{"title":"Editorial for the special issue on design, sensing and control in medical robots","authors":"Jiaole Wang, Shuang Song, Li Liu","doi":"10.1016/j.birob.2024.100177","DOIUrl":"10.1016/j.birob.2024.100177","url":null,"abstract":"","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 3","pages":"Article 100177"},"PeriodicalIF":0.0,"publicationDate":"2024-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000354/pdfft?md5=a2a374a17c5ee27c71c49b9b2c15885c&pid=1-s2.0-S2667379724000354-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142083069","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}
{"title":"Enhancing crack detection in railway tracks through AI-optimized ultrasonic guided wave modes","authors":"Jianjun Liu , Huan Luo , Han Hu , Jian Li","doi":"10.1016/j.birob.2024.100175","DOIUrl":"10.1016/j.birob.2024.100175","url":null,"abstract":"<div><p>The utilization of ultrasonic guided wave technology for detecting cracks in railway tracks involves analyzing echo signals produced by the interaction of cracks with guided wave modes to achieve precise crack localization, which is extremely important in a real-time railway crack robotic detection system. Addressing the challenge of selecting the optimal detection mode for cracks in various regions of railway tracks, this paper presents a method for optimal crack detection mode selection. This method is based on the sensitivity of guided wave modes to cracks. By examining the frequency dispersion characteristics and mode shapes of guided wave modes, we establish indicators for crack zone energy and crack reflection intensity. Our focus is on the railhead of the railway track, selecting guided wave modes characterized by specific cracks for detection purposes. Experimental findings validate the accuracy of our proposed mode selection method in detecting cracks in railway tracks. This research not only enhances crack detection but also lays the groundwork for exploring advanced detection and localization techniques for cracks in railway tracks.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 3","pages":"Article 100175"},"PeriodicalIF":0.0,"publicationDate":"2024-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000330/pdfft?md5=f1d6b4975e49e463a5e7c59e37f53ce9&pid=1-s2.0-S2667379724000330-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142020792","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}
Xiangpan Li , Liaoyuan Li , Jianhai Han , Bingjing Guo , Ganqin Du
{"title":"A new active rehabilitation training mode for upper limbs based on Tai Chi Pushing Hands","authors":"Xiangpan Li , Liaoyuan Li , Jianhai Han , Bingjing Guo , Ganqin Du","doi":"10.1016/j.birob.2024.100174","DOIUrl":"10.1016/j.birob.2024.100174","url":null,"abstract":"<div><p>Robot-assisted rehabilitation is a crucial approach to restoring motor function in the limb. However, the current training trajectory lacks sufficient theoretical or practical support, and the monotony of single-mode training is a concern. Tai Chi Pushing Hands, a beneficial and effective daily exercise, has been shown to improve balance function, psychological state, and motor function of the upper extremities in patients recovering from stroke. To address these issues, we propose a new active rehabilitation training that incorporates Tai Chi Pushing Hands movements and yin-yang balance principles. The training trajectory and direction are encoded by the velocity field and consist of two processes: yang (push) and yin (return). During yang, the limb actively pushes the robot to move, while during yin, the limb actively follows the robot’s movement. To provide necessary assistance, an admittance controller with self-adaptive parameters is designed. In addition, we introduce two indexes, the ‘Intention Angle’ (<span><math><mi>ϖ</mi></math></span>) and the time ratio (<span><math><mi>Γ</mi></math></span>), to evaluate motion perception performance. Our experiment was conducted on a 4-degree-of-freedom upper limb rehabilitation robot platform, and the subjects were separated into a familiar group and an unfamiliar group. The experiment results show that the training could be completed well no matter whether the subject is familiar with Tai Chi Pushing Hands or not. The parameters and the movement of the robot can be adjusted based on the interactive force to adapt to the ability of the subject.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 3","pages":"Article 100174"},"PeriodicalIF":0.0,"publicationDate":"2024-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000329/pdfft?md5=f9b9110812396c47d0e83436fd9f3ede&pid=1-s2.0-S2667379724000329-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142077029","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}
Christopher Michael Hofmair , Kunal Bhakhri , Manish Chauhan
{"title":"Design and optimisation of soft robotic actuators for augmented lung-ventilation","authors":"Christopher Michael Hofmair , Kunal Bhakhri , Manish Chauhan","doi":"10.1016/j.birob.2024.100172","DOIUrl":"10.1016/j.birob.2024.100172","url":null,"abstract":"<div><p>Pulmonary rehabilitation through invasive ventilation involves the insertion of an endotracheal tube into the trachea of a sedated patient to control breathing via a ventilating machine. Invasive ventilation offers benefits such as greater control over oxygen supply, higher efficiency in supporting patient respiration, and the ability to manage airway secretions. However, this method also poses treatment challenges like ventilator-induced pneumonia, airway injury, long recovery times, and ventilator dependence. Here, we explore an alternative invasive ventilation technique using soft robotic actuators to mimic the biological function of the diaphragm for augmenting and assisting ventilation. We investigated two actuator geometries, each at two locations superior to the diaphragm. These actuators were tested on a bespoke ex vivo testbed that accurately simulated key diaphragmatic characteristics throughout the respiratory cycle. From this, we have been able to drive intrathoracic pressures greater than the 5 cmH<span><math><msub><mrow></mrow><mrow><mn>2</mn></mrow></msub></math></span>O required for ventilation in a human male. Additionally, by optimising the placement and geometry of these soft robotic actuators we have been able to generate maximum intrathoracic pressures of (6.81 ± 0.39) cmH<span><math><msub><mrow></mrow><mrow><mn>2</mn></mrow></msub></math></span>O.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 3","pages":"Article 100172"},"PeriodicalIF":0.0,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000305/pdfft?md5=9c0c6952e7b907f91a200a549fc185b6&pid=1-s2.0-S2667379724000305-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141839666","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}
Longchuan Li , Shugen Ma , Isao Tokuda , Zaiyang Liu , Zhenxuan Ma , Yang Tian , Shuai Kang
{"title":"Embodying rather than encoding: Towards developing a source-filter theory for undulation gait generation","authors":"Longchuan Li , Shugen Ma , Isao Tokuda , Zaiyang Liu , Zhenxuan Ma , Yang Tian , Shuai Kang","doi":"10.1016/j.birob.2024.100173","DOIUrl":"10.1016/j.birob.2024.100173","url":null,"abstract":"<div><p>Biological undulation enables legless creatures to move naturally, and robustly in various environments. Consequently, many kinds of undulating robots have been developed. However, the fundamental mechanism of biological undulation gait generation has not yet been well explained, which hinders deepening the investigation and optimization of these robots. Towards developing a theory for explaining this biological behavior, which will further guide the design of artificial undulation systems, we propose a hypothesis based on both biological findings and previous robotics studies. To verify the hypothesis, we investigate embodied intelligence of undulation locomotion via a mechanical system. Through experimental study, we observe the phenomenon that undulation gait is a production of the source, which is the torque inputs, and the filter, which is the natural dynamics of the system. We further derive a general mathematical model and conduct morphological computation accordingly. From a simple model to a complicated system, our work explores the principles of undulation gait generation. Our findings significantly simplify the control system design of artificial undulating systems.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 3","pages":"Article 100173"},"PeriodicalIF":0.0,"publicationDate":"2024-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000317/pdfft?md5=314b46e8f4e1393c9d498325cc35db2b&pid=1-s2.0-S2667379724000317-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141850840","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}
Huibin Qin , Zefeng Zhang , Zhili Hou , Lina Li , Kai Liu , Shaoping Bai
{"title":"Modeling and analysis of hysteresis using the Maxwell-slip model for variable stiffness actuators","authors":"Huibin Qin , Zefeng Zhang , Zhili Hou , Lina Li , Kai Liu , Shaoping Bai","doi":"10.1016/j.birob.2024.100171","DOIUrl":"10.1016/j.birob.2024.100171","url":null,"abstract":"<div><p>Hysteresis non-linearity in variable stiffness actuators (VSAs) causes significant torque errors and reduces the stability of the actuators, leading to poor human–computer interaction performance. At present, fewer hysteresis compensation models have been developed for compliant drives, so it is necessary to establish a suitable hysteresis model for compliant actuators. In this work, a new model with a combination of the Maxwell-slip model and virtual deformation is proposed and applied to an elbow compliant actuator. The method divides the periodic variation of the actuator into three parts: an ascending phase, a descending phase, and a transition phase. Based on the concept of virtual deformation, the nonlinear hysteresis curve is transformed into a polyline, and the output torque is estimated using the revised Maxwell-slip model. The simulation results are compared with the experimental data. Its torque error is controlled within 0.2Nm, which validates the model. An inverse model is finally established to calculate the deformation deflection angle for hysteresis compensation. The results show that the inverse model has high accuracy, and the deformation deflection is less than 0.15 rad.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 3","pages":"Article 100171"},"PeriodicalIF":0.0,"publicationDate":"2024-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000299/pdfft?md5=9a6f8288807117b91343a0884cc8647a&pid=1-s2.0-S2667379724000299-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141714971","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}
{"title":"TWrist: An agile compliant 3-DoF tensegrity joint","authors":"Tianyuan Wang, Mark A. Post, Andy M. Tyrrell","doi":"10.1016/j.birob.2024.100170","DOIUrl":"https://doi.org/10.1016/j.birob.2024.100170","url":null,"abstract":"<div><p>Tensegrity structures, with their unique physical characteristics, hold substantial potential in the field of robotics. However, the very structures that will give tensegrity robots potential advantages over traditional robots also hold long term challenges. Due to the inherent high redundancy of tensegrity structures and the employment of tension elements, tensegrity robots exhibit excellent stability, compliance, and flexibility, although this also results in lower structural deformation efficiency. Existing research has endeavoured to enhance the motion performance of tensegrity robots, exploring diverse approaches such as actuation schemes, structure design, aligned with control algorithms. However, the physical constraints of the elements in such structures and the absence of suitable controllers impede further advancements in the usefulness of tensegrity robots. This paper presents a novel design based on an under constrained transition region design and a tailored control approach based on inverse kinematics, improving the motion performance of the proposed novel tensegrity joint. Through this approach, the tensegrity joint, while preserving the advantages of compliance and flexibility expected from tensegrity structures, offers three degrees of rotational freedom, mirroring the controllability of conventional rigid-body joints. The results demonstrate the capability of tensegrity-based robotic joints to provide flexible actuation under situations demanding high compliance. The integration of structure design with a tailored control approach offers a pioneering model for future development of tensegrity robots, underscoring the practical viability of tensegrity structures in the realm of robotics.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 3","pages":"Article 100170"},"PeriodicalIF":0.0,"publicationDate":"2024-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000287/pdfft?md5=d1f763bdd380614b42855fe58b3171f9&pid=1-s2.0-S2667379724000287-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141607113","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}
Ningwei Qin, Junjun Wu, Xilin Liu, Zeqin Lin, Zhifeng Wang
{"title":"MCRNet: Underwater image enhancement using multi-color space residual network","authors":"Ningwei Qin, Junjun Wu, Xilin Liu, Zeqin Lin, Zhifeng Wang","doi":"10.1016/j.birob.2024.100169","DOIUrl":"https://doi.org/10.1016/j.birob.2024.100169","url":null,"abstract":"<div><p>The selective attenuation and scattering of light in underwater environments cause color distortion and contrast reduction in underwater images, which can impede the ever-growing demand for underwater robot operations. To address these issues, we propose a Multi-Color space Residual Network (MCRNet) for underwater image enhancement. Our method takes advantage of the unique features of color representation in the RGB, HSV, and Lab color spaces. By utilizing the distinct feature representations of images in different color spaces, we can highlight and fuse the most informative features of the three color spaces. Our approach employs a self-attention mechanism in the multi-color space feature fusion module. Extensive experiments demonstrate that our method achieves satisfactory results in color correction and contrast improvement of underwater images, particularly in severely degraded scenes. Consequently, our method outperforms state-of-the-art methods in both subjective visual comparison and objective evaluation metrics.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 3","pages":"Article 100169"},"PeriodicalIF":0.0,"publicationDate":"2024-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000275/pdfft?md5=a7c3f3c8ecf6cf11e10066028ca72bca&pid=1-s2.0-S2667379724000275-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141485429","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}
{"title":"Variable stiffness methods of flexible robots for minimally invasive surgery: A review","authors":"Botao Lin, Shuang Song , Jiaole Wang","doi":"10.1016/j.birob.2024.100168","DOIUrl":"10.1016/j.birob.2024.100168","url":null,"abstract":"<div><p>With high flexibility and slim body, flexible robots have been widely used in minimally invasive surgery because they can safely reach the lesion deep inside the human body through small incisions or natural orifices. However, high stiffness of robot body is also required for transferring force and maintaining the motion accuracy. To meet these two contradictory requirements, various methods have been implemented to enable adjustable stiffness for flexible surgical robots. In this review, we first summarize the anatomic constraints of common natural tracts of human body to provide a guidance for the design of variable stiffness flexible robots. And then, the variable stiffness methods have been categorized based on their basic principles of varying the stiffness. In the end, two variable stiffness methods with great potential and the moving strategy of variable stiffness flexible robots are discussed.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 3","pages":"Article 100168"},"PeriodicalIF":0.0,"publicationDate":"2024-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000263/pdfft?md5=27d47b4e2faf679e5c0ff6e1bd636d50&pid=1-s2.0-S2667379724000263-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141408953","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}
Jingyi Hu , Shaowei Cui , Shuo Wang , Rui Wang , Yu Wang
{"title":"Active shape reconstruction using a novel visuotactile palm sensor","authors":"Jingyi Hu , Shaowei Cui , Shuo Wang , Rui Wang , Yu Wang","doi":"10.1016/j.birob.2024.100167","DOIUrl":"10.1016/j.birob.2024.100167","url":null,"abstract":"<div><p>Tactile sensing enables high-precision 3D shape perception when vision is limited. However, tactile-based shape reconstruction remains a challenging problem. In this paper, a novel visuotactile sensor, GelStereo Palm 2.0, is proposed to better capture 3D contact geometry. Leveraging the dense tactile point cloud captured by GelStereo Palm 2.0, an active shape reconstruction pipeline is presented to achieve accurate and efficient 3D shape reconstruction on irregular surfaces. GelStereo Palm 2.0 achieves a spatial resolution of 1.5 mm and a reconstruction accuracy of 0.3 mm. The accuracy of the proposed active shape reconstruction pipeline reaches 2.3 mm within 18 explorations. The proposed method has potential applications in the shape reconstruction of transparent or underwater objects.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 3","pages":"Article 100167"},"PeriodicalIF":0.0,"publicationDate":"2024-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000251/pdfft?md5=de51116b52ec1c5cfcb20070e79ed76d&pid=1-s2.0-S2667379724000251-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141275707","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}