2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献

Full Utilization of a Single Image by Characterizing Multiple Regions of Interest for Line Tracing 充分利用单幅图像特征的多个感兴趣的区域线跟踪

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011795

Jinsung Ahn, Y. Yamakawa

引用次数: 0

A Stair-Climbing Robot with Star-wheel Configuration 星轮结构的爬楼梯机器人

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011928

Tongxin Cui, Wenhui Wang, Zheng Zhu, Jing Wu, Zhenzhong Jia

引用次数: 0

Design and Experiments of a Robotic Arm with a Rigid-Soft Coupling Structure* 一种具有刚软耦合结构的机械臂设计与实验*

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011683

W. He, Tao Wang

引用次数: 0

RBT-HCI: A Reliable Behavior Tree Planning Method with Human-Computer Interaction RBT-HCI:一种可靠的人机交互行为树规划方法

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011651

Yunlong Wu, Jinghua Li, Haoxiang Jin, Jiexin Zhang, Yanzhen Wang

引用次数: 1

Visuotactile Feedback Parallel Gripper for Robotic Adaptive Grasping 机器人自适应抓取的视触觉反馈平行夹持器

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011873

Boyue Zhang, Shaowei Cui, C. Zhang, Jingyi Hu, Shuo Wang

引用次数: 1

Optimized Fingering Planning for Automatic Piano Playing Using Dual-arm Robot System 利用双臂机器人系统优化钢琴自动弹奏指法规划

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011881

Wenjing Shi, Yihui Li, Y. Guan, Xiaohan Chen, Shengtian Yang, Senyu Mo

引用次数: 0

Precise LiDAR SLAM in Structured Scene Using Finite Plane and Prior Constraint 基于有限平面和先验约束的结构场景精确激光雷达SLAM

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011847

Yuhui Xie, Wentao Zhao, Jiahao Wang, Jingchuan Wang, Weidong Chen

引用次数: 0

Channel-distribution Hybrid Deep Learning for sEMG-based Gesture Recognition 基于表面肌电信号的手势识别的通道分布混合深度学习

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011951

Keyi Lu, Hao Guo, Fei Qi, Peihao Gong, Zhihao Gu, Lining Sun, Haibo Huang

{"title":"Channel-distribution Hybrid Deep Learning for sEMG-based Gesture Recognition","authors":"Keyi Lu, Hao Guo, Fei Qi, Peihao Gong, Zhihao Gu, Lining Sun, Haibo Huang","doi":"10.1109/ROBIO55434.2022.10011951","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011951","url":null,"abstract":"In recent years, CNNs (Convolutional Neural Networks) with their powerful feature representation and feature learning capabilities, have played an important role in gesture recognition tasks based on sparse multichannel surface EMG signals. As each muscle group in the upper limb plays a different role in a particular hand movement, we propose a hybrid CNN model that considers the spatial distribution of muscle groups in the myoelectric channel to improve the accuracy of hand gesture recognition. The model takes the spectrogram of CWT (Continuous Wavelet Transform) as input, based on the spatial distribution of channels, decomposes all channels into multiple input streams, lets the CNN learn the features of each stream separately, and gradually fuses (slowly fusion) the features learned by each stream, and then performs gesture classification. Finally, the results of several of these stream-division methods are fused for decision making to obtain classification accuracies. The proposed model was validated and tested on the Nina Pro DB4 dataset, and the average accuracy was improved compared to both traditional machine learning methods and multi-stream CNN models that do not take into account the spatial distribution of channels.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126956445","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

Speech-Vision Based Multi-Modal AI Control of a Magnetic Anchored and Actuated Endoscope 基于语音视觉的磁锚定驱动内窥镜多模态人工智能控制

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011904

Jixiu Li, Yisen Huang, W. Ng, T. Cheng, Xixin Wu, Q. Dou, Helen M. Meng, P. Heng, Yunhui Liu, S. Chan, D. Navarro-Alarcon, Calvin Sze Hang Ng, Philip Wai Yan Chiu, Zheng Li

{"title":"Speech-Vision Based Multi-Modal AI Control of a Magnetic Anchored and Actuated Endoscope","authors":"Jixiu Li, Yisen Huang, W. Ng, T. Cheng, Xixin Wu, Q. Dou, Helen M. Meng, P. Heng, Yunhui Liu, S. Chan, D. Navarro-Alarcon, Calvin Sze Hang Ng, Philip Wai Yan Chiu, Zheng Li","doi":"10.1109/ROBIO55434.2022.10011904","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011904","url":null,"abstract":"In minimally invasive surgery (MIS), controlling the endoscope view is crucial for the operation. Many robotic endoscope holders were developed aiming to address this prob-lem,. These systems rely on joystick, foot pedal, simple voice command, etc. to control the robot. These methods requires surgeons extra effort and are not intuitive enough. In this paper, we propose a speech-vision based multi-modal AI approach, which integrates deep learning based instrument detection, automatic speech recognition and robot visual servo control. Surgeons could communicate with the endoscope by speech to indicate their view preference, such as the instrument to be tracked. The instrument is detected by the deep learning neural network. Then the endoscope takes the detected instrument as the target and follows it with the visual servo controller. This method is applied to a magnetic anchored and guided endoscope and evaluated experimentally. Preliminary results demonstrated this approach is effective and requires little efforts for the surgeon to control the endoscope view intuitively.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124699025","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

Design and Kinematic Modeling of a Concentric Torsionally-Steerable Flexible Surgical Robot 同心扭控柔性手术机器人的设计与运动学建模

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2022-12-05 DOI: 10.1109/ROBIO55434.2022.10011976

Ning Zhang, Yixuan Kong, Hailin Huang, Shuang Song, Bing Li

{"title":"Design and Kinematic Modeling of a Concentric Torsionally-Steerable Flexible Surgical Robot","authors":"Ning Zhang, Yixuan Kong, Hailin Huang, Shuang Song, Bing Li","doi":"10.1109/ROBIO55434.2022.10011976","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011976","url":null,"abstract":"Flexible robots with torsional motion can be used in transnasal surgery which can improve the flexibility of the end-effector during the operation. However, the torsion or twisting function still can not satisfy the requirement of the complex cavities with a different structure. This paper proposed a concentric torsionally-steer able (CTS) flexible surgical robot with novel concentric tendon-driven tubes. A 2L-RPRPR model based on the rigidized equivalence model is established to guide the spatial motion of the CTS robot. On the basis of this model, the cooperative motion between the inner and outer tubes can be realized, such as linear movement and rotation. In the meanwhile, the concentric tendon-driven tubes can perform different bending directions and curvatures according to various cavities. And the C-shape or S-shape with different curvatures required by the surgery operation can also be achieved. The results of the simulation and experiments show that the proposed CTS robot has larger workspace and higher operational flexibility, which are sufficient for surgical operation.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129918384","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