difficulties
- 3.2 The Proposed Solution
- 4 Evaluation
- 4.1 Simulation Environment
- 4.2 Single Pod
- 4.3 Architecture Evaluation
- 5 Conclusion
- References
- Robot Predictive Maintenance Method Based on Program-Position Cycle
- 1 Introduction
- 2 Condition Monitoring Method Based on Robot Program-Position Cycle
- 2.1 Data Background
- 2.2 Exploration of Periodic Laws
- 2.3 Process of the Predictive Maintenance Method
- 3 Verification of Monitoring Methods Under Factory Conditions
- 3.1 The Robot Balancing Cylinder Problem Case
- 3.2 Shaft Spline Ware Case
- 4 Conclusion
- References
- Design of Manipulator Control System Based on Leap Motion
- 1 Introduction
- 1.1 Manipulator Introduction
- 1.2 The Principle of Leap Motion and Filter
- 2 System Structure and Main Program
- 2.1 System Construction
- 2.2 Manipulator Communication and Control
- 2.3 Data Control
- 2.4 UI and Monitoring Screen
- 3 Filtering Data from Leap Motion
- 4 Experimental verification
- 5 Conclusion
- References
- Contouring Errors and Feedrate Fluctuation of Serial Industrial Robot in Complex Toolpath with Different Controller
- 1 Introduction
- 2 Toolpath Contouring Errors of Industrial Robot
- 3 Experiment and Discussion
- 4 Conclusion
- References
- Research on a New Flexible Tactile Sensor for Detecting Vertical and Sliding Tactile Signals
- 1 Introduction
- 2 The Working Principle of the Flexible Tactile Sensor
- 3 The Finite Element Analysis of the Flexible Tactile Sensor
- 3.1 Model Building
- 3.2 Material Parameter Setting
- 3.3 Mesh Division
- 4 Performance Analysis of the Flexible Tactile Sensor
- 4.1 Force- Electrical Response Analysis
- 4.2 Dynamic Force Measurement Analysis
- 4.3 Transient Analysis
- 5 Conclusions
- References
- Sensors, Actuators, and Controllers for Soft and Hybrid Robots
- Analysis of Kinematic Parameter Identification Method Based on Genetic Algorithm
- 1 Introduction
- 2 Forward Kinematics Model and Verification of UR10
- 3 Parameter Identification Method of Kinematic Model
- 3.1 Introduction of Identification Method
- 3.2 Parameter Identification Based on Multi-population Genetic Algorithm
- 4 Comparison of Four Identification Models
- 4.1 Evaluation and Analysis of Identification Accuracy Under Ideal Conditions
- 4.2 Identification Accuracy and Anti-interference Ability Analysis Under Ideal Conditions
- 4.3 Identification Accuracy and Anti-interference Ability Analysis Under Error Conditions
- 5 Conclusions
- References
- Design and Analysis of a Muti-Degree-of-Freedom Dexterous Gripper with Variable Stiffness
- 1 Introduction
- 2 Inspiration and Design
- 3 Modeling
- 3.1 Forward Kinematics
- 3.2 Inverse Kinematics
- 3.3 Mathematical Model Simulation Analysis
- 4 The MDOF Variable Stiffness Performance Analysis
- 5 Multiple Objects Gripping
- 6 Conclusion
- References
- Design of an Antagonistic Variable Stiffness Finger for Interactions and Its Analysis
- 1 Introduction
- 2 Finger Mechanical Design
- 2.1 Antagonistic Variable Stiffness Finger Mechanism
- 2.2 Compliant Actuation Unit
- 2.3 Joint Differential Mechanism
- 3 Kinematics and Dynamics Modeling
- 3.1 Finger Kinematics
- 3.2 Dynamics Modeling
- 4 Motion Control and Simulations
- 5 Conclusions
- References
- Directivity Analysis of Ultrasonic Array in Directional Sound System
- 1 Introduction
- 2 Simulation
- 2.1 Relationship Between Directivity of the Ultrasonic Array and DSS
- 2.2 Model of the Ultrasonic Transducer and Array
- 2.3 Directional Simulation
- 3 Experiments
- 3.1 Directional Experimental Platform
- 3.2 Design for the Three-Dimensional Array and Construction of DSS
- 3.3 Experimental Data
- 4 Conclusion
- References
- Design of Space Manipulator Trajectory Optimization Algorithm Based on Optimal Capture
- 1 Overview
- 2 Capture Process Analysis
- 3 Trajectory Planning Algorithm Design of Manipulator Based on Optimal Capture
- 3.1 Analysis of Factors Influencing the Capture Contact Force of Flexible Wire Rope
- 3.2 Snare Type Rope Catcher
- 4 Simulation Verification
- 5 Summary
- References
- Fall Detection and Protection System Based on Characteristic Areas Algorithm
- 1 Introduction
- 2 Overall Design of the Fall Detection and Protection System
- 3 Study of Fall Detection Algorithm
- 4 System Integration and Experimental Validation
- 4.1 Fall Detection Experiment
- 4.2 Airbag Inflating Experiment
- 4.3 The Whole Experiment
- 5 Conclusion
- References
- Design of Flexure Hinges Using Geometrically Nonlinear Topology Optimization
- 1 Introduction
- 2 Problem Formulation
- 3 Geometrically Nonlinear Topology Optimization
- 3.1 The SIMP-based Finite Element Analysis
- 3.2 Sensitivity Analysis
- 4 Numerical Implementations
- 5 Results and Discussions
- 6 Conclusions
- References
- Fully Compliant Electroactive Bistable Actuator Utilizing Twisting and Coiled Artificial Muscle
- 1 Introduction
- 2 The Design and Fabrication of the Actuator
- 3 Performance Characterization of Actuation
- 4 Conclusion
- References
- Design and PerformanceAnalysis of Artificial Muscle Driven by Vacuum with Large Contract Ratio and Large Load
- 1 Introduction
- 2 Structure and Preparation of Artificial Muscles
- 3 Theoretical Modeling
- 4 Performance Testing and Result Analysis
- 5 Conclusions
- References
- Parameter Adaptive Multi-robot Formation Based on Fuzzy Theory
- 1 Introduction
- 2 Introduction to the Formation Model of Robots
- 3 Design and Analysis of Control Law
- 4 Fuzzy Tracking Controller Design
- 5 Experiments
- 5.1 Contrast Test of Control Law
- 5.2 Fuzzy Control Formation Experiment
- 6 Conclusion
- References
- Design and Experiment of Super Redundant Continuous Arm Driven by Pneumatic Muscle
- 1 Introduction
- 2 Structure Design of Super Redundant Continuous Arm
- 2.1 Design of Super-Redundant Joints
- 2.2 Structure Design of Continuous Arm
- 3 Kinematics Modeling of Super Redundant Joint
- 3.1 Single Segment
- 3.2 Multi-segments
- 3.3 Motion Space Simulation
- 4 Experimental Verification
- 4.1 Bending and Loading Experiments
- 4.2 Sensing Test Experiments
- 5 Conclusion
- Appendix
- References
- Testing Method and Experiment of Magnetic Flux Leakage of Spiral Rising Steel Wire Rope
- 1 Analysis of Magnetic Flux Leakage Detection Principle of Cable Broken Wire
- 2 Finite Element Simulation Study on Magnetic Flux Leakage Detection of Wire Rope
- 3 Preparation and Experiment
- 3.1 Magnetic Flux Leakage Testing Experiment
- 3.2 MFL Signal Processing Method
- 3.3 Chebyshev Digital Filtering
- 3.4 Processing of Cable Magnetic Flux Leakage Signal Based on Fourier Transform
- 3.5 Contrastive Analysis of Axial Motion and Rotary Motion of Exciter
- 4 Conclusion
- References
- Hysteresis Modeling and Compensation Control of Soft Gripper
- 1 Introduction
- 2 Hysteresis Model
- 2.1 Classic PI Model
- 2.2 Improved PI Model
- 2.3 Parameter Calculation and Inverse Hysteresis Model
- 3 The Preparation of the Soft Gripper and the Hysteresis
- 3.1 Soft Actuator
- 3.2 Hysteresis in the Actuator
- 4 Hysteresis Compensation for Actuator of Soft Gripper
- 4.1 PI Model Weight Parameter Calculation
- 4.2 PI Hysteresis Model Simulation
- 4.3 Tracking Control Simulation
- 4.4 Soft Actuator Control Experiment
- 5 Conclusion
- References
- Theoretical Analysis of a Novel Force Sensor Based on Optical Fibers Used for Semicircular Flexure Beam Unit
- 1 Introduction
- 2 Optical Fiber Sensing Model Based on Bending Losses
- 2.1 Classification of Bending Losses
- 2.2 Total Loss
- 3 Design of the Optical Fiber-Based Sensor Configuration
- 4 Analysis and Verification of the Novel Optical Fiber Sensor
- 4.1 Stiffness Matrix Method for the Mechanical Analysis
- 4.2 Finite Element Method for the Simulation Verification
- 4.3 Experiment Verification of the Force Sensor
- 5 Conclusion
- References
- A New Method for Bearing Steel Ball Surface Detection with Eddy Current Sensor
- 1 Introduction
- 2 Steel Ball Surface Unfolding Mechanism
- 3 The Eddy Current Sensor
- 3.1 Basic Principles of Steel Ball Eddy Current Detection
- 3.2 Coil Design and Finite Element Analysis
- 4 Experiment
- 5 Determination of the Threshold Value
- 6 Conclusion
- References
- Variable Stiffness Actuator Structure for Robot
- 1 Introduction
- 2 Structure Design
- 2.1 Principal Designed Parameters
- 2.2 Structure Design of VSA
- 3 Mechanical Analysis
- 4 Stiffness Analysis
- 5 Conclusion
- References
- The FBP Gripper: Pin-Array Self-adaptive Gripper Based on Fluid-Driven Bellow Piston Mechanism
- 1 Introduction
- 2 Design of the FBP Gripper
- 3 Working Principle and Analysis
- 3.1 Working Principle of FBP Gripper
- 3.2 Working Analysis
- 4 Conclusion
- References
- Oratosquilla Oratoria-Like Amphibious Robot Based on Dielectric Elastomer
- 1 Introduction
- 2 Materials and Methods
- 3 Principle of Motion
- 3.1 Land Movement
- 3.2 The Water-Surface Movement
- 4 Hydrodynamic Analysis
- 5 Conclusions
- References
- Open-Loop Motion Control of a Hydraulic Soft Robotic Arm Using Deep Reinforcement Learning
- 1 Introduction
- 2 System Description
- 2.1 Hydraulic Soft Robotic Arm
- 2.2 Markov Decision Process Modeling
- 2.3 Deep Deterministic Policy Gradient Framework
- 3 Training and Simulations
- 3.1 Training Setup
- 3.2 Position Control Results
- 3.3 Trajectory Tracking Results
- 4 Conclusion and Future Work
- References
- Simultaneous and Continuous Motion Estimation of Upper Limb Based on SEMG and LSTM
- 1 Introduction
- 2 Materials and Methods
- 2.1 Subjects and Data Acquisition
- 2.2 Signal Preprocessing
- 2.3 Neural Network Structures
- 3 Experiment Results and Discussion
- 3.1 Experiment Results of Single Joint
- 3.2 Experiment Results of Multiple Joint
- 3.3 Effects of Muscles Quantity
- 4 Conclusion
- References
- Camera Pose Estimation Based on Plane Matching in Polarization Image
- 1 Introduction
- 2 Related Work
- 3 Methodology
- 3.1 Normal Estimation
- 3.2 Surface Normal Segmentation and Matching
- 3.3 Camera Pose Estimation
- 3.4 Solve the Ambiguity of Zenith Angle and Azimuth Angle
- 4 Experimental Evaluation
- 4.1 Various Light Sources
- 4.2 Real Complex Scene
- 4.3 The Effect of Using the RANSAC Algorithm
- 5 Conclusions
- References
- Topological and Semantic Map Generation for Mobile Robot Indoor Navigation
- 1 Introduction
- 2 Segmentation Framework
- 2.1 Definitions
- 2.2 Topological Map Generation
- 2.3 Room Segmentation
- 2.4 Pruning and Merging the Topological Graph
- 3 Evaluation
- 4 Conclusion
- References
- A Research on Bending Process Planning Based on Improved Particle Swarm Optimization
- 1 Introduction
- 2 Analysis of Sheet Metal Bending Process
- 2.1 Problems in Bending Process Planning
- 2.2 Selection of Fitness Function
- 3 Bending Process Planning Algorithm
- 3.1 Discrete Particle Swarm Optimization
- 3.2 Improvement of Particle Swarm Optimization
- 4 Experiment and Simulation
- 5 Conclusion
- References
- Rigidity Based Time-Varying Formation Tracking Control for Autonomous Underwater Vehicles with Switching Topologies
- 1 Introduction
- 2 Preliminaries and Problem Description
- 2.1 Notations
- 2.2 Basic Concepts on Algebraic Graph Theory
- 2.3 Problem Description
- 3 Control Strategy
- 4 Simulation Result and Discussion
- 5 Conclusions and Future Work
- References
- Field Robot Environment Sensing Technology Based on TensorRT
- 1 Introduction
- 2 Target Detection System
- 3 TensorRT
- 4 Data Preprocessing and Training
- 5 Optimization Test and Analysis Based on Jetson NX
- 5.1 Experiment Platform
- 5.2 Accelerated Testing
- 6 Conclusion
- References
- The Moco-Minitaur: A Low-Cost Direct-Drive Quadruped Robot for Dynamic Locomotion
- 1 Introduction
- 2 Method
- 2.1 Quadruped Robot Design
- 2.2 Control System Design
- 3 Experiments
- 3.1 Damping Control During Dropping
- 3.2 Pose Control During Standing
- 3.3 Locomotion Control During Trotting
- 4 Conclusion
- References
- Analysis of Gravitational Effects on the Dynamic Behavior of Open Loop Mechanisms with Multiple Clearance Joints
- 1 Introduction
- 2 Model Mechanism
- 3 Modeling of the Revolute Clearance Joints
- 4 Equations of Motion for the Space Manipulator
- 5 Contact Force Models
- 6 Dynamic Performances of the Space Manipulator
- 7 Conclusion
- References
- Research on Intelligent Spinning Inspection Robot
- 1 Introduction
- 2 Technical Proposal of Spinning Inspection Robot
- 2.1 Site Environment and Test Items
- 2.2 Visual Inspection System Scheme
- 2.3 Mobile Robot Scheme
- 2.4 Scheme of Visualized Data Platform
- 2.5 Network Architecture of Robot
- 3 Scheme Test
- 3.1 Test Index
- 3.2 Test Plan
- 3.3 Test Results
- 4 Conclusions
- References
- Liquid Metal-Enabled Soft Actuators for Untethered Manipulation
- 1 Introduction
- 2 Materials and Basic Structure
- 2.1 Magnetic LM and Its Characteristics
- 2.2 Preparation of Soft Magnetic Structure
- 3 Soft Actuators Based on the Functional Structure
- 3.1 A Soft Wriggling Actuator
- 3.2 A Multi-petal Soft Actuator with Multiple Functions
- 4 Conclusion
- References
- Design and Modeling of a Multi-joint Reinforced Soft Pneumatic Actuator
- 1 Introduction
- 2 Design
- 2.1 Driven Joint Structure Design and Optimization
- 2.2 Overall Structure Design of MRSPA
- 3 Modeling
- 3.1 Determination of Bending Rigidity
- 3.2 Relationship Between Pressure and Moment
- 3.3 Mathematic Models of MRSPA
- 4 FEA Simulation and Analysis
- 5 Conclusion
- References
- Quartz Resonance Based Torque Sensor Design
- 1 Introduction
- 2 Quartz Crystal Design
- 3 Design and Analysis of Torque Sensor
- 4 Quartz Crystal Experiment
- 4.1 Oscillation Circuit
- 4.2 Quartz Crystal Characteristic Test
- 5 Sensor Signal Processing Circuit
- 5.1 Processing Circuit Design
- 5.2 Circuit Test Verification
- 6 Static Calibration
- 7 Conclusion
- References
- Light and Variable Stiffness Bending Actuator Bionic from Inchworm
- 1 Introduction
- 2 Design and Working Principle of the Actuator
- 3 Analysis
- 4 Experiment and Discuss
- 4.1 Bending Test
- 4.2 Bending Force Test
- 4.3 Grasp Ability Test
- 5 Conclusions
- 1. References
- Continuous Super-Twisting Observer-Based Super-Twisting Control of Euler-Lagrange Systems
- 1 Introduction
- 2 Problem Statements and Preliminaries
- 2.1 Dynamic Model
- 2.2 Problem Statement
- 2.3 Preliminaries
- 3 Observer and Controller Design
- 4 Simulations
- 5 Conclusion
- References
- A Continuum Robot with Twin-Pivot Structure: The Kinematics and Shape Estimation
- 1 Introduction
- 2 Modeling
- 2.1 Structure of Continuum Robot
- 2.2 Kinematics Model
- 3 Shape Estimation
- 3.1 Experimental Setup
- 3.2 Shape Estimation of a Single Section
- 3.3 Limitation Discussion
- 4 Conclusions
- References
- Guaranteed Cost Formation Control for Linear Multi-agent Systems with Switching Topologies
- 1 Introduction
- 2 Problem Description
- 3 Problem Transformation
- 4 Main Results
- 5 Simulation Example
- 6 Conclusion
- References
- Design of a Combined Bioinspired Active Touch Mechanism for Surface Detection in High Turbidity Water by AHP Optimization
- 1 Introduction
- 2 Method
- 2.1 Bio-inspiration
- 2.2 Combined Biomimetic Design
- 2.3 Evaluation of Combined Designs
- 2.4 Analysis of Sensing Mechanism
- 3 Result and Conclusion
- 3.1 Measuring Experiment
- 3.2 Experiment Results and Analysis
- 4 Discussion
- References
- Design and Simulation Analysis of Bionic Jellyfish AUV Driven by SMA Flexible Driver
- 1 Introduction
- 2 Design and Simulation Analysis of SMA Flexible Tendon
- 2.1 Mathematical Modeling of Bionic Tendon Module
- 2.2 SMS Thermodynamic Simulation
- 3 Bionic Jellyfish AUV Overall Design and CFD Simulation
- 3.1 Bionic Jellyfish AUV Overall Design
- 3.2 CFD Simulation
- 4 Conclusions
- References
- Adaptive Grasping Without Damage System with Pneumatic Muscle as End-Effector of Robot
- 1 Introduction
- 2 Design of Gas System and Control Algorithm
- 2.1 The Design of Mechanical Grippers
- 2.2 Design of Circuit and Gas Circuit System
- 2.3 Control Algorithm Design
- 3 Experiments
- 3.1 Specific Studies
- 3.2 Research Process
- 4 Conclusions and Outlook
- 4.1 Conclusions
- 4.2 Outlook
- References
- Design of Strain Gauge Torque Sensor Used in the Modular Joint of Collaborative Robot
- 1 Introduction
- 2 Design of the Torque Sensor
- 2.1 Design of the Signal Acquisition Circuit
- 2.2 Design of the Sensor Body
- 2.3 Design of the Conditioning Circuit
- 3 Experiment and Data Processing
- 4 Conclusions and Further Work
- References
- ROS-Based Control Implementation of an Soft Gripper with Force Feedback
- 1 Introduction
- 2 Brief Description of the Adaptive Soft Gripper
- 3 ROS-Based Control Schemes
- 3.1 ROS-Based Control Framework
- 3.2 Force Feedback Based Gripping Strategy
- 4 Experiment
- 4.1 Experimental Setup
- 4.2 Experimental Process
- 5 Conclusion
- References
- Design and Motion Analysis of a Pneumatic Soft Active Structure to Imitate Neck Muscle
- 1 Introduction
- 2 Structural Design
- 3 Construction of Kinematic Model
- 3.1 Establish the Positional Relationship of the Overall Structure
- 3.2 Establish the Position Coordinates of the Center Point O1
- 3.3 Establishing a Motion Relationship
- 3.4 Motion Space Analysis
- 4 Experimental Verification
- 4.1 Single- Directional Deformation Experiment
- 4.2 Multi-directional Bending Verification
- 4.3 Conclusions
- References
- Cable-Driven Parallel Robot
- Smooth Trajectory Planning for a Cable-Driven Waist Rehabilitation Robot Using Quintic NURBS
- 1 Introduction
- 2 Kinematics and Dynamics Analysis of CDWRR
- 3 Smooth Trajectory Planning
- 3.1 Waist Trajectory Generation
- 3.2 Optimization Analysis
- 4 Simulations and Experiments
- 4.1 Simulations
- 4.2 Experiments
- 5 Conclusion
- References
- Configuration Selection and Vibration Analysis of Double Layer Suspended Cable-Driven Parallel Robot for Intelligent Storage System
- 1 Introduction
- 2 Configuration Selection
- 3 Kinematic Analysis
- 4 Vibration Characteristics
- 5 Conclusion
- References
- Workspace Quality Evaluation and Optimal Design of a Redundantly Constrained 6-Dof Cable-Driven Parallel Manipulator
- 1 Introduction
- 2 Workspace Calculation Considering Tension Conditions
- 2.1 Modeling of CDPM
- 2.2 Calculation of Cable Tension Distribution
- 3 Evaluation of Workspace Quality
- 3.1 Tension Distribution Index(TDI)
- 3.2 Stiffness Index (SI)
- 3.3 Dexterity Index (DI)
- 3.4 Global Quality Workspace (GQWS)
- 4 Analysis and Optimization of the Geometric Parameters Based on the Maximum GQWS
- 5 Results of Simulation
- 6 Conclusions
- References
- Design and Experimental Research of Cable-Driven Upper-Limb Rehabilitation Robot
- 1 Introduction
- 2 Cable-Driven Upper-Limb Rehabilitation Robot
- 2.1 Composition of CULR
- 2.2 Shoulder Flexion and Extension
- 3 Robot Kinematics Analysis
- 3.1 Inverse Kinematics
- 3.2 Forward Kinematics
- 3.3 Workspace Analysis
- 4 Experimental Research on CULR
- 5 Conclusion
- References
- Design and Optimization of the New Cable-Driven Ankle Rehabilitation Equipment
- 1 Introduction
- 2 Motion Analysis and Mechanism Design
- 3 Kinematics and Dynamics
- 3.1 Kinematics Analysis
- 3.2 Dynamics Analysis
- 4 Optimization
- 4.1 Parameters and Methods
- 4.2 Results and Analysis
- 4.3 Cable Force Simulation
- 4.4 Dexterity Simulation
- 5 Detailed Design
- 6 Conclusion
- References
- Human-Centered Wearable Robotics
- Flexible Non-contact Capacitive Sensing for Hand Gesture Recognition
- 1 Introduction
- 2 Method
- 2.1 Flexible Non-contact Capacitive Sensing System
- 2.2 Experimental Procedure
- 2.3 Data Processing Framework
- 3 Results
- 3.1 Time Domain Waveforms of Two Gesture Sets
- 3.2 Classification Result on Gesture Set 1
- 3.3 Classification Result on Gesture Set 2
- 3.4 Comparison of Classification Result Between LDA and CNN
- 4 Discussion
- 5 Conclusion
- References
- A Novel Design of Electro-hydraulic Driven Active Powered Ankle-Foot Prosthesis
- 1 Introduction
- 2 Overall Design and Control
- 2.1 Ankle Foot Prosthesis
- 2.2 Energy Store Series Spring
- 2.3 Simulation Model of the Ankle-Foot Prosthesis
- 2.4 Control System
- 3 Results and Discussion
- 4 Conclusions
- References
- Simulation of Human Posture Sway Based on Reference Control
- 1 Introduction
- 2 Methods
- 2.1 Statement of Reference Control Strategy for Human Posture Sway
- 2.2 Design of Simulation Platform Based on Reference Controller
- 2.3 Parameter Optimization for the Developed Reference Controller
- 3 Experimental Setup and Protocol
- 4 Results and Analysis
- 4.1 Upright Standing Anti-disturbance
- 4.2 Upright Swing
- 5 Conclusion
- References
- Human Control Intent Inference Using ESNs and Input-Tracking Based Inverse Model Predictive Control
- 1 Introduction
- 2 Methods
- 2.1 The SSM Extraction Method
- 2.2 The Tracking-Input Based Bilevel MPC Structure
- 3 Experiment Setup
- 4 Experimental Results and Discussion
- 4.1 Simulation Results
- 4.2 Real-World Experimental Results
- 5 Conclusion and Future Work
- References
- EEG Characteristic Investigation of the Sixth-Finger Motor Imagery
- 1 Introduction
- 2 Methods
- 2.1 Experimental Procedure
- 2.2 Time-frequency and Topographical Analysis of ERD/ERS
- 2.3 EEG Signal Classification
- 3 Results
- 3.1 EEG Topographical Distribution Maps
- 3.2 Time-frequency and ERSP Wave Maps
- 3.3 Classification Performance
- 4 Discussion
- 4.1 EEG Characteristics of the sixth-finger Motor Imagery
- 4.2 The Sixth-Finger MI Application Potential
- 5 Conclusions
- References
- Performance Analysis of a Suspended Backpack Minimizing the Vertical Acceleration for Human Load Carriage
- 1 Introduction
- 2 The Movement of CoM During Human Walking
- 3 Human-Backpack Model
- 4 Mechanical Design
- 5 Prototype Experiment
- 5.1 Damping Measurement
- 5.2 Actual ßUnder Different Stiffness Value
- 6 Walking Test
- 7 Conclusion
- References
- The Design Principle and Method of Load-Carrying Lower Limb Exoskeleton Based on Passive Variable Stiffness Joint
- 1 Introduction
- 2 Method
- 2.1 Human Movement Gait and Principles of Exoskeleton Design
- 2.2 The Variable Stiffness Joint
- 2.3 Design Method and Working Process of Exoskeleton
- 2.4 Simulation
- 3 Result
- 3.1 Joint Motion Angle
- 3.2 Ground Reaction Force
- 4 Conclusion
- 5 Future Work
- References
- Design of a Dynamic Waist Strap for Reducing Migration of Knee Exoskeletons
- 1 Introduction
- 2 Method
- 2.1 Design of Dynamic Waist Strap
- 2.2 Experimental Protocol
- 2.3 Evaluation Method
- 3 Experimental Results
- 3.1 Relative Motion
- 3.2 Interaction Force
- 3.3 Hip Flexion Angle
- 4 Discussion
- 5 Conclusion and Future Work
- References
- Research on Trajectory Tracking of Lower Limb Exoskeleton Rehabilitation Robot Based on Sliding Mode Control
- 1 Introduction
- 2 Methodology
- 2.1 Mechanical Subsystem
- 2.2 Control Subsystem
- 3 Analysis and Discussion
- 3.1 Analysis and Discussion of Simulation
- 3.2 Analysis and Discussion of Experiment
- 4 Conclusion
- References
- A Performance Evaluating Platform for Variable Stiffness Exoskeleton Joint
- 1 Introduction
- 2 System Design of the Testing Platform
- 2.1 Modeling and Mechanical Analysis
- 2.2 Mechanical Structure Design
- 2.3 Strength Check
- 2.4 Control System and Data Collection
- 3 Experimental Verification
- 4 Conclusion
- References
- Self Adjusting Exosuit for Shoulder
- 1 Introduction
- 2 Structure of Shoulder
- 3 Flexible Mechanism Subsystem
- 3.1 Overall Composition
- 4 Control Design
- 5 Experiment and Analysis
- 6 Conclusion
- References
- Design of a 6 DOF Cable-Driven Upper Limb Exoskeleton
- 1 Introduction
- 2 Mechanical Design
- 2.1 Overall Design of the Exoskeleton
- 2.2 Design of Cable-Driven SEA
- 2.3 Design of Shoulder Mechanism
- 2.4 Design of Elbow and Wrist
- 3 Controller Design and Experiments
- 3.1 Controller Design
- 3.2 Experimental Characterizations
- 4 Conclusions
- References
- A Current-Based Surface Electromyography (sEMG) System for Human Motion Recognition: Preliminary Study
- 1 Introduction
- 2 Current-Based EMG System
- 2.1 System Design
- 2.2 Stability Analysis
- 3 Methods
- 3.1 Signal Quality Analysis
- 3.2 Underwater Forearm Motion Recognition
- 3.3 Evaluation Method
- 4 Results
- 4.1 Signal Quality Analysis
- 4.2 Recognition Results
- 5 Concluding Remarks
- References
- A Novel Modular and Wearable Supernumerary Robotic Finger via EEG-EMG Control with 4-week Training Assessment
- 1 Introduction
- 2 SRF System Design
- 2.1 SRF Biomechtronic Framework
- 2.2 Mechanical Design
- 2.3 Control System
- 3 Evaluation of the SRF Performance
- 3.1 Pinch Force and Velocity
- 3.2 Power Consumption
- 3.3 SRF Grasps
- 3.4 Control Accuracy Assessment in 4-week EEG Triggering Training
- 4 Conclusion
- References
- Compliance Control Method of Exoskeleton Robot Assisted by Lower Limb Knee Joint Based on Gait Recognition
- 1 Introduction
- 2 System Structure of the Exoskeleton Robot Powered by Knee Joint at Lower Limb
- 2.1 System Structure
- 3 Controller Design and Experimental Results
- 3.1 Gait Recognition of Human Motion
- 3.2 Exoskeleton Control
- 3.3 Experimental Results
- 4 Conclusion
- References
- Human Action Recognition Using Skeleton Data from Two-Stage Pose Estimation Model
- 1 Introduction
- 2 Two-Stage Human Pose Estimation
- 2.1 Introduction of Network Structure
- 2.2 Two-Stage Detection of Skeleton Key Points
- 3 Human Action Recognition
- 3.1 Feature Extraction
- 3.2 Action Recognition
- 4 Experiments
- 4.1 Experimental Environment and Datasets
- 4.2 Human Detection Results
- 4.3 Skeleton Key Points Detection Results
- 4.4 Human Action Recognition Results
- 5 Conclusion
- References
- Assistive Torque of Ankle Exoskeleton Based on a Simple Biomechanical Model and a Genetic Algorithm
- 1 Introduction
- 2 Biomechanical Model
- 2.1 Muscle-Tendon Unit Contraction Dynamics
- 2.2 Ankle Musculoskeletal Model with Double MTUs
- 2.3 Metabolic Cost Calculation
- 3 Construction of the Genetic Algorithm
- 4 Results
- 4.1 Exoskeleton Assistive Torque and Muscle Moment
- 4.2 Muscle Activation, Metabolic Power and Metabolic Cost
- 4.3 Effects of Muscle Length and Speed on Active Muscle Force
- 5 Discussion
- References
- Hybrid System Modeling and Human-Machine Interface
- Augmented Assembly Work Instruction Knowledge Graph for Adaptive Presentation
- 1 Introduction
- 2 Related Work
- 3 Augmented Assembly Work Instruction Knowledge Graph
- 3.1 Knowledge Structure for Augmented Assembly
- 3.2 AWI Ontology
- 3.3 AWI-KG Information Extractions
- 4 AWI Adaptive Presentation
- 5 Case Study
- 6 Conclusion
- References
- Study of Muscular Fatigue Effect on Human-Machine Interface Using Electromyography and Near-Infrared Spectroscopy
- 1 Introduction
- 2 Experiment and Signal Processing
- 2.1 Experimental Paradigm
- 2.2 Signal Processing
- 3 Experiment Results and Analysis
- 3.1 Variations of Fatigue Metrics During and After Fatigue
- 3.2 Correlation Analysis Among Fatigue Metrics
- 3.3 Classification Performance Under Different Fatigue Scenario
- 3.4 Correlation Analysis Between Fatigue Metrics and Classification Performance
- 4 Conclusion
- References
- A Wearable Multi-channel Sensor System Combined with Video Image Synchronization for Skiing Training
- 1 Introduction
- 2 Hardware Design
- 2.1 Structure of the System
- 2.2 Posture Sensor Module
- 2.3 Foot-Bottom Pressure Sensor Module
- 2.4 Positioning Module
- 2.5 Video Module
- 2.6 Data Collection Module
- 3 Software Design
- 3.1 Structure of the Software System
- 3.2 Motion Data and Video Image Aligning Method
- 3.3 Three-Dimension Visualization Driven By Real Time Data
- 4 Implementation of the System
- 5 Preliminary Result
- 6 Conclusion
- 7 Future Work
- References
- Author Index
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