2017 IEEE/SICE International Symposium on System Integration (SII)最新文献_第6页

Home robotic device for rehabilitation of finger movement of hemiplegia patients 用于偏瘫患者手指运动康复的家用机器人装置

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279229

Kazuki Yamamoto, Yuta Furudate, Kaori Chiba, Yuji Ishida, S. Mikami

{"title":"Home robotic device for rehabilitation of finger movement of hemiplegia patients","authors":"Kazuki Yamamoto, Yuta Furudate, Kaori Chiba, Yuji Ishida, S. Mikami","doi":"10.1109/SII.2017.8279229","DOIUrl":"https://doi.org/10.1109/SII.2017.8279229","url":null,"abstract":"In current health care system, it is difficult to have sufficiently long period of rehabilitation in hospital. Therefore, an automated rehabilitation support at home is needed. To this end, we developed a simple robotic device that will support index finger rehabilitation for patients who suffer from aftereffects of hemiplegia. The purpose of the device is to foster voluntary movement of index finger. It has pressure sensors for all fingers, and a power assisted index finger lift mechanism. The power assist lift supports to lift the patient's finger if the lift by voluntary movement is insufficient. The pressure sensors are used to monitor the simultaneous movement of all fingers. By this, the system checks if undesirable movements such as synergetic movements are found. The information is integrated to provide a quantitative measure of recovery. Patients are able to monitor his/her condition and continue rehabilitation as needed. Our device is simple and compact so that it should be placed on a desk at home. The device is used by placing the patient's hand on keyboards. This allows the patients to see his/her fingers during rehabilitation and is expected to enhance the effect of rehabilitation by seeing the result of voluntary movement at his/her real fingers. This paper shows these concepts and the hardware design of this device in detail. This paper also discusses the results of the measurement of hemiplegia patients and the healthy subjects by this device. The results show that the explicit difference was seen between the patients and the healthy subjects, which shows the effectiveness of this design.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127362658","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: 6

Simultaneous localization and mapping with neuro-fuzzy assisted extended Kalman filtering 基于神经模糊辅助扩展卡尔曼滤波的同步定位与映射

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279244

Cong Hung Do, H. Lin, Yi-Chun Huang

引用次数: 5

A CMOS microwave heating system CMOS微波加热系统

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279272

H. Xiao, C. Yuen, Hsiao-Chin Chen

引用次数: 1

The extended Bouc-Wen model with structural element and its application to the compensation of rate-dependent hysteresis of a piezoelectric actuator 带结构单元的扩展Bouc-Wen模型及其在压电作动器速率滞后补偿中的应用

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279294

Ken'ichi Tatebatake, F. Fujii

引用次数: 6

Position and orientation estimation of palm based on mark points 基于标记点的手掌位置和方向估计

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279346

Yanjiang Huang, H. Zhou, Y. Wang, Xianmin Zhang

引用次数: 1

Optimizing strategic grain reserve placement in a partial pooling structure 以局部统筹结构优化粮食战略储备配置

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279236

Yebing He, Jianpei Wen, Shuzhan Yang, Jie Song

引用次数: 1

Concept of community service robot network coping with various social problems 社区服务机器人网络的概念，应对各种社会问题

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279354

N. Matsuhira, Mirai Shimoyama, Takamasa Ikeda, Tomoyuki Nakai, Masahiro Narita, Toru Yamaguchi

引用次数: 2

Stability analyses of visual-lifting biped walking based on feedforward and feedback calculation 基于前馈和反馈计算的视举双足行走稳定性分析

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279233

Keli Shen, Xiang Li, Hongzhi Tian, Daiji Izawa, M. Minami

{"title":"Stability analyses of visual-lifting biped walking based on feedforward and feedback calculation","authors":"Keli Shen, Xiang Li, Hongzhi Tian, Daiji Izawa, M. Minami","doi":"10.1109/SII.2017.8279233","DOIUrl":"https://doi.org/10.1109/SII.2017.8279233","url":null,"abstract":"The fields of robotics and control are making effort to develop biped robots that can realize walking motions with the stability and flexibility like humans'. Dynamic walking models of biped robots are hybrid in nature. In previous study, biped walking control has been realized by Zero-Moment Point (ZMP). The efficiency of ZMP was well verified in keeping stable walking, but ZMP based walking cannot stop falling down when the gait is tiptoe state. Besides, dynamical walking can be used for walking that realizes kicks by toes, which does not depend on ZMP. Though the dynamical walking seems to be natural, robots tend to fall down. Therefore, it is necessary to keep the stability of dynamical walking. In our study, we have proposed a dynamical equation for walking derived by the Newton-Euler method including slipping, impact, point-touchdown and surface-touchdown of the foot. “ Visual Lifting Approach ” (VLA) can enhance the stability of standing and walking and prevents bipeds from falling without using ZMP. The combined control includes visual-lifting feedback and swinging feedforward, which can realize the switch of walking gaits. In this paper, we analyze the realization of the stable walking according to some dynamical measurements.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125737349","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

Study of road surface shape prediction for drivability evaluation of a mobility scooter in a grassy area 草地机动滑板车驾驶性评价的路面形状预测研究

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279299

H. Kamimura, M. Shino, H. Yoshitake, T. Ishikawa

引用次数: 0

ROS-Unity3D based system for monitoring of an industrial robotic process 基于ROS-Unity3D的工业机器人过程监控系统

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279361

E. Sita, C. Horváth, Trygve Thomessen, P. Korondi, A. Pipe

{"title":"ROS-Unity3D based system for monitoring of an industrial robotic process","authors":"E. Sita, C. Horváth, Trygve Thomessen, P. Korondi, A. Pipe","doi":"10.1109/SII.2017.8279361","DOIUrl":"https://doi.org/10.1109/SII.2017.8279361","url":null,"abstract":"Planning and monitoring the manufacturing of high quality one-of-a-kind products are challenging tasks. In the implementation of an industrial system, the commissioning phase is typically comprised of a programming phase and an optimization phase. Most of the resources are commonly invested in the optimization of the process. The time and cost of the implementation can be reduced if the monitoring system is not embedded in the industrial process, but kept instead as a decoupled task. In this paper we present a framework to simulate and execute the monitoring task of an industrial process in Unity3D, without interfering with the original system. The monitoring system is made of external additional equipment and is decoupled from the industrial task. The monitoring robot's path is subject to multiple constraints to track the original process without affecting its execution. Moreover, the framework is flexible thanks to the Unity-ROS communication so that the monitoring task can be carried on by any ROS-compatible device. The monitoring system has been applied to a robotic system for heavy, multi-pass TIG welding of voluminous work-pieces. The results of the implementation show that the constraints for monitoring were satisfactory in the 3D environment and capable for real robot application.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126762500","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: 20