2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)最新文献_第4页

Artificial neural networks based myoelectric control system for automatic assistance in hand rehabilitation 基于人工神经网络的手康复自动辅助肌电控制系统

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172420

M. Z. Amrani, A. Daoudi, N. Achour, Mouloud Tair

{"title":"Artificial neural networks based myoelectric control system for automatic assistance in hand rehabilitation","authors":"M. Z. Amrani, A. Daoudi, N. Achour, Mouloud Tair","doi":"10.1109/ROMAN.2017.8172420","DOIUrl":"https://doi.org/10.1109/ROMAN.2017.8172420","url":null,"abstract":"Myoelectric control is using electromyography (EMG) signal as a source of control, with this technique, we can control any computer based system such as robots, devices or even virtual objects. The tendon gliding exercise is one of the most common hand's rehabilitation exercises. In this paper, we present a patterns recognition based myoelectric control system (MCS) for the automatic assistance in tendon gliding exercise. The user is assisted by visual indicators and demo videos. EMG patterns recognition is done with EMG features and a multi-layer Artificial neural network (ANN), the ANN classifier output is used to synchronize the demo video with the detected movement, the transition between states is done automatically when the current state's movement is correct and the required number of repetition is reached. The ANN learning is done using back-propagation algorithm, we have used only two sEMG electrodes and four common used timedomain EMG feature extraction methods, the features quality is evaluated by the average Rand index using eight unsupervised clustering algorithms. The efficacy of the proposed method is experimentally validated with five able-bodied subjects, where we have reached an average classification accuracy of 95.11% and a processing time less than 300ms.","PeriodicalId":134777,"journal":{"name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114276995","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: 7

Multimodal communication for guiding a person following robot 用于引导跟随机器人的人的多模式通信

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172428

Vardit Sarne-Fleischmann, Shanee Honig, T. Oron-Gilad, Y. Edan

引用次数: 4

Robot moderation of a collaborative game: Towards socially assistive robotics in group interactions 协作游戏中的机器人调节:面向群体互动中的社会辅助机器人

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172331

Elaine Schaertl Short, M. Matarić

引用次数: 43

Development of a two DOF needle driver for CT-guided needle insertion-type interventional robotic system 用于ct引导针插入型介入机器人系统的二自由度针驱动器的研制

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172344

K. Kim, H. Woo, J. Cho, Y. K. Lee

{"title":"Development of a two DOF needle driver for CT-guided needle insertion-type interventional robotic system","authors":"K. Kim, H. Woo, J. Cho, Y. K. Lee","doi":"10.1109/ROMAN.2017.8172344","DOIUrl":"https://doi.org/10.1109/ROMAN.2017.8172344","url":null,"abstract":"We present a compact and lightweight two Degrees of Freedom (DOF) needle driver to be applied to a teleoperated needle insertion-type interventional robotic system. The interventional slave manipulator is located beside the patient bed inside a CT scanner room. Physicians manipulate a master device, separately located in the control room, in order to control needle placement. The needle driver provides one translational motion and one rotational motion to a biopsy needle, and the needle is easily detachable from the needle driver. We performed several experiments to measure the repeatability and the insertion force of the needle to evaluate the basic performance of the proposed needle driver. The maximum error of the repeatability was 0.16 mm and the standard deviation was 0.0058 mm. The maximum insertion force of the needle was about 2.2 kgf, which meets the minimum insertion force of the needle for needle insertion-type interventions. Therefore, we expect the suggested needle driver is suitable to the clinical environment for CT-guided needle insertion-type interventions.","PeriodicalId":134777,"journal":{"name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130622886","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: 5

Decision-theoretic planning under uncertainty for multimodal human-robot interaction 多模态人机交互不确定条件下的决策规划

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172391

João A. Garcia, P. Lima, Tiago Veiga

{"title":"Decision-theoretic planning under uncertainty for multimodal human-robot interaction","authors":"João A. Garcia, P. Lima, Tiago Veiga","doi":"10.1109/ROMAN.2017.8172391","DOIUrl":"https://doi.org/10.1109/ROMAN.2017.8172391","url":null,"abstract":"This paper proposes a Decision-Theoretic approach to problems involving interaction between robot systems and human users, which takes into account the latent aspects of Human-Robot interaction, e.g., the user's status. The presented approach is based on the Partially Observable Markov Decision Process framework, which handles uncertainty in planning problems, extended with information rewards to optimize the information-gathering capabilities of the system. The approach is formalized into a framework which considers: observable and latent state variables; gesture and speech observations; and action factors which are related to the agent's actuators or to the information gain goals (Information-Reward actions). Under the proposed framework, the robot system is able to: actively gain information and react according to latent states, inherent to Human-Robot interaction settings; effectively achieve the goals of the task in which the robot is employed; and follow a socially appealing behavior. Finally, the framework was thoroughly tested in a socially assistive scenario, in a realistic apartment testbed and resorting to an autonomous mobile social robot. The experiments' results validate the proposed approach for problems involving robot systems in HumanRobot interaction scenarios.","PeriodicalId":134777,"journal":{"name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116359582","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

I see you lying on the ground — Can I help you? Fast fallen person detection in 3D with a mobile robot 我看见你躺在地上-我能帮你吗?快速摔倒的人检测在3D与移动机器人

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172283

Benjamin Lewandowski, Tim Wengefeld, Thomas Schmiedel, H. Groß

引用次数: 6

Robotic companions in stroke therapy: A user study on the efficacy of assistive robotics among 30 patients in neurological rehabilitation 脑卒中治疗中的机器人同伴:30例神经康复患者中辅助机器人疗效的用户研究

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172292

Sibylle Meyer, C. Fricke

{"title":"Robotic companions in stroke therapy: A user study on the efficacy of assistive robotics among 30 patients in neurological rehabilitation","authors":"Sibylle Meyer, C. Fricke","doi":"10.1109/ROMAN.2017.8172292","DOIUrl":"https://doi.org/10.1109/ROMAN.2017.8172292","url":null,"abstract":"This article summarizes and explains the results of our recently completed German research project ROREAS (Robotic Rehabilitation Assistant for Gait Training of Stroke Patients). The project combines medical, technical and sociological expertise to develop an autonomous robot companion to aid stroke patients' recoveries. The robotic companion aims to bridge the gap between human assisted gait training and independent exercise. From the beginning, the project was carried out in the real surroundings of the users — the corridors of a rehabilitation clinic. N=12 stroke patients were included in the technical development and N=30 patients in the evaluation of the robot companion. The robotic platform and HRI (Human-Robot Interaction) have been developed specifically for the particular requirements of this study. The empirical results show that the majority of robot users accept the mobile robotic companion and would incorporate it into their gait training. Despite severe mobility and/or cognitive handicaps, all patients could easily handle the robot. The robotic assistance motivated patients to leave their room despite difficulties in spatial orientation and ultimately they were able to increase the length of their routes and the duration of their training units.","PeriodicalId":134777,"journal":{"name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114836660","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: 6

Legible action selection in human-robot collaboration 人机协作中的易读动作选择

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172326

Huaijiang Zhu, Volker Gabler, D. Wollherr

引用次数: 7

Teammates first: Favoring ingroup robots over outgroup humans 队友优先:更喜欢团队内的机器人而不是团队外的人类

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172492

Marlena R. Fraune, S. Šabanović, Eliot R. Smith

引用次数: 47

Development of multi joint gripper and its dexterous grasping 多关节夹持器的研制及其灵巧抓取

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172489

S. Nomura, T. Tamamoto, Keita Takeuchi, K. Koganezawa

引用次数: 3