J. Robotics Mechatronics最新文献_第5页

When Less Is More in Embodied Evolution: Robotic Swarms Have Better Evolvability with Constrained Communication 在具体进化中，当少即是多:机器人群体在有限的通信条件下具有更好的进化能力

J. Robotics Mechatronics Pub Date : 2023-08-20 DOI: 10.20965/jrm.2023.p0988

Motoaki Hiraga, Daichi Morimoto, Y. Katada, K. Ohkura

引用次数: 1

Swarm Search Algorithm Based on Chemotactic Behaviors of Caenorhabditis elegans Nematodes 基于趋化行为的秀丽隐杆线虫群搜索算法

J. Robotics Mechatronics Pub Date : 2023-08-20 DOI: 10.20965/jrm.2023.p0911

Seiya Nomoto, Y. Hattori, D. Kurabayashi

{"title":"Swarm Search Algorithm Based on Chemotactic Behaviors of Caenorhabditis elegans Nematodes","authors":"Seiya Nomoto, Y. Hattori, D. Kurabayashi","doi":"10.20965/jrm.2023.p0911","DOIUrl":"https://doi.org/10.20965/jrm.2023.p0911","url":null,"abstract":"We investigated the chemotactic behaviors of the nematode Caenorhabditis elegans, whose individuals have only 302 neurons but might sense the density of other individuals. As an individual detects areas with high concentration of a target chemical, mimicking their behavior may improve the exploration efficiency of autonomous distributed agents with limited sensing area and no direct communication with others. Inspired by this behavior, we experimentally determined the relationship between the density of individuals and probability of rapid turns to develop a search algorithm. We found a parameter set of “elite” individuals that achieved a high similarity of individual distributions with respect to a chemical gradient. Then, we implemented a motion selection algorithm that reflects the observation results so that an autonomous distributed agent, which has limited sensing range, achieves effective searching in a multi-peak environment. We simulated autonomous agents and applied the parameter sets obtained from elite, inferior, and single individuals. Through verifications using various benchmark potential functions, we concluded that the parameters of the elite group improved the search efficiency.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114780755","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

Tension Control of a McKibben Pneumatic Actuator Using a Dynamic Quantizer 基于动态量化器的McKibben气动执行器张力控制

J. Robotics Mechatronics Pub Date : 2023-08-20 DOI: 10.20965/jrm.2023.p1038

Yasuhiro Sugimoto, Keisuke Naniwa, D. Nakanishi, K. Osuka

引用次数: 0

A Stepper Motor-Powered Lower Limb Exoskeleton with Multiple Assistance Functions for Daily Use by the Elderly 一种适合老年人日常使用的具有多种辅助功能的步进电机驱动的下肢外骨骼

J. Robotics Mechatronics Pub Date : 2023-06-20 DOI: 10.20965/jrm.2023.p0601

Yifan Fang, Bingkai Hou, Xiuyuan Wu, Yuntian Wang, Keisuke Osawa, Eiichirou Tanaka

引用次数: 1

Development of Flexion Posture Formation Mechanism in Wearable Type of Flexor Tendon Rehabilitation Equipment 可穿戴式屈肌腱康复设备屈曲姿态形成机制的研究进展

J. Robotics Mechatronics Pub Date : 2023-06-20 DOI: 10.20965/jrm.2023.p0577

Takeshi Ikeda, Yuki Matsutani, Masanori Sato, S. Furuno, F. Nagata

引用次数: 0

Development of a Gaze-Driven Electric Wheelchair with 360° Camera and Novel Gaze Interface 带有360°摄像头和新型凝视接口的凝视驱动电动轮椅的研制

J. Robotics Mechatronics Pub Date : 2023-06-20 DOI: 10.20965/jrm.2023.p0743

J. Kawata, J. Morimoto, Y. Kaji, Mineo Higuchi, S. Fujisawa

引用次数: 0

Influence of Combined Vibration and Electrical Stimulation on Latency of Kinesthetic Illusion 振动与电刺激联合作用对动觉错觉潜伏期的影响

J. Robotics Mechatronics Pub Date : 2023-06-20 DOI: 10.20965/jrm.2023.p0823

Koki Honda, Y. Nakashima, Chen Hua, Motoji Yamamoto

{"title":"Influence of Combined Vibration and Electrical Stimulation on Latency of Kinesthetic Illusion","authors":"Koki Honda, Y. Nakashima, Chen Hua, Motoji Yamamoto","doi":"10.20965/jrm.2023.p0823","DOIUrl":"https://doi.org/10.20965/jrm.2023.p0823","url":null,"abstract":"The application of vibration stimulation to muscles, via the skin surface, can generate the sensation of movement, when actually there is no motion. This phenomenon is called kinesthetic illusion. Recently, in the fields of rehabilitation and virtual-reality technology, research has been conducted to utilize kinesthetic illusions to feel body movements, when there are none. To apply kinesthetic illusions in the above fields, it is necessary to develop techniques to improve the occurrence rates of the kinesthetic illusions and shorten the latency, which is the time lag from the onset of stimulation to the occurrence of the illusion. In a previous study, the authors reported that the occurrence rate of kinesthetic illusion could be improved by simultaneously applying vibration and electrical stimulations to the antagonistic muscles. In this study, the influence of this technique on the latency of the generated kinesthetic illusion is investigated by applying a combination of vibration and electrical stimulations. Three different electrical-stimulation voltages are used in the combined stimulation to induce the kinesthetic illusion, and the latency is studied for each voltage condition and the vibration-only condition. The effects of the voltage change on latency are evaluated from a regression analysis performed using the generalized linear mixed model. The results suggest that the change in the electrical stimulation voltage can shorten the latency of kinesthetic illusion.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129319607","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

Device Design of Ankle Joint Stretching System Controlled by the Healthy Side Ankle Joint Movement for Self-Rehabilitation 健康侧踝关节运动控制的自我康复踝关节伸展系统装置设计

J. Robotics Mechatronics Pub Date : 2023-06-20 DOI: 10.20965/jrm.2023.p0556

H. Toda, H. Kawamoto

{"title":"Device Design of Ankle Joint Stretching System Controlled by the Healthy Side Ankle Joint Movement for Self-Rehabilitation","authors":"H. Toda, H. Kawamoto","doi":"10.20965/jrm.2023.p0556","DOIUrl":"https://doi.org/10.20965/jrm.2023.p0556","url":null,"abstract":"An ankle joint stretching device controlled by healthy-side ankle movements was developed for self-rehabilitation. Physical therapists treat their patients to prevent a subject ankle joint’s contracture and improve their walking function. However, sufficient rehabilitation therapy cannot be performed because of the labor demands of ankle joint rehabilitation. There has long been a demand for a self-rehabilitation system to reduce the amount of labor required, with the rehabilitation system operated by a physical therapist using a machine. Self-rehabilitation has not yet been realized. By stretching the affected ankle through the movement of the ankle on the healthy side, a self-rehabilitation device that can be used according to the will of the patient can be developed. An experiment confirmed that the device can realize affected-side ankle joint stretching by moving a foot plate connected to a linear actuator using the angle of the healthy-side ankle joint as a trigger. Ankle joint rotation angles of the affected and healthy sides were measured using two acceleration sensors. Compared with the previously used button-push-type control, healthy-side control can realize a smooth and stable affected-side sole-pushing procedure. The proposed system, which does not require operation by a physical therapist during treatment, makes self-rehabilitation of the ankle joint possible.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"04 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129919799","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: 2

Pocketable-Bones: Self-Augment Mobile Robot Mediating our Sociality 口袋骨:自我增强移动机器人调解我们的社交

J. Robotics Mechatronics Pub Date : 2023-06-20 DOI: 10.20965/jrm.2023.p0723

Naoki Ohshima, Katsuya Iwasaki, Ryosuke Mayumi, Komei Hasegawa, M. Okada

引用次数: 0

A Human-Centered and Adaptive Robotic System Using Deep Learning and Adaptive Predictive Controllers 基于深度学习和自适应预测控制器的以人为中心的自适应机器人系统

J. Robotics Mechatronics Pub Date : 2023-06-20 DOI: 10.20965/jrm.2023.p0834

Sari Toyoguchi, Enrique Coronado, G. Venture

{"title":"A Human-Centered and Adaptive Robotic System Using Deep Learning and Adaptive Predictive Controllers","authors":"Sari Toyoguchi, Enrique Coronado, G. Venture","doi":"10.20965/jrm.2023.p0834","DOIUrl":"https://doi.org/10.20965/jrm.2023.p0834","url":null,"abstract":"The rise of single-person households coupled with a drop in social interaction due to the coronavirus disease 2019 (COVID-19) pandemic is triggering a loneliness pandemic. This social issue is producing mental health conditions (e.g., depression and stress) not only in the elderly population but also in young adults. In this context, social robots emerge as human-centered robotics technology that can potentially reduce mental health distress produced by social isolation. However, current robotics systems still do not reach a sufficient communication level to produce an effective coexistence with humans. This paper contributes to the ongoing efforts to produce a more seamless human-robot interaction. For this, we present a novel cognitive architecture that uses (i) deep learning methods for mood recognition from visual and voice modalities, (ii) personality and mood models for adaptation of robot behaviors, and (iii) adaptive generalized predictive controllers (AGPC) to produce suitable robot reactions. Experimental results indicate that our proposed system influenced people’s moods, potentially reducing stress levels during human-robot interaction.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134222372","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