Frontiers in Neurorobotics最新文献

{"title":"An efficient grasping shared control architecture for unpredictable and unspecified tasks","authors":"Shaowen Cheng, Yongbin Jin, Yanhong Liang, Lei Jiang, Hongtao Wang","doi":"10.3389/fnbot.2024.1429952","DOIUrl":"https://doi.org/10.3389/fnbot.2024.1429952","url":null,"abstract":"Robot control in complex and unpredictable scenarios presents challenges such as adaptability, robustness, and human-robot interaction. These scenarios often require robots to perform tasks that involve unknown objects in unstructured environments with high levels of uncertainty. Traditional control methods, such as automatic control, may not be suitable due to their limited adaptability and reliance on prior knowledge. Human-in-the-loop method faces issues such as insufficient feedback, increased failure rates due to noise and delays, and lack of operator immersion, preventing the achievement of human-level performance. This study proposed a shared control framework to achieve a trade-off between efficiency and adaptability by combing the advantages of both teleoperation and automatic control method. The proposed approach combines the advantages of both human and automatic control methods to achieve a balance between performance and adaptability. We developed a linear model to compare three control methods and analyzed the impact of position noise and communication delays on performance. The real-world implementation of the shared control system demonstrates its effectiveness in object grasping and manipulation tasks. The results suggest that shared control can significantly improve grasping efficiency while maintaining adaptability in task execution for practical robotics applications.","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"22 1","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142222781","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A novel signal channel attention network for multi-modal emotion recognition","authors":"Ziang Du, Xia Ye, Pujie Zhao","doi":"10.3389/fnbot.2024.1442080","DOIUrl":"https://doi.org/10.3389/fnbot.2024.1442080","url":null,"abstract":"Physiological signal recognition is crucial in emotion recognition, and recent advancements in multi-modal fusion have enabled the integration of various physiological signals for improved recognition tasks. However, current models for emotion recognition with hyper complex multi-modal signals face limitations due to fusion methods and insufficient attention mechanisms, preventing further enhancement in classification performance. To address these challenges, we propose a new model framework named Signal Channel Attention Network (SCA-Net), which comprises three main components: an encoder, an attention fusion module, and a decoder. In the attention fusion module, we developed five types of attention mechanisms inspired by existing research and performed comparative experiments using the public dataset MAHNOB-HCI. All of these experiments demonstrate the effectiveness of the attention module we addressed for our baseline model in improving both accuracy and F1 score metrics. We also conducted ablation experiments within the most effective attention fusion module to verify the benefits of multi-modal fusion. Additionally, we adjusted the training process for different attention fusion modules by employing varying early stopping parameters to prevent model overfitting.","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"10 1","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142222782","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Flexible control and trajectory planning of medical two-arm surgical robot","authors":"Yanchun Xie, Xue Zhao, Yang Jiang, Yao Wu, Hailong Yu","doi":"10.3389/fnbot.2024.1451055","DOIUrl":"https://doi.org/10.3389/fnbot.2024.1451055","url":null,"abstract":"This paper introduces the flexible control and trajectory planning medical two-arm surgical robots, and employs effective collision detection methods to ensure the safety and precision during tasks. Firstly, the DH method is employed to establish relative rotation matrices between coordinate systems, determining the relative relationships of each joint link. A neural network based on a multilayer perceptron is proposed to solve FKP problem in real time. Secondly, a universal interpolator based on Non-Uniform Rational B-Splines (NURBS) is developed, capable of handling any geometric shape to ensure smooth and flexible motion trajectories. Finally, we developed a generalized momentum observer to detect external collisions, eliminating the need for external sensors and thereby reducing mechanical complexity and cost. The experiments verify the effectiveness of the kinematics solution and trajectory planning, demonstrating that the improved momentum torque observer can significantly reduce system overshoot, enabling the two-arm surgical robot to perform precise and safe surgical tasks under algorithmic guidance.","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"177 1","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142222785","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Target detection and classification via EfficientDet and CNN over unmanned aerial vehicles","authors":"Muhammad Ovais Yusuf, Muhammad Hanzla, Naif Al Mudawi, Touseef Sadiq, Bayan Alabdullah, Hameedur Rahman, Asaad Algarni","doi":"10.3389/fnbot.2024.1448538","DOIUrl":"https://doi.org/10.3389/fnbot.2024.1448538","url":null,"abstract":"IntroductionAdvanced traffic monitoring systems face significant challenges in vehicle detection and classification. Conventional methods often require substantial computational resources and struggle to adapt to diverse data collection methods.MethodsThis research introduces an innovative technique for classifying and recognizing vehicles in aerial image sequences. The proposed model encompasses several phases, starting with image enhancement through noise reduction and Contrast Limited Adaptive Histogram Equalization (CLAHE). Following this, contour-based segmentation and Fuzzy C-means segmentation (FCM) are applied to identify foreground objects. Vehicle detection and identification are performed using EfficientDet. For feature extraction, Accelerated KAZE (AKAZE), Oriented FAST and Rotated BRIEF (ORB), and Scale Invariant Feature Transform (SIFT) are utilized. Object classification is achieved through a Convolutional Neural Network (CNN) and ResNet Residual Network.ResultsThe proposed method demonstrates improved performance over previous approaches. Experiments on datasets including Vehicle Aerial Imagery from a Drone (VAID) and Unmanned Aerial Vehicle Intruder Dataset (UAVID) reveal that the model achieves an accuracy of 96.6% on UAVID and 97% on VAID.DiscussionThe results indicate that the proposed model significantly enhances vehicle detection and classification in aerial images, surpassing existing methods and offering notable improvements for traffic monitoring systems.","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"27 1","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142222784","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Frontiers | Multi-Modal Remote Perception Learning for Object Sensory Data","authors":"Nouf A. Almujally, Adnan A. Rafique, Naif Al Mudawi, Abdulwahab Alazeb, Mohammed Alonazi, Asaad Algarni, Ahmad Jalal, Hui Liu","doi":"10.3389/fnbot.2024.1427786","DOIUrl":"https://doi.org/10.3389/fnbot.2024.1427786","url":null,"abstract":"IntroductionWhen it comes to interpreting visual input, intelligent systems make use of contextual scene learning, which significantly improves both resilience and context awareness. The management of enormous amounts of data is a driving force behind the growing interest in computational frameworks, particularly in the context of autonomous cars.MethodThe purpose of this study is to introduce a novel approach known as Deep Fused Networks (DFN), which improves contextual scene comprehension by merging multi-object detection and semantic analysis.ResultsTo enhance accuracy and comprehension in complex situations, DFN makes use of a combination of deep learning and fusion techniques. With a minimum gain of 6.4% in accuracy for the SUN-RGB-D dataset and 3.6% for the NYU-Dv2 dataset.DiscussionFindings demonstrate considerable enhancements in object detection and semantic analysis when compared to the methodologies that are currently being utilized.","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"16 1","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142263139","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Soft ankle exoskeleton to counteract dropfoot and excessive inversion.","authors":"Xiaochen Zhang, Yi-Xing Liu, Ruoli Wang, Elena M Gutierrez-Farewik","doi":"10.3389/fnbot.2024.1372763","DOIUrl":"10.3389/fnbot.2024.1372763","url":null,"abstract":"<p><strong>Introduction: </strong>Wearable exoskeletons are emerging technologies for providing movement assistance and rehabilitation for people with motor disorders. In this study, we focus on the specific gait pathology dropfoot, which is common after a stroke. Dropfoot makes it difficult to achieve foot clearance during swing and heel contact at early stance and often necessitates compensatory movements.</p><p><strong>Methods: </strong>We developed a soft ankle exoskeleton consisting of actuation and transmission systems to assist two degrees of freedom simultaneously: dorsiflexion and eversion, then performed several proof-of-concept experiments on non-disabled persons. The actuation system consists of two motors worn on a waist belt. The transmission system provides assistive force to the medial and lateral sides of the forefoot via Bowden cables. The coupling design enables variable assistance of dorsiflexion and inversion at the same time, and a force-free controller is proposed to compensate for device resistance. We first evaluated the performance of the exoskeleton in three seated movement tests: assisting dorsiflexion and eversion, controlling plantarflexion, and compensating for device resistance, then during walking tests. In all proof-of-concept experiments, dropfoot tendency was simulated by fastening a weight to the shoe over the lateral forefoot.</p><p><strong>Results: </strong>In the first two seated tests, errors between the target and the achieved ankle joint angles in two planes were low; errors of <1.5° were achieved in assisting dorsiflexion and/or controlling plantarflexion and of <1.4° in assisting ankle eversion. The force-free controller in test three significantly compensated for the device resistance during ankle joint plantarflexion. In the gait tests, the exoskeleton was able to normalize ankle joint and foot segment kinematics, specifically foot inclination angle and ankle inversion angle at initial contact and ankle angle and clearance height during swing.</p><p><strong>Discussion: </strong>Our findings support the feasibility of the new ankle exoskeleton design in assisting two degrees of freedom at the ankle simultaneously and show its potential to assist people with dropfoot and excessive inversion.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"18 ","pages":"1372763"},"PeriodicalIF":2.6,"publicationDate":"2024-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11371749/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142132504","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"EEG-driven automatic generation of emotive music based on transformer.","authors":"Hui Jiang, Yu Chen, Di Wu, Jinlin Yan","doi":"10.3389/fnbot.2024.1437737","DOIUrl":"10.3389/fnbot.2024.1437737","url":null,"abstract":"<p><p>Utilizing deep features from electroencephalography (EEG) data for emotional music composition provides a novel approach for creating personalized and emotionally rich music. Compared to textual data, converting continuous EEG and music data into discrete units presents significant challenges, particularly the lack of a clear and fixed vocabulary for standardizing EEG and audio data. The lack of this standard makes the mapping relationship between EEG signals and musical elements (such as rhythm, melody, and emotion) blurry and complex. Therefore, we propose a method of using clustering to create discrete representations and using the Transformer model to reverse mapping relationships. Specifically, the model uses clustering labels to segment signals and independently encodes EEG and emotional music data to construct a vocabulary, thereby achieving discrete representation. A time series dictionary was developed using clustering algorithms, which more effectively captures and utilizes the temporal and structural relationships between EEG and audio data. In response to the insensitivity to temporal information in heterogeneous data, we adopted a multi head attention mechanism and positional encoding technology to enable the model to focus on information in different subspaces, thereby enhancing the understanding of the complex internal structure of EEG and audio data. In addition, to address the mismatch between local and global information in emotion driven music generation, we introduce an audio masking prediction loss learning method. Our method generates music that <i>Hits@</i>20 On the indicator, a performance of 68.19% was achieved, which improved the score by 4.9% compared to other methods, indicating the effectiveness of this method.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"18 ","pages":"1437737"},"PeriodicalIF":2.6,"publicationDate":"2024-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11366740/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142119502","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Recurrent neural network for trajectory tracking control of manipulator with unknown mass matrix.","authors":"Jian Li, Junming Su, Weilin Yu, Xuping Mao, Zipeng Liu, Haitao Fu","doi":"10.3389/fnbot.2024.1451924","DOIUrl":"10.3389/fnbot.2024.1451924","url":null,"abstract":"<p><p>Real-world robotic operations often face uncertainties that can impede accurate control of manipulators. This study proposes a recurrent neural network (RNN) combining kinematic and dynamic models to address this issue. Assuming an unknown mass matrix, the proposed method enables effective trajectory tracking for manipulators. In detail, a kinematic controller is designed to determine the desired joint acceleration for a given task with error feedback. Subsequently, integrated with the kinematics controller, the RNN is proposed to combine the robot's dynamic model and a mass matrix estimator. This integration allows the manipulator system to handle uncertainties and synchronously achieve trajectory tracking effectively. Theoretical analysis demonstrates the learning and control capabilities of the RNN. Simulative experiments conducted on a Franka Emika Panda manipulator, and comparisons validate the effectiveness and superiority of the proposed method.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"18 ","pages":"1451924"},"PeriodicalIF":2.6,"publicationDate":"2024-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11366699/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142119503","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Brain-inspired biomimetic robot control: a review.","authors":"Adrià Mompó Alepuz, Dimitrios Papageorgiou, Silvia Tolu","doi":"10.3389/fnbot.2024.1395617","DOIUrl":"10.3389/fnbot.2024.1395617","url":null,"abstract":"<p><p>Complex robotic systems, such as humanoid robot hands, soft robots, and walking robots, pose a challenging control problem due to their high dimensionality and heavy non-linearities. Conventional model-based feedback controllers demonstrate robustness and stability but struggle to cope with the escalating system design and tuning complexity accompanying larger dimensions. In contrast, data-driven methods such as artificial neural networks excel at representing high-dimensional data but lack robustness, generalization, and real-time adaptiveness. In response to these challenges, researchers are directing their focus to biological paradigms, drawing inspiration from the remarkable control capabilities inherent in the human body. This has motivated the exploration of new control methods aimed at closely emulating the motor functions of the brain given the current insights in neuroscience. Recent investigation into these <i>Brain-Inspired</i> control techniques have yielded promising results, notably in tasks involving trajectory tracking and robot locomotion. This paper presents a comprehensive review of the foremost trends in biomimetic brain-inspired control methods to tackle the intricacies associated with controlling complex robotic systems.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"18 ","pages":"1395617"},"PeriodicalIF":2.6,"publicationDate":"2024-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11366706/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142119501","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"The super-resolution reconstruction algorithm of multi-scale dilated convolution residual network.","authors":"Shanqin Wang, Miao Zhang, Mengjun Miao","doi":"10.3389/fnbot.2024.1436052","DOIUrl":"10.3389/fnbot.2024.1436052","url":null,"abstract":"<p><p>Aiming at the problems of traditional image super-resolution reconstruction algorithms in the image reconstruction process, such as small receptive field, insufficient multi-scale feature extraction, and easy loss of image feature information, a super-resolution reconstruction algorithm of multi-scale dilated convolution network based on dilated convolution is proposed in this paper. First, the algorithm extracts features from the same input image through the dilated convolution kernels of different receptive fields to obtain feature maps with different scales; then, through the residual attention dense block, further obtain the features of the original low resolution images, local residual connections are added to fuse multi-scale feature information between multiple channels, and residual nested networks and jump connections are used at the same time to speed up deep network convergence and avoid network degradation problems. Finally, deep network extraction features, and it is fused with input features to increase the nonlinear expression ability of the network to enhance the super-resolution reconstruction effect. Experimental results show that compared with Bicubic, SRCNN, ESPCN, VDSR, DRCN, LapSRN, MemNet, and DSRNet algorithms on the Set5, Set14, BSDS100, and Urban100 test sets, the proposed algorithm has improved peak signal-to-noise ratio and structural similarity, and reconstructed images. The visual effect is better.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"18 ","pages":"1436052"},"PeriodicalIF":2.6,"publicationDate":"2024-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11363189/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142106541","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}