Biomimetic Intelligence and Robotics最新文献_第10页

Editorial for the special issue on wearable robots and intelligent device 可穿戴机器人与智能设备特刊社论

Biomimetic Intelligence and Robotics Pub Date : 2023-06-01 DOI: 10.1016/j.birob.2023.100102

Xinyu Wu, Shaoping Bai, Leonard O’Sullivan

引用次数: 0

Erratum to “A survey of the development of biomimetic intelligence and robotics” [Biomim. Intell. Robotics 1 (2021) 100001] “仿生智能和机器人技术发展概览”的勘误[Biomim]。智能。机器人1 (2021)100001]

Biomimetic Intelligence and Robotics Pub Date : 2023-06-01 DOI: 10.1016/j.birob.2023.100101

Jiankun Wang , Weinan Chen , Xiao Xiao , Yangxin Xu , Chenming Li , Xiao Jia , Max Q.-H. Meng

引用次数: 0

Machine learning-based detection of cervical spondylotic myelopathy using multiple gait parameters 基于机器学习的多步态参数脊髓型颈椎病检测

Biomimetic Intelligence and Robotics Pub Date : 2023-06-01 DOI: 10.1016/j.birob.2023.100103

Xinyu Ji , Wei Zeng , Qihang Dai , Yuyan Zhang , Shaoyi Du , Bing Ji

{"title":"Machine learning-based detection of cervical spondylotic myelopathy using multiple gait parameters","authors":"Xinyu Ji , Wei Zeng , Qihang Dai , Yuyan Zhang , Shaoyi Du , Bing Ji","doi":"10.1016/j.birob.2023.100103","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100103","url":null,"abstract":"<div><p>Cervical spondylotic myelopathy (CSM) is the main cause of adult spinal cord dysfunction, mostly appearing in middle-aged and elderly patients. Currently, the diagnosis of this condition depends mainly on the available imaging tools such as X-ray, computed tomography and magnetic resonance imaging (MRI), of which MRI is the gold standard for clinical diagnosis. However, MRI data cannot clearly demonstrate the dynamic characteristics of CSM, and the overall process is far from cost-efficient. Therefore, this study proposes a new method using multiple gait parameters and shallow classifiers to dynamically detect the occurrence of CSM. In the present study, 45 patients with CSM and 45 age-matched asymptomatic healthy controls (HCs) were recruited, and a three-dimensional (3D) motion capture system was utilized to capture the locomotion data. Furthermore, 63 spatiotemporal, kinematic, and nonlinear parameters were extracted, including lower limb joint angles in the sagittal, coronal, and transverse planes. Then, the Shapley Additive exPlanations (SHAP) value was utilized for feature selection and reduction of the dimensionality of features, and five traditional shallow classifiers, including support vector machine (SVM), logistic regression (LR), k-nearest neighbor (KNN), decision tree (DT), and random forest (RF), were used to classify gait patterns between CSM patients and HCs. On the basis of the 10-fold cross-validation method, the highest average accuracy was achieved by SVM (95.56%). Our results demonstrated that the proposed method could effectively detect CSM and thus serve as an automated auxiliary tool for the clinical diagnosis of CSM.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 2","pages":"Article 100103"},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49715700","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An online impedance adaptation controller for decoding skill intelligence 一种用于解码技能智能的阻抗在线自适应控制器

Biomimetic Intelligence and Robotics Pub Date : 2023-06-01 DOI: 10.1016/j.birob.2023.100100

Xiaofeng Xiong , Cheng Fang

{"title":"An online impedance adaptation controller for decoding skill intelligence","authors":"Xiaofeng Xiong , Cheng Fang","doi":"10.1016/j.birob.2023.100100","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100100","url":null,"abstract":"<div><p>Variable Impedance control allows robots and humans to safely and efficiently interact with unknown external environments. This tutorial introduces online impedance adaptation control (OIAC) for variable compliant joint motions in a range of control tasks: rapid (<span><math><mrow><mo><</mo><mn>1</mn><mspace></mspace><mi>s</mi></mrow></math></span>) movement control (i.e., whipping to hit), arm and finger impedance quantification, multifunctional exoskeleton control, and robot-inspired human arm control hypothesis. The OIAC has been introduced as a feedback control, which can be integrated into a feedforward control, e.g., learned by data-driven methods. This integration facilitates the understanding of human and robot arm control, closing a research loop between biomechanics and robotics. It shows not only a research way from biomechanics to robotics, but also another reserved one. This tutorial aims at presenting research examples and Python codes for advancing the understanding of variable impedance adaptation in human and robot motor control. It contributes to the state-of-the-art by providing an online impedance adaptation controller for wearable robots (i.e., exoskeletons) which can be used in robotic and biomechanical applications.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 2","pages":"Article 100100"},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49707776","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

IMU-based motion capture system for rehabilitation applications: A systematic review 基于imu的运动捕捉系统的康复应用:系统综述

Biomimetic Intelligence and Robotics Pub Date : 2023-06-01 DOI: 10.1016/j.birob.2023.100097

Chenyu Gu , Weicong Lin , Xinyi He, Lei Zhang, Mingming Zhang

{"title":"IMU-based motion capture system for rehabilitation applications: A systematic review","authors":"Chenyu Gu , Weicong Lin , Xinyi He, Lei Zhang, Mingming Zhang","doi":"10.1016/j.birob.2023.100097","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100097","url":null,"abstract":"<div><p>In recent years, the use of inertial measurement unit (IMU)-based motion capture (Mocap) systems in rehabilitation has grown significantly. This paper aimed to provide an overview of current IMU-based Mocap system designs in the field of rehabilitation, explore the specific applications and implementation of these systems, and discuss potential future developments considering sensor limitations. For this review, a systematic literature search was conducted using Scopus, IEEE Xplore, PubMed, and Web of Science from 2013 to 2022. A total of 65 studies were included and analyzed based on their rehabilitation application, target population, and system deployment and measurement. The proportion of rehabilitation assessment, training, and both were 82%, 12%, and 6% respectively. The results showed that primary focus of the studies was stroke that was one of the most commonly studied pathological disease. Additionally, general rehabilitation without targeting a specific pathology was also examined widely, with a particular emphasis on gait analysis. The most common sensor configuration for gait analysis was two IMUs measuring spatiotemporal parameters of the lower limb. However, the lack of training applications and upper limb studies could be attributed to the limited battery life and sensor drift. To address this issue, the use of low-power chips and low-consumption transmission pathways was a potential way to extend usage time for long-term training. Furthermore, we suggest the development of a highly integrated multi-modal system with sensor fusion.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 2","pages":"Article 100097"},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49707974","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

An online terrain classification framework for legged robots based on acoustic signals 基于声信号的足式机器人在线地形分类框架

Biomimetic Intelligence and Robotics Pub Date : 2023-06-01 DOI: 10.1016/j.birob.2023.100091

Daoling Qin , Guoteng Zhang , Zhengguo Zhu , Xianwu Zeng , Jingxuan Cao

引用次数: 0

Wearable sensors for activity monitoring and motion control: A review 用于活动监测和运动控制的可穿戴传感器:综述

Biomimetic Intelligence and Robotics Pub Date : 2023-03-01 DOI: 10.1016/j.birob.2023.100089

Xiaoming Wang , Hongliu Yu , Søren Kold , Ole Rahbek , Shaoping Bai

引用次数: 13

Research on modelling accuracy and test validation for biomimetic flapping-wing drone 仿生扑翼无人机建模精度及试验验证研究

Biomimetic Intelligence and Robotics Pub Date : 2023-03-01 DOI: 10.1016/j.birob.2022.100086

Mingyang Huang

{"title":"Research on modelling accuracy and test validation for biomimetic flapping-wing drone","authors":"Mingyang Huang","doi":"10.1016/j.birob.2022.100086","DOIUrl":"https://doi.org/10.1016/j.birob.2022.100086","url":null,"abstract":"<div><p>Scientific advances in drone design have enabled a wide range of services, underpinned by different drones that have various aerodynamic performance. However, research to date is mostly limited focusing on conventional drones. Unconventional drones such as biomimetic drones attracted much attention due to their advantages, including precise point accessibility, altitude manoeuvrability, and no topography restriction for landing. To model the flight dynamics for biomimetic drones, the modelling accuracy is the key indicator to be determined; thus, it requires further analysis. After reviewing previous research, this paper develops a more accurate model by using appropriate methods for error mitigation. To reflect the flapping pattern of biomimetic drones, this model adopts an advanced numerical method (i.e., a quasi-steady model) to calculate their aerodynamics. The aerodynamics is also affected by the wind (acting on the drone), determined via wind-generated lift and drag terms. Therefore, this paper develops a combined aerodynamic and wind model applicable to biomimetic drones including flapping-wing drones with the following contributions. Comparative analysis discovers that the difference of drones is unsteady flows; thus, a rigorous physical model is built for flow modelling, and its novelty is a quasi-steady method to realistically quantify drone aerodynamics and wind influence. This model is demonstrated by a valid case study of the most stringent application in relation to the motion of a novel flapping-wing drone. The motion simulation of such drone is performed, and then a three-dimensional engineering prototype is built for flight test validation. This case study is implemented and the modelling performance in terms of accuracy is quantified, validating that the new model increases modelling accuracy based on research to date.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 1","pages":"Article 100086"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49731369","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Human–robot interface based on sEMG envelope signal for the collaborative wearable robot 基于表面肌电信号包络信号的协同可穿戴机器人人机界面

Biomimetic Intelligence and Robotics Pub Date : 2023-03-01 DOI: 10.1016/j.birob.2022.100079

Ziyu Liao , Bai Chen , Dongming Bai , Jiajun Xu , Qian Zheng , Keming Liu , Hongtao Wu

{"title":"Human–robot interface based on sEMG envelope signal for the collaborative wearable robot","authors":"Ziyu Liao , Bai Chen , Dongming Bai , Jiajun Xu , Qian Zheng , Keming Liu , Hongtao Wu","doi":"10.1016/j.birob.2022.100079","DOIUrl":"https://doi.org/10.1016/j.birob.2022.100079","url":null,"abstract":"<div><p>Surface electromyography (sEMG) control interface is a common method for human-centered robotics. Researchers have frequently improved the recognition accuracy of sEMG through multichannel or high-precision signal acquisition devices. However, this increases the cost and complexity of the control system. Therefore, this study developed a control interface based on the sEMG enveloped signal for a collaborative wearable robot to improve the accuracy of sEMG recognition based on the time-domain (TD) features. Specifically, an acquisition device is developed to obtain the sEMG envelope signal, and 11 types of TD features are extracted from the sEMG envelope signal acquired from the upper limb. Furthermore, a dimension reduction method based on the correlation coefficient is proposed, transforming the 11-dimensional feature into a five-dimensional envelope feature set without decreasing the accuracy. Moreover, a recognition algorithm based on a neural network has also been proposed for gesture classification. Finally, the recognition accuracy of the proposed method, principal component analysis (PCA) feature set, and Hudgins TD feature set is compared, with their accuracy at 84.39%, 72.44%, and 70.89%, respectively. Therefore, the results indicate that the envelope feature set performs better than the common gesture recognition method based on signal channel sEMG envelope signal.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 1","pages":"Article 100079"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49731129","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Structural design and stiffness matching control of bionic variable stiffness joint for human–robot collaboration 面向人机协作的仿生变刚度关节结构设计与刚度匹配控制

Biomimetic Intelligence and Robotics Pub Date : 2023-03-01 DOI: 10.1016/j.birob.2022.100084

Xiuli Zhang , Liqun Huang , Hao Niu

{"title":"Structural design and stiffness matching control of bionic variable stiffness joint for human–robot collaboration","authors":"Xiuli Zhang , Liqun Huang , Hao Niu","doi":"10.1016/j.birob.2022.100084","DOIUrl":"https://doi.org/10.1016/j.birob.2022.100084","url":null,"abstract":"<div><p>The physical compliance of interaction is an important requirement for safe and efficient collaboration between robots and humans, and the realization of human–robot compliance requires robot joints with variable stiffness similar to those of human joints. In this study, based on the tissue structure and driving principle of the human arm muscle ligament, a robot joint with variable stiffness is designed, consisting of an elastic belt and serial elastic actuator in parallel. The variable stiffness of the joint is realized by adjusting the tension length of the elastic belt. Surface electromyography (sEMG) signals of the human arm are used as the characterization quantity of joint stiffness to establish the pseudo-stiffness model of the elbow joint. The stiffness of the robot joints is adjusted in real-time to match the human arm stiffness based on the changes in sEMG signals of the human arm during operation. Real-time compliant interaction of human–robot collaboration is realized based on an end stiffness matching strategy. Additionally, to verify the effectiveness of the human joint stiffness matching-based compliance control strategy, a human–robot cooperative lifting experiment was designed. The bionic variable stiffness joint shows good stiffness adjustment, and the human–robot joint stiffness matching strategy based on human sEMG signals can improve the effectiveness and comfort of human–robot collaboration.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 1","pages":"Article 100084"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49731133","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0