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2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS)最新文献

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Physics-informed reservoir computing with autonomously switching readouts: a case study in pneumatic artificial muscles 具有自动切换读数的物理信息油藏计算:气动人造肌肉的案例研究
2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS) Pub Date : 2021-12-05 DOI: 10.1109/mhs53471.2021.9767178
W. Sun, Nozomi Akashi, Yasuo Kuniyoshi, K. Nakajima
{"title":"Physics-informed reservoir computing with autonomously switching readouts: a case study in pneumatic artificial muscles","authors":"W. Sun, Nozomi Akashi, Yasuo Kuniyoshi, K. Nakajima","doi":"10.1109/mhs53471.2021.9767178","DOIUrl":"https://doi.org/10.1109/mhs53471.2021.9767178","url":null,"abstract":"We introduce an approach based on physics-informed neural networks to predict the length of a McKibben pneumatic artificial muscle (PAM) from a series of pressure measurements. We implemented an echo state network, which is a type of recurrent neural network with autonomously switching readouts corresponding to the different physical states of the PAM. The physical state we focus on in the current study is the direction of motion affected by hysteresis. The switching is realized by introducing gate architecture, whose states are also controlled by using the same recurrent network that outputs the length of the PAM. We demonstrated that handling the different physical states of the PAM by switching readouts will robustly yield performance in predicting the length of the PAM. We also demonstrated that Gaussian mixture models as a classifier for clustering the reservoir state autonomously and the results in classification are consistent with the physical state of the PAM.","PeriodicalId":175001,"journal":{"name":"2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121977406","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: 3
Object Recognition Using the Deformation Dynamics of Polyurethane Foam 基于聚氨酯泡沫塑料变形动力学的物体识别
2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS) Pub Date : 2021-12-05 DOI: 10.1109/mhs53471.2021.9767110
Yasumichi Wakao, R. Sakurai, H. Kitano, K. Nakajima
{"title":"Object Recognition Using the Deformation Dynamics of Polyurethane Foam","authors":"Yasumichi Wakao, R. Sakurai, H. Kitano, K. Nakajima","doi":"10.1109/mhs53471.2021.9767110","DOIUrl":"https://doi.org/10.1109/mhs53471.2021.9767110","url":null,"abstract":"For the purpose of developing a versatile skin for soft robots, we propose a sensing method based on physical reservoir computing (PRC) in which we applied conductive polyurethane foam (CPF) to classify the state of a contacted object. Inspired by PRC, we exploited the natural deformation dynamics of CPF as an information processing device. By monitoring the deformation through the resistance change of the cellular foam, we demonstrate that the foam's deformation dynamics are innately capable of recognizing the different states of objects (such as shape, angle, and position). Thus, the foam acts as a natural classifier that facilitates separability through its high-dimensional dynamics. This feature is useful in practical applications and would reduce the electrical components and power consumption required to work with other systems. In this study, we examined proof-of-concept experiments using simple object conditions: three object shapes (circle, triangle, and square) at different rotations and positions. As a result, high classification accuracy was demonstrated in a number of experiments, and the possibility for enhancing the method's generalization capability was investigated. Our approach is potentially applicable to not only the foam but also to other various soft materials with large internal degrees of freedom, suggesting its universality to soft robotic platforms in general.","PeriodicalId":175001,"journal":{"name":"2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131961291","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
Parametric Design Optimization of a Universal Supernumerary Robotic Limb 通用机器人多余肢体的参数化设计优化
2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS) Pub Date : 2021-12-05 DOI: 10.1109/mhs53471.2021.9767156
Jun Huo, Bo Yang, Hongge Ru, Jian Huang
{"title":"Parametric Design Optimization of a Universal Supernumerary Robotic Limb","authors":"Jun Huo, Bo Yang, Hongge Ru, Jian Huang","doi":"10.1109/mhs53471.2021.9767156","DOIUrl":"https://doi.org/10.1109/mhs53471.2021.9767156","url":null,"abstract":"It is a positive trend for hemiplegia with wearable robots in rehabilitation training. Recently, wearable Supernumerary Robotic Limb (SRL) is rising to a hot spot. The difficulty in modeling SRL for hemiplegia is how to make the SRL mechanism match the human upper and lower limbs' size and function simultaneously. In this paper, a simplified model of a four Degree of Freedoms (DOFs) universal SRL (USRL) is introduced. Based on workspace similarity, which is evaluated by Jaccard Index (JI), we establish a multi-object optimization (MOO) model. By applying the Particle Swarm Optimization (PSO) algorithm, we have found the optimal SRL mechanism parameters that meet the requirement of the human upper limb and the cane simultaneously. Meanwhile, a few impact factors are discussed briefly in the present proposal. The simulation results show that the USRL has a sound match with the human and could assist the hemiplegia subject as a supplemental limb.","PeriodicalId":175001,"journal":{"name":"2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131733406","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: 4
Identification of Dynamic Hand Gestures with Force Myography 用力肌图识别动态手势
2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS) Pub Date : 2021-12-05 DOI: 10.1109/mhs53471.2021.9767134
E. Fujiwara, M. K. Gomes, Yu Tzu Wu, C. Suzuki
{"title":"Identification of Dynamic Hand Gestures with Force Myography","authors":"E. Fujiwara, M. K. Gomes, Yu Tzu Wu, C. Suzuki","doi":"10.1109/mhs53471.2021.9767134","DOIUrl":"https://doi.org/10.1109/mhs53471.2021.9767134","url":null,"abstract":"Hand gestures are efficient ways to perform natural human-computer interaction. However, the current approaches rely on complex and expensive systems to recognize static poses. This work proposes a force myography sensor to identify dynamic gestures. It employs a single-channel optical fiber transducer to assess the forearm muscles, producing time-varying waveforms with distinct patterns, further processed by the classification algorithm. Assuming a set of 26 Latin letters handwritten in the air, the system provided the correct discrimination with 99.2% accuracy. Nevertheless, one may generalize this method for detecting any dynamic hand gesture, enabling applications in user interfaces, assistive technologies, and serious games.","PeriodicalId":175001,"journal":{"name":"2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114711880","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
Bidirectional Tether Less Soft Actuator with Expeditious Position Control Mechanism 具有快速位置控制机构的双向无系绳软驱动器
2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS) Pub Date : 2021-12-05 DOI: 10.1109/mhs53471.2021.9767140
J. Unde, Jacinto E. Colan Zaita, Y. Hasegawa
{"title":"Bidirectional Tether Less Soft Actuator with Expeditious Position Control Mechanism","authors":"J. Unde, Jacinto E. Colan Zaita, Y. Hasegawa","doi":"10.1109/mhs53471.2021.9767140","DOIUrl":"https://doi.org/10.1109/mhs53471.2021.9767140","url":null,"abstract":"In this paper, we present a mechanism that can facilitate soft actuator position control, bidirectional actuation, and getting rid of tether/hose. We proposed a simplistic piston pump as a source of actuation fluid for driving fluidic soft actuators instead of the traditional compressor-based approach to establish an expeditious position control for soft actuators. We explored the conceptual design of a bi-directional soft actuator and the piston pump thoroughly and calculated design and operating parameters. Further, deriving the mathematical model for the proposed system in terms of the position of the piston inside the piston pump and the angular position of the soft actuator. Subsequently, we discuss potential applications of the proposed mechanism.","PeriodicalId":175001,"journal":{"name":"2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS)","volume":"184 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115197415","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 of a Compliant 7-DoF Power Soft Robot driven by Hydraulic Artificial Muscles 液压人造肌肉驱动的柔性七自由度动力软机器人设计
2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS) Pub Date : 2021-12-05 DOI: 10.1109/mhs53471.2021.9767141
Yunhao Feng, T. Ide, Hiroyuki Nabae, G. Endo, R. Sakurai, Shingo Ohno, K. Suzumori
{"title":"Design of a Compliant 7-DoF Power Soft Robot driven by Hydraulic Artificial Muscles","authors":"Yunhao Feng, T. Ide, Hiroyuki Nabae, G. Endo, R. Sakurai, Shingo Ohno, K. Suzumori","doi":"10.1109/mhs53471.2021.9767141","DOIUrl":"https://doi.org/10.1109/mhs53471.2021.9767141","url":null,"abstract":"A lightweight hydraulic artificial muscle with a compliant structure can generate a strong contraction force with a high application pressure. The 7-DOF power soft robot arm driven by hydraulic artificial muscles developed in this study can potentially achieve both sufficient strength and softness while exhibiting characteristics close to those of humans. Two symmetrical antagonistic joints, two asymmetrical antagonistic joints, two rotational wire-pulley drive antagonistic joints, and a single-muscle drive joint are used for the shoulder, elbow, and wrist parts. A total of 29 hydraulic muscles were used in the structure.","PeriodicalId":175001,"journal":{"name":"2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123419089","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
Simulations of Actomyosin-Based Molecular Shuttles Controlled by External Force 外力控制下基于肌动球蛋白的分子穿梭体模拟
2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS) Pub Date : 2021-12-05 DOI: 10.1109/mhs53471.2021.9767188
Samuel Macharia Kang’iri, Andrew Salem, D. V. Nicolau, T. Nitta
{"title":"Simulations of Actomyosin-Based Molecular Shuttles Controlled by External Force","authors":"Samuel Macharia Kang’iri, Andrew Salem, D. V. Nicolau, T. Nitta","doi":"10.1109/mhs53471.2021.9767188","DOIUrl":"https://doi.org/10.1109/mhs53471.2021.9767188","url":null,"abstract":"The high speed of actomyosin is appealing for fast biosensor applications, but its high flexibility is undesirable. To improve directional controllability, microfabricated thin channels are used. An alternative inexpensive solution to this controllability may allow cheaper implementations. Actin filament has been shown to change direction in response to the applied external force. Knowledge of how the actin filament moves under the external force prior to the actual experiments would be useful in tuning the strength and direction of the external force. Here, we used simulation to elucidate the actin filament directional manipulation by the external force field. We found that the actin direction can be controlled inexpensively by selectively applying positive or negative external force fields.","PeriodicalId":175001,"journal":{"name":"2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS)","volume":"28 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124289995","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
Dynamic characteristics of a dielectric elastomer actuator fabricated using a stretchable CNT powder electrode 使用可拉伸碳纳米管粉末电极制造的介电弹性体致动器的动态特性
2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS) Pub Date : 2021-12-05 DOI: 10.1109/mhs53471.2021.9767162
Ardi Wiranata, Abdulsalam Mohammed Abdullah Haidar, Taichi Murakami, Ayato Minaminosono, Zebing Mao, S. Maeda
{"title":"Dynamic characteristics of a dielectric elastomer actuator fabricated using a stretchable CNT powder electrode","authors":"Ardi Wiranata, Abdulsalam Mohammed Abdullah Haidar, Taichi Murakami, Ayato Minaminosono, Zebing Mao, S. Maeda","doi":"10.1109/mhs53471.2021.9767162","DOIUrl":"https://doi.org/10.1109/mhs53471.2021.9767162","url":null,"abstract":"Soft haptic feedback devices for a human-robot-virtual reality (VR) interfaces have become popular in soft robotics. Dielectric elastomer actuators (DEAs) have strong potential for use in haptic feedback devices because of their simple structure, good flexibility, and low weight. Since DEAs can operate at a broad range of frequencies to produce multi-sensation feedback, they can potentially be used in haptic feedback applications. One of the challenges facing the use of DEAs in such systems is the lack of an easy DEA fabrication method and the unknown dynamic characteristics of DEAs in different frequency operations. We recently developed a simple and reliable brushing-based fabrication method for DEAs [1]. In this study, we apply our do-it-yourself-like methods to fabricate polydimethylsiloxane-type DEAs and investigate more about dynamic properties of the DEAs towards the realization a haptic feedback system.","PeriodicalId":175001,"journal":{"name":"2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125223211","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
Ground Reaction Force Evaluation during a Baseball Practice Swing Movement 棒球练习挥杆运动时的地面反作用力评估
2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS) Pub Date : 2021-12-05 DOI: 10.1109/mhs53471.2021.9767166
M. Isogai, Hoshi Kashiwazaki, Koutaku Takahashi, K. Miyawaki
{"title":"Ground Reaction Force Evaluation during a Baseball Practice Swing Movement","authors":"M. Isogai, Hoshi Kashiwazaki, Koutaku Takahashi, K. Miyawaki","doi":"10.1109/mhs53471.2021.9767166","DOIUrl":"https://doi.org/10.1109/mhs53471.2021.9767166","url":null,"abstract":"This study was designed to compare and evaluate the batting motion of skilled baseball players and unskilled novices. The batting motion, floor reaction forces acting on each foot, and swing speed of 6 skilled baseball players and 6 unskilled novices were recorded using a motion capture system, two force plates, and a speed gun. The batting motion was divided into four phases: stance, pivot foot loading, swing (impact), and follow-through. This study analyzed movements of the center of gravity, floor reaction force, and joint moment during the batting motion, with comparison based on players' baseball experience. Results suggest that a lower center of gravity is better and that the foot movement during batting is important.","PeriodicalId":175001,"journal":{"name":"2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129143231","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
The Regret Motivated Reinforcement Learning 后悔驱动的强化学习
2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS) Pub Date : 2021-12-05 DOI: 10.1109/mhs53471.2021.9767180
Yihao Wu, J. Izawa
{"title":"The Regret Motivated Reinforcement Learning","authors":"Yihao Wu, J. Izawa","doi":"10.1109/mhs53471.2021.9767180","DOIUrl":"https://doi.org/10.1109/mhs53471.2021.9767180","url":null,"abstract":"The reinforcement learning model has been shown to explain the decision-making process of humans and animals accurately. However, standard reinforcement learning models do not contain the influence of emotion, which should contribute to humans' and animals' decision-making. This paper focuses on “Regret,” which we defined mathematically as a term with a maximum reward minus a current reward. This paper shows how regret motivates reinforcement learning and the potential application to the study of problem gambling.","PeriodicalId":175001,"journal":{"name":"2021 International Symposium on Micro-NanoMehatronics and Human Science (MHS)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123960416","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
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