2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)最新文献_第6页

Multi objective optimization of humanoid robot arm motion for obstacle avoidance 面向避障的仿人机器人手臂运动多目标优化

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451596

Z. Mohamed, G. Capi

引用次数: 1

The estimation of Knee Joint angle based on Generalized Regression Neural Network (GRNN) 基于广义回归神经网络的膝关节角度估计

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451613

T. Anwar, Y. Aung, Adel Al-Jumaily

{"title":"The estimation of Knee Joint angle based on Generalized Regression Neural Network (GRNN)","authors":"T. Anwar, Y. Aung, Adel Al-Jumaily","doi":"10.1109/IRIS.2015.7451613","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451613","url":null,"abstract":"Capturing of the intended action of the patient and provide assistance as needed is required in the robotic rehabilitation device. The intended action data that can be extracted from surface Electromyography (sEMG) signal may include the intended posture, intended torque, intended knee joint angle and intended desired impedance of the patient. Utilizing such data to drive robotic assistive device like exoskeleton requires a multilayer control mechanism to achieve a smooth Human Machine Interaction force. It is very important that the controller for gait assistive device is able to extract as many information as possible from the patient muscle with impaired limb and predict different parameters associated with gait cycle. Joint kinematics and dynamics are important to be estimated as the Gait cycle of lower limb consists of flexion and extension postures at knee, hip and ankle joints respectively. This paper proposes a new classification and estimation technique of the lower limb joint kinematics and dynamics based on sEMG signal to predict specifically knee joint flexion and extension postures as well as Knee Joint angles of two postures. In the technique proposed, the feature data of raw sEMG data have been filtered with a second order digital filter and then input to train the Neural Network (NN) and to Generalized Regression Neural Network (GRNN) model to estimate the angle of flexion and extension. The GRNN and NN have been tested with RMS, LOG, MAV, IAV, Hjorth, VAR and MSWT features. GRNN with Multi scale Wavelet Transform (MSWT) feature has ensured 1.5704 Mean Square Error which is very promising accuracy. The SVM has been used to predict postures (flexion and extension). The SVM also has classified flexion and extension with accuracy over 95%.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132428542","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

Investigating the relationship between TIP and three-link models when the mass are varied 研究了质量变化时TIP与三连杆模型的关系

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451611

Mohd Zaki bin Ghazali, M. F. Miskon, Fariz bin Ali, Mohd Bazli bin Bahar

引用次数: 0

Robust position hold control of hexarotor UAVs 六旋翼无人机的鲁棒位置保持控制

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451580

Nurul Dayana Salim, Dafizal Derawi, H. Zamzuri, Mohd Azizi Abdul Rahman, K. Nonami

引用次数: 1

Investigating the relation between standing period and stability of humanoid robot when performing STS motion 研究仿人机器人进行STS运动时站立时间与稳定性的关系

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451594

Mohd Bazli Bahar, M. F. Miskon, F. Ali, A. Shukor, M. Jamaludin

{"title":"Investigating the relation between standing period and stability of humanoid robot when performing STS motion","authors":"Mohd Bazli Bahar, M. F. Miskon, F. Ali, A. Shukor, M. Jamaludin","doi":"10.1109/IRIS.2015.7451594","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451594","url":null,"abstract":"The main challenge in STS is addressing the lift-off from chair problem. In solving the problem, two method was proposed, 1) phase and trajectory planning based on the Alexander STS technique and 2) motion control which applied IF-THEN rules to control the action given (direction and gain) with aid of proportional velocity control. This paper discussed on the trajectory planning to perform STS motion by, 1) Observation of the relationship between standing velocity i.e standing period, Ts with the stability of the STS motion and 2) Introduce a limitation on body's angular direction in y-axis on saggital plane, angle y. Nao humanoid robot is used to perform the task. Angle y trajectory and centre of pressure, CoP reading was measured to validate the proposed method. The results show that Standing period, Ts plays important role in order to perform a stable STS motion where stability increased as Ts increased. The lowest RMSE is 8.83° when Ts = 3.0. When the forward momentum decreasing with the implementation of angle y trajectory limitation, the results shows RMSE increased as Ts increased. However, the lowest RMSE is 7.07° when Ts = 1.5 where RMSE was decreased while using much lower standing period, Ts. The proposed angle y limitation has improved the motion stability and able to perform the task faster.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"2014 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128196784","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

Modelling and simulation of a new magnetorheological linear device 一种新型磁流变线性装置的建模与仿真

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451618

Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Morgan French, S. Sugano

引用次数: 4