2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)最新文献_第5页

sEMG-based multi-joints motion estimation of lower limb utilizing deep convolutional neural network 基于表面肌电信号的下肢多关节运动深度卷积神经网络估计

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872282

Gang-Yi Wang, Yongbai Liu, Ya Shen, Yan Chen, Keping Liu, Zhongbo Sun

{"title":"sEMG-based multi-joints motion estimation of lower limb utilizing deep convolutional neural network","authors":"Gang-Yi Wang, Yongbai Liu, Ya Shen, Yan Chen, Keping Liu, Zhongbo Sun","doi":"10.1109/RCAR54675.2022.9872282","DOIUrl":"https://doi.org/10.1109/RCAR54675.2022.9872282","url":null,"abstract":"The accuracy of the motion intention recognition is the security guarantee of human-machine interaction (HMI) control for lower limb rehabilitation exoskeleton (LLRE). Therefore, to advance the precision of the multi-joint motion intention recognition, the multi-channel surface electromyography (sEMG) signals of the subject with cycling and walking are collected, and the signals are processed with reasonable processing methods in this paper. Then, the deep convolutional neural network (CNN) model is constructed based on the processed sEMG signals to estimate the multi-joint angle of the lower limb. The feasibility and efficiency of the developed CNN model in the field of intention recognition of the lower limb multi-joint motion are verified by experimental simulation. Furthermore, compared with CNN model, the conventional back-propagation neural network (BPNN) model and radial basis function neural network (RBFNN) model, which demonstrates that the estimation accuracy of the developed CNN model is better than that of classical BPNN and RBFNN, and the root mean square errors (RMSE) of hip, knee and ankle joints estimated by utilizing CNN model are 3.8886°, 2.8199° and 3.1148°, respectively. It proves that the proposed CNN model can effectively recognize the motion intention of the lower limb multi-joint, which provides a theoretical basis for the research on HMI control of the LLRE.","PeriodicalId":304963,"journal":{"name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"163 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126596471","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

A Low-profile Vibration Crawling Robot Driven by A Planar Dielectric Elastomer Actuator 平面介电弹性体作动器驱动的低姿态振动爬行机器人

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872267

Yangyang Du, Chongiing Cao, Xiaojun Wu, Jiasheng Xue, Lei Wang, Xing Gao

{"title":"A Low-profile Vibration Crawling Robot Driven by A Planar Dielectric Elastomer Actuator","authors":"Yangyang Du, Chongiing Cao, Xiaojun Wu, Jiasheng Xue, Lei Wang, Xing Gao","doi":"10.1109/RCAR54675.2022.9872267","DOIUrl":"https://doi.org/10.1109/RCAR54675.2022.9872267","url":null,"abstract":"Inspired by the inchworm locomotion in nature, several two-anchor crawling robots driven by the dielectric elastomer actuators (DEAs) have been developed, which have demonstrated the clear advantages of low locomotion noise and high energy efficiency. However, due to the limitations of their locomotion principle and mechanical designs, their mobility in narrow and constrained spaces is often restricted, which severely limit their applications in the real-world, e.g. search and rescue or industrial inspections. In this work, we present a novel low-profile vibration crawling robots. Driven by a planar DEA and by incorporating a series of tilted bristles, our robot can achieve a peak forward velocity at the resonance frequency of the actuator. The crawling speed of the robot is further optimized with respect to the tilt angle of the bristle and the amplitude of the actuation voltage. The experimental results show that the robot with 60° bristles and driven at 6kV has an optimal velocity of 169.2mm-s-1 which is equivalent to 2.4 times of its body length. Furthermore, through a sequence of payload tests and results fitting, we estimate that the payload capacity of the robot is about 4. 9g, which is 1.9 times of its body mass.","PeriodicalId":304963,"journal":{"name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125075629","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

Small Parallel Cable-Driven Robot Based on TCPF Design and Control Research 基于TCPF的小型并联缆索驱动机器人设计与控制研究

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872245

C. Liu, Chuxiong Hu, Zhanguang Liu, Haoge Han, Ze Wang

{"title":"Small Parallel Cable-Driven Robot Based on TCPF Design and Control Research","authors":"C. Liu, Chuxiong Hu, Zhanguang Liu, Haoge Han, Ze Wang","doi":"10.1109/RCAR54675.2022.9872245","DOIUrl":"https://doi.org/10.1109/RCAR54675.2022.9872245","url":null,"abstract":"Thanks to the stable and precision control characteristics of parallel cable-driven mechanisms, cable-driven parallel robots have an extremely wide range of industrial applications. These advantages can also be used to describe a millimeter-sized cable-driven parallel mechanism, therefore, we can develop a miniature cable-driven parallel robot to undertake stable and precise processing or operation beneath small scale. In this paper, a cable-driven robot \"MicroCable\" that operates in millimeter-scale dimensions is introduced, with detailed design and manufacturing process. This $45times 50times 90mm$ robot has a total mass of 28g, a payload of $geq$50g, and an operating accuracy of $leq$lmm in a working space of $20mmtimes 23mmtimes 16mm$. It is driven by three 60mm-long artificial muscles with a maximum deformation of $geq$33% for a single artificial muscle, a payload of $geq$50g, and a self-weight of only 0. 5g. We have verified the controllability of the cable-driven mechanism with artificial muscles at millimeter dimensions, and look forward to its potential applications in future microassembly, micromedicine, microprinting, etc.","PeriodicalId":304963,"journal":{"name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"297 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124273688","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

A Standing Assist Trajectory Generation Method of Transfer Robot 搬运机器人站立辅助轨迹生成方法

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872203

Jing Yang, Zheng-ji Song, Ruikai Wu, Jingchuan Wang

引用次数: 0

Trajectory planning of upper limb exoskeleton rehabilitation Robot based on polynomial interpolation 基于多项式插值的上肢外骨骼康复机器人轨迹规划

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872300

Bangcheng Zhang, Ye Li, Shuai Liu, Zaixiang Pang, Hang Zhao

{"title":"Trajectory planning of upper limb exoskeleton rehabilitation Robot based on polynomial interpolation","authors":"Bangcheng Zhang, Ye Li, Shuai Liu, Zaixiang Pang, Hang Zhao","doi":"10.1109/RCAR54675.2022.9872300","DOIUrl":"https://doi.org/10.1109/RCAR54675.2022.9872300","url":null,"abstract":"This paper proposed a new 6-DOF upper limb exoskeleton rehabilitation robot(ULERR). Based on the designed upper limb exoskeleton robot, its kinematics is solved. A multi-valued difference function is proposed to realize the smooth and continuous motion trajectory of the upper limb exoskeleton robot during the rehabilitation training process, and the velocity and acceleration changes in the joint motion trajectory are smooth and continuous, and there is no sudden change in the change process. In the point-to-point (PTP) motion of passing path points, the “4-3-4” polynomial interpolation algorithm combined with quartic and cubic polynomials is adopted. According to experiments, it proved that the “4-3-4” polynomial interpolation can make the speed change of each joint smooth and continuous and obtain a stable trajectory, it also reduces the maximum acceleration of the joint after cubic polynomial interpolation, makes the acceleration change more stable and reduces the impact of the mechanism. The experiments proved the feasibility and stability of this method.","PeriodicalId":304963,"journal":{"name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122662279","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

A Novel Soft Actuator Based on Mini DC Motor and Supercoiled Polymer Artificial Muscle 一种基于微型直流电动机和超卷曲聚合物人造肌肉的新型软执行器

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872215

Honghui Zhu, Kaixiang Jin, Yang Yang, Zhong Wei, Jia Liu, Long Kang, Yunquan Li

{"title":"A Novel Soft Actuator Based on Mini DC Motor and Supercoiled Polymer Artificial Muscle","authors":"Honghui Zhu, Kaixiang Jin, Yang Yang, Zhong Wei, Jia Liu, Long Kang, Yunquan Li","doi":"10.1109/RCAR54675.2022.9872215","DOIUrl":"https://doi.org/10.1109/RCAR54675.2022.9872215","url":null,"abstract":"This paper describes a novel design of a soft actuator that combines two types of actuation methods: DC motor actuation and supercoiled polymer (SCP) artificial muscle. SCP artificial muscle is used to substitute the traditional cable and attached to the gearmotor. The hybrid actuator intends to alleviate the drawbacks of both actuation methods. This novel actuator features a fast actuation speed and the addition of SCP artificial muscles endow it with a certain degree of compliance. At the same time, the thermal contraction property of SCP artificial muscle can also increase its output force. A soft robotic finger is designed to conFigure the actuator in it. In the experiment section, finger’s stiffness and output force tests are performed under three different actuation methods (single SCP/gearmotor & kite line/gearmotor & SCP). Experiment results demonstrate the superiority of this novel actuator in terms of compliance (compared with gearmotor & kite line actuation), actuation speed, and output force (compared with single SCP actuation). This actuator has the potential to be used for grasping and manipulation of soft robots in the future.","PeriodicalId":304963,"journal":{"name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123579213","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

Measurement and Analysis of Low-Voltage Power Carrier Characteristics * 低压电力载波特性的测量与分析*

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872199

H. Sun, Siyu Chen, Yongxiang Cai, Lei Yao, X. Ou, Yiqun Wang, Tianqiang Dong

引用次数: 0

A Novel Aircraft Porthole Cleaning Robot Based on Negative Pressure Suction 一种基于负压吸力的新型飞机舷窗清洁机器人

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872200

Deli Zhang, Mingle Ning, Xin Wang, Desheng Zhang, Jiahao Wen

引用次数: 0

Particle Swarm optimization-Based Neuro-Dynamic Programming for Nonzero-Sum Games of Multi-Player Nonlinear Systems 基于粒子群优化的多参与者非线性系统非零和博弈神经动态规划

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872183

Qiuye Wu, Bo Zhao, Derong Liu

引用次数: 0

A Magnetically Steerable and Automatically Propulsion Guidewire Robot System for Vascular Interventional Surgery 一种用于血管介入手术的磁导向自动推进导丝机器人系统

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2022-07-17 DOI: 10.1109/RCAR54675.2022.9872261

Shixiong Fu, Shanxiu Zhang, Meng Yin, Shu Wang, Dong Li, Xin Wu, Shiwei Du, Tiantian Xu

{"title":"A Magnetically Steerable and Automatically Propulsion Guidewire Robot System for Vascular Interventional Surgery","authors":"Shixiong Fu, Shanxiu Zhang, Meng Yin, Shu Wang, Dong Li, Xin Wu, Shiwei Du, Tiantian Xu","doi":"10.1109/RCAR54675.2022.9872261","DOIUrl":"https://doi.org/10.1109/RCAR54675.2022.9872261","url":null,"abstract":"Magnetically soft continuum robot with automatic navigation capability has great potential to improve the treatment conventional vascular interventional surgery, which exists many problems such as long procedure time and high radiation for doctors to manipulate the passive guidewire. This paper proposes a novel guidewire robot system with magnetically steering and automatically propulsion ability. Actuated by an external magnetic field, the system is able to greatly increase the autonomy of conventional guidewires through the efficient coordination of steering and propulsion. We model the kinematics of autonomous propulsion and magnetically actuation steering separately. Then, the steering performance of the guidewire robot is validated under different magnetic field magnitudes and directions. Finally, two scenario application experiments are implemented to demonstrate the automatic navigation capability of the proposed guidewire robot in a simulated clinical environment. The proposed guidewire robot system provides an effective solution for advancing the automation of vascular interventional surgery.","PeriodicalId":304963,"journal":{"name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131998116","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