Intelligent Robotics and Applications

Name: Intelligent Robotics and Applications | 14th International Conference, ICIRA 2021, Yantai, China, October 22-25, 2021, Proceedings, Part I
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14th International Conference, ICIRA 2021, Yantai, China, October 22-25, 2021, Proceedings, Part I

Xin-Jun Liu Zhenguo Nie Jingjun Yu Fugui Xie Rui Song(Editor)

Springer (Publisher)

Published on 19. October 2021

XVI, 826 pages

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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

System requirements

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Intelligent Robotics and Applications

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System requirements