Biomimetic Intelligence and Robotics最新文献_第10页

Preoperative virtual reduction method for pelvic fractures based on statistical shape models and partial surface data 基于统计形状模型和部分表面数据的骨盆骨折术前虚拟复位方法

Biomimetic Intelligence and Robotics Pub Date : 2023-10-20 DOI: 10.1016/j.birob.2023.100130

Wei Kou , Yaoyao He , Xiao Cheng , Zhewei Wang , Yuan Yang , Shaolong Kuang

{"title":"Preoperative virtual reduction method for pelvic fractures based on statistical shape models and partial surface data","authors":"Wei Kou , Yaoyao He , Xiao Cheng , Zhewei Wang , Yuan Yang , Shaolong Kuang","doi":"10.1016/j.birob.2023.100130","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100130","url":null,"abstract":"<div><p>Virtual reduction is crucial for successful and accurate reduction of pelvic fractures. Various methods have been proposed in this regard. However, not all of them are applicable to every pelvic fracture. Among these methods, the efficiency and accuracy of the method based on statistical shape models in clinical applications require further improvement. This study proposes a virtual reduction method for pelvic fractures that uses statistical shape models and partial surface data of a broken pelvis. Simulated fracture and clinical case experiments were conducted to validate the accuracy and effectiveness of the proposed method. The simulated fracture experiments yielded an average error of 1.57 ± 0.39 mm and a maximum error of 12.82 ± 3.54 mm. The virtual reduction procedure takes approximately 40 s. Based on three clinical case experiments, the proposed method achieves an acceptable level of accuracy compared with manual reduction by a surgeon. The proposed method offers the advantages of shorter virtual reduction times and satisfactory reduction accuracy. In the future, it will be integrated into the preoperative planning system for pelvic fracture reduction, thereby improving patient outcomes.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 4","pages":"Article 100130"},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S266737972300044X/pdfft?md5=ed904a2f8c3ccdc8eab16a43963b8eff&pid=1-s2.0-S266737972300044X-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134663214","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Visual servoing-based pneumatic hair transplantation mechanism for robotic FUE surgery 基于视觉伺服的机器人FUE手术气动植发机构

Biomimetic Intelligence and Robotics Pub Date : 2023-10-10 DOI: 10.1016/j.birob.2023.100128

Fulin Jia, Shenghao Yang, Chenxi Han, Junye Li, Xuanru Han, Chao Zhang, Jiaole Wang

{"title":"Visual servoing-based pneumatic hair transplantation mechanism for robotic FUE surgery","authors":"Fulin Jia, Shenghao Yang, Chenxi Han, Junye Li, Xuanru Han, Chao Zhang, Jiaole Wang","doi":"10.1016/j.birob.2023.100128","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100128","url":null,"abstract":"<div><p>Hair transplantation surgery is an effective solution for hair loss problems, among which follicle unit extraction (FUE) surgery is more widely used and favored. At present, most hair transplantation surgeries still rely heavily on manual operation by doctors and very few hair transplantation robots with complex structures have been introduced. This paper proposes a pneumatic hair transplantation mechanism for FUE surgery, equipped with a camera, capable of automatically performing both hair implantation and extraction with airflow. This pneumatic method eliminates the complex needle structure, has the function of temporarily storing the follicles inside the needle, thus facilitating the automation of transferring follicles from extraction to implantation. Then a visual feedback system is proposed to accurately position the follicles during the transplantation. The experimental results show that average distance deviation between the actual and target positions is 0.6128 mm and the average deviation of hair implantation depth is 1.7176 mm, which verify the feasibility of the proposed system.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 4","pages":"Article 100128"},"PeriodicalIF":0.0,"publicationDate":"2023-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379723000426/pdfft?md5=034fe2b420e2a8a9edac240b27514f0c&pid=1-s2.0-S2667379723000426-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"92051119","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Positioning system design of closed-loop magnetically driven laser steering manipulator for endoscopic microsurgery 内镜显微手术用闭环磁驱动激光转向机械手定位系统设计

Biomimetic Intelligence and Robotics Pub Date : 2023-10-10 DOI: 10.1016/j.birob.2023.100129

Qi Zhang , Han Xu , Li Zhu , Li Liu

{"title":"Positioning system design of closed-loop magnetically driven laser steering manipulator for endoscopic microsurgery","authors":"Qi Zhang , Han Xu , Li Zhu , Li Liu","doi":"10.1016/j.birob.2023.100129","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100129","url":null,"abstract":"<div><p>This study presents a closed-loop magnetically driven laser steering manipulator positioning system for endoscopic microsurgery. A multimagnetic field strength sensor circuit is embedded in a <span><math><mrow><mn>16</mn><mo>−</mo><mi>mm</mi></mrow></math></span> diameter analog laser steering manipulator. The magnetic field distribution of a cylindrical permanent magnet in three-dimensional space is first modeled using an integral model to overcome the large error induced by the magnetic dipole model when the sensor and permanent magnet are close. The integral in the model is then decomposed using the Gauss–Legendre quadrature to improve the computational efficiency of the formulation. Moreover, five commonly used global search optimization methods are compared. Then, the algorithm with the fastest computational rate among these five algorithms, the tree-seed algorithm, is fused with the Levenberg–Marquardt algorithm, which performs well in local search, to obtain a hybrid optimization algorithm. Finally, it is demonstrated through static and dynamic experiments that the system based on the hybrid algorithm can obtain satisfactory computational errors while maintaining a high computational rate.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 4","pages":"Article 100129"},"PeriodicalIF":0.0,"publicationDate":"2023-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379723000438/pdfft?md5=c3ffa850361a548289ef48ed036af100&pid=1-s2.0-S2667379723000438-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"92149439","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive robust control for biped walking under uncertain external forces 不确定外力作用下双足行走的自适应鲁棒控制

Biomimetic Intelligence and Robotics Pub Date : 2023-09-27 DOI: 10.20517/ir.2023.26

Helin Wang, Qijun Chen

引用次数: 0

Funabot-Suit: A bio-inspired and McKibben muscle-actuated suit for natural kinesthetic perception Funabot-Suit:一种仿生和McKibben肌肉驱动的服装，用于自然运动知觉

Biomimetic Intelligence and Robotics Pub Date : 2023-09-22 DOI: 10.1016/j.birob.2023.100127

Yanhong Peng , Yusuke Sakai , Koki Nakagawa , Yuki Funabora , Tadayoshi Aoyama , Kenta Yokoe , Shinji Doki

{"title":"Funabot-Suit: A bio-inspired and McKibben muscle-actuated suit for natural kinesthetic perception","authors":"Yanhong Peng , Yusuke Sakai , Koki Nakagawa , Yuki Funabora , Tadayoshi Aoyama , Kenta Yokoe , Shinji Doki","doi":"10.1016/j.birob.2023.100127","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100127","url":null,"abstract":"<div><p>In recent years, there has been extensive utilization of actuators driven by artificial muscles in wearable devices. However, the muscle distribution configurations of most wearable devices have been specifically designed and are difficult to generalize. Consequently, wearable devices that allow direct installation of actuators onto existing clothing are better suited for a wider range of application scenarios. This letter presents the development and evaluation of Funabot-Suit, a human muscle configuration inspired wearable assist device that employs McKibben artificial muscles to induce natural kinesthetic perception in the wearer’s torso. By integrating thin McKibben muscles into an existing motion capture suit, the Funabot-Suit is capable of generating four fundamental motions: forward and backward bending, and left and right twisting. The suit’s performance was assessed through experiments involving three subjects who wore the suit while standing and seated, with the subjects reporting the direction of their kinesthetic perception. The subjects also rated the perceived ease of kinesthetic perception direction on a five-point scale. Our results demonstrate that the Funabot-Suit successfully induces kinesthetic perceptions for the wearer, with a one hundred percent detection ratio for accurate responses in the command direction across all subjects and positions. We observed variations in the sensitivity of left–right and up-down sensations, which can be attributed to the positioning of artificial muscles and individual differences.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 4","pages":"Article 100127"},"PeriodicalIF":0.0,"publicationDate":"2023-09-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379723000414/pdfft?md5=2095b9cbc98b6163dfc3338303d38075&pid=1-s2.0-S2667379723000414-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"92103589","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Optimization of fracture reduction robot controller based on improved sparrow algorithm 基于改进麻雀算法的骨折复位机器人控制器优化

Biomimetic Intelligence and Robotics Pub Date : 2023-09-19 DOI: 10.1016/j.birob.2023.100120

Baichuan An , Jianwen Chen , Hao Sun , Minghuan Yin , Zicheng Song , Chao Zhuang , Cheng Chang , Minghe Liu

{"title":"Optimization of fracture reduction robot controller based on improved sparrow algorithm","authors":"Baichuan An , Jianwen Chen , Hao Sun , Minghuan Yin , Zicheng Song , Chao Zhuang , Cheng Chang , Minghe Liu","doi":"10.1016/j.birob.2023.100120","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100120","url":null,"abstract":"<div><p>The accuracy of a fracture reduction robot (FRR) is critical for ensuring the safety of surgery. Improving the repositioning accuracy of a FRR, reducing the error, and realizing a safer and more stable folding motion is critical. To achieve this, a sparrow search algorithm (SSA) based on the Levy flight operator was proposed in this study for self-tuning the robot controller parameters. An inverse kinematic analysis of the FRR was also performed. The robot dynamics model was established using Simulink, and the inverse dynamics controller for the fracture reduction mechanism was designed using the computed torque control method. Both simulation and physical experiments were also performed. The actual motion trajectory of the actuator drive rod and its error with a desired trajectory was obtained through simulation. An optimized Levy-sparrow search algorithm (Levy-SSA) crack reduction robot controller demonstrated an overall reduction of two orders of magnitude in the reduction error, with an average error reduction of 98.74% compared with the traditional unoptimized controller. The Levy-SSA increased the convergence of the crack reduction robot control system to the optimal solution, improved the accuracy of the motion trajectory, and exhibited important implications for robot controller optimization.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 4","pages":"Article 100120"},"PeriodicalIF":0.0,"publicationDate":"2023-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71734442","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

A distributed multi-vehicle pursuit scheme: generative multi-adversarial reinforcement learning 分布式多车辆追踪方案:生成式多对抗强化学习

Biomimetic Intelligence and Robotics Pub Date : 2023-09-13 DOI: 10.20517/ir.2023.25

Xinhang Li, Yiying Yang, Qinwen Wang, Zheng Yuan, Chen Xu, Lei Li, Lin Zhang

{"title":"A distributed multi-vehicle pursuit scheme: generative multi-adversarial reinforcement learning","authors":"Xinhang Li, Yiying Yang, Qinwen Wang, Zheng Yuan, Chen Xu, Lei Li, Lin Zhang","doi":"10.20517/ir.2023.25","DOIUrl":"https://doi.org/10.20517/ir.2023.25","url":null,"abstract":"Multi-vehicle pursuit (MVP) is one of the most challenging problems for intelligent traffic management systems due to multi-source heterogeneous data and its mission nature. While many reinforcement learning (RL) algorithms have shown promising abilities for MVP in structured grid-pattern roads, their lack of dynamic and effective traffic awareness limits pursuing efficiency. The sparse reward of pursuing tasks still hinders the optimization of these RL algorithms. Therefore, this paper proposes a distributed generative multi-adversarial RL for MVP (DGMARL-MVP) in urban traffic scenes. In DGMARL-MVP, a generative multi-adversarial network is designed to improve the Bellman equation by generating the potential dense reward, thereby properly guiding strategy optimization of distributed multi-agent RL. Moreover, a graph neural network-based intersecting cognition is proposed to extract integrated features of traffic situations and relationships among agents from multi-source heterogeneous data. These integrated and comprehensive traffic features are used to assist RL decision-making and improve pursuing efficiency. Extensive experimental results show that the DGMARL-MVP can reduce the pursuit time by 5.47% compared with proximal policy optimization and improve the pursuing average success rate up to 85.67%. Codes are open-sourced in Github.","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135784311","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

Relevant Region sampling strategy with adaptive heuristic for asymptotically optimal path planning 基于自适应启发式的相关区域采样策略的渐近最优路径规划

Biomimetic Intelligence and Robotics Pub Date : 2023-09-01 DOI: 10.1016/j.birob.2023.100113

Chenming Li , Fei Meng , Han Ma , Jiankun Wang , Max Q.-H. Meng

{"title":"Relevant Region sampling strategy with adaptive heuristic for asymptotically optimal path planning","authors":"Chenming Li , Fei Meng , Han Ma , Jiankun Wang , Max Q.-H. Meng","doi":"10.1016/j.birob.2023.100113","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100113","url":null,"abstract":"<div><p>Sampling-based planning algorithm is a powerful tool for solving planning problems in high-dimensional state spaces. In this article, we present a novel approach to sampling in the most promising regions, which significantly reduces planning time-consumption. The RRT# algorithm defines the Relevant Region based on the cost-to-come provided by the optimal forward-searching tree. However, it uses the cumulative cost of a direct connection between the current state and the goal state as the cost-to-go. To improve the path planning efficiency, we propose a batch sampling method that samples in a refined Relevant Region with a direct sampling strategy, which is defined according to the optimal cost-to-come and the adaptive cost-to-go, taking advantage of various sources of heuristic information. The proposed sampling approach allows the algorithm to build the search tree in the direction of the most promising area, resulting in a superior initial solution quality and reducing the overall computation time compared to related work. To validate the effectiveness of our method, we conducted several simulations in both <span><math><mrow><mi>S</mi><mi>E</mi><mrow><mo>(</mo><mn>2</mn><mo>)</mo></mrow></mrow></math></span> and <span><math><mrow><mi>S</mi><mi>E</mi><mrow><mo>(</mo><mn>3</mn><mo>)</mo></mrow></mrow></math></span> state spaces. And the simulation results demonstrate the superiorities of proposed algorithm.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 3","pages":"Article 100113"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49732280","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

Bioinspired backstepping sliding mode control and adaptive sliding innovation filter of quadrotor unmanned aerial vehicles 四旋翼无人机仿生反步滑模控制与自适应滑模创新滤波器

Biomimetic Intelligence and Robotics Pub Date : 2023-09-01 DOI: 10.1016/j.birob.2023.100116

Zhe Xu , Tao Yan , Simon X. Yang , S. Andrew Gadsden

{"title":"Bioinspired backstepping sliding mode control and adaptive sliding innovation filter of quadrotor unmanned aerial vehicles","authors":"Zhe Xu , Tao Yan , Simon X. Yang , S. Andrew Gadsden","doi":"10.1016/j.birob.2023.100116","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100116","url":null,"abstract":"<div><p>Quadrotor unmanned aerial vehicles have become the most commonly used flying robots with wide applications in recent years. This paper presents a bioinspired control strategy by integrating the backstepping sliding mode control technique and a bioinspired neural dynamics model. The effects of both disturbances and system and measurement noises on the quadrotor unmanned aerial vehicle control performance have been addressed in this paper. The proposed control strategy is robust against disturbances with guaranteed stability proven by the Lyapunov stability theory. In addition, the proposed control strategy is capable of providing smooth control inputs under noises. Considering the modeling uncertainties, the adaptive sliding innovation filter is integrated with the proposed control to provide accurate state estimates to improve tracking effectiveness. Finally, the simulation results demonstrate that the proposed control strategy provides satisfactory tracking performance for a quadrotor unmanned vehicle operating under disturbances and noises.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 3","pages":"Article 100116"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49732285","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

Replacing the human driver: An objective benchmark for occluded pedestrian detection 取代人类驾驶员:遮挡行人检测的客观基准

Biomimetic Intelligence and Robotics Pub Date : 2023-09-01 DOI: 10.1016/j.birob.2023.100115

Shane Gilroy , Darragh Mullins , Ashkan Parsi , Edward Jones , Martin Glavin

{"title":"Replacing the human driver: An objective benchmark for occluded pedestrian detection","authors":"Shane Gilroy , Darragh Mullins , Ashkan Parsi , Edward Jones , Martin Glavin","doi":"10.1016/j.birob.2023.100115","DOIUrl":"https://doi.org/10.1016/j.birob.2023.100115","url":null,"abstract":"<div><p>Early detection of vulnerable road users is a crucial requirement for autonomous vehicles to meet and exceed the object detection capabilities of human drivers. One of the most complex outstanding challenges is that of partial occlusion where a target object is only partially available to the sensor due to obstruction by another foreground object. A number of leading pedestrian detection benchmarks provide annotation for partial occlusion, however each benchmark varies greatly in their definition of the occurrence and severity of occlusion. Research demonstrates that a high degree of subjectivity is used to classify occlusion level in these cases and occlusion is typically categorized into 2–3 broad categories such as “partially” and “heavily” occluded. In addition, many pedestrian instances are impacted by multiple inhibiting factors which contribute to non-detection such as object scale, distance from camera, lighting variations and adverse weather. This can lead to inaccurate or inconsistent reporting of detection performance for partially occluded pedestrians depending on which benchmark is used. This research introduces a novel, objective benchmark for partially occluded pedestrian detection to facilitate the objective characterization of pedestrian detection models. Characterization is carried out on seven popular pedestrian detection models for a range of occlusion levels from 0%–99% to demonstrate the impact of progressive levels of partial occlusion on pedestrian detectability. Results show that the proposed benchmark provides more objective, fine grained analysis of pedestrian detection algorithms than the current state of the art.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"3 3","pages":"Article 100115"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49732282","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