IET Cybersystems and Robotics最新文献_第10页

An Effective Training Strategy for Upper-limb Rehabilitation Robots Based on Visual-haptic Feedback Using Potential Field 基于势场视觉-触觉反馈的上肢康复机器人有效训练策略

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907062

Guang Feng, Jiaji Zhang, G. Chai, Maoqin Li, Guokun Zuo, Lei Yang

{"title":"An Effective Training Strategy for Upper-limb Rehabilitation Robots Based on Visual-haptic Feedback Using Potential Field","authors":"Guang Feng, Jiaji Zhang, G. Chai, Maoqin Li, Guokun Zuo, Lei Yang","doi":"10.1109/CYBER55403.2022.9907062","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907062","url":null,"abstract":"Visual and haptic feedback are crucial to enhance the effectiveness of robot-assisted rehabilitation. To improve the performance of clinical rehabilitation training for patients with motor dysfunction, we propose an effective training strategy based on visual and haptic feedback. Haptic feedback is generated by a designed artificial potential field, which allows patients to perceive the correct training direction. The effectiveness of the proposed training strategy is initially verified, by recruiting three healthy subjects to perform circle drawing tasks on an upper limb rehabilitation robot. Experimental results showed that higher training accuracies were obtained using visual-haptic feedback compared to those with unimodal feedback. The proposed strategy can enhance the users' perception of the training process and corrects the incorrect movements in real-time, simultaneously. The current training strategy can be applied to commercial rehabilitation robots and meet the rehabilitation training needs of the users with impaired vision or the vision is unavailable.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"31 1","pages":"678-681"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81078178","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

Image-Based Visual Servoing under Field of View Constraints for Robot Manipulators* 机器人操纵臂视场约束下基于图像的视觉伺服*

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907340

Guoyu Zuo, Yan Liu, Gao Huang, Daoxiong Gong

引用次数: 0

A Comparison of Modality-Matched and Modality-Missed-Matched Sensory Feedback by Brain Mapping and Practical Trials 模态匹配与模态不匹配感觉反馈的脑图与实验比较

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907057

Saeed Bahrami Moqadam, Ahmad Saleh Asheghabadi, Farzaneh Norouzi, Nikki Akraminejad, Behruz Shiee Zadeh Yazdi, Jing Xu

{"title":"A Comparison of Modality-Matched and Modality-Missed-Matched Sensory Feedback by Brain Mapping and Practical Trials","authors":"Saeed Bahrami Moqadam, Ahmad Saleh Asheghabadi, Farzaneh Norouzi, Nikki Akraminejad, Behruz Shiee Zadeh Yazdi, Jing Xu","doi":"10.1109/CYBER55403.2022.9907057","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907057","url":null,"abstract":"This paper compares two methods of sensory feedback (SF) in prosthetic hands noninvasively by investigating practical experiments, a questionnaire form, and brain activity mapping. The modality-missed-matched sensory feedback (MMM-SF) is per-formed on remnant muscles of the amputated limb using transcutaneous electrical Stimulation (TES). In addition, an armband with multi-modal sensory stimulators is being used for the modality-matched sensory feedback (MM-SF) on the superficial layer of the skin. Both sensory stimulators have been synced with a designed myoelectric bionic hand, equipped with differ-ent sensors to assess surrounding stimuli. The results indicate that the MMM-SF imposes higher cognitive loads on amputee participants than the MM-SF strat-egy. Furthermore, the effects of sensory stimulation by proposed methods have been investigated by brain mapping through quantitative electroencephalography (QEEG) and low-resolution brain electromagnetic to-mography (LORETA), which shows that perceived SF in both approaches could assist in recovering the Alpha/Delta-band rhythm balance.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"47 5 1","pages":"498-503"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73013450","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 and Development of Unmanned Combat Game Platform 无人作战游戏平台的设计与开发

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907246

Lina Hao, Zhe Li, Shuai Wang, Chenling Hao

{"title":"Design and Development of Unmanned Combat Game Platform","authors":"Lina Hao, Zhe Li, Shuai Wang, Chenling Hao","doi":"10.1109/CYBER55403.2022.9907246","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907246","url":null,"abstract":"The unmanned combat game platform is the technical carrier to research unmanned combat issues. Although most current unmanned combat simulation platforms can effectively simulate the unmanned combat process, their scenes are fixed and single. They cannot carry out the secondary design of the scene. At the same time, they also lack an effective description of the scene information. Therefore, this paper takes air-ground unmanned combat as a specific task scenario and independently develops an unmanned combat deduction platform based on the Hybrid Stochastic Time Delay Petri Net (HSTPN) modelling theory and PyQt development tool. The platform supports scene modelling and model changes, deep reinforcement learning algorithm battles, animation deductions, file storage, etc. At the same time, a battle decision algorithm is designed based on Proximal Policy Optimization (PPO). The experimental results show that the unmanned combat game platform can fully realize the combat process simulation. Its scene modelling function can show all the hybrid characteristics of the combat process and support the modification of the scene model and its secondary development. The battle function can complete the confrontation game of the decision-making algorithm.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"11 1","pages":"1032-1037"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74847213","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 Robust Seabed Terrain Contour Aid Navigation Method Facing the Smooth Terrain 面向平滑地形的鲁棒海底地形等高线辅助导航方法

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907123

Wenjun Zhang, Dong Ma, Jingxuan Gao, Teng Ma, Yueyang Ben

{"title":"A Robust Seabed Terrain Contour Aid Navigation Method Facing the Smooth Terrain","authors":"Wenjun Zhang, Dong Ma, Jingxuan Gao, Teng Ma, Yueyang Ben","doi":"10.1109/CYBER55403.2022.9907123","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907123","url":null,"abstract":"The underwater terrain-aid navigation (TAN) method using a single-beam sonar has demonstrated its potential for autonomous underwater vehicles (AUVs) long-range accurate navigation without the aid of acoustics arrays and satellites. This paper proposed a robust terrain contour aid navigation(TCAN) method using a single-beam sonar in the smooth terrain areas, which considered the error characteristics of an inertial navigation system(INS), can realize long-range underwater navigation. As for the measurement error of a single-beam sonar and the influence of the smooth terrain areas, this paper proposed a measurement confidence interval calculation method, which can reduce the influence of the measurement error on the navigational result, improving the accuracy and robustness of the TCAN method. The influence of algorithm parameters on the result of the navigation method are researched by simulation experiments. The results show that the navigation method can realize long-range underwater navigation in the smooth terrain areas on making full use of an INS error characteristics, and has a good application prospect.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"29 1","pages":"1166-1170"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75058972","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

Adaptive PID Trajectory Tracking Algorithm Using Q-Learning for Mobile Robots 基于q -学习的移动机器人自适应PID轨迹跟踪算法

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907573

Xiaoliang Fan, Jin Sui, Naifeng He, Bi Zhang, Chunguang Bu, Junbo Yang, Lele Cui

引用次数: 0

A 3D Reconstruction Technology of Indoor Scene based on Image Sequence 基于图像序列的室内场景三维重建技术

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907578

Songna Zhang, Tong Jia, Wenhao Li, Xiaojun Sun

{"title":"A 3D Reconstruction Technology of Indoor Scene based on Image Sequence","authors":"Songna Zhang, Tong Jia, Wenhao Li, Xiaojun Sun","doi":"10.1109/CYBER55403.2022.9907578","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907578","url":null,"abstract":"The 3D reconstruction technology of indoor scenes based on image sequences has always been the focus of research in computer vision. It can be widely used in medical diagnosis, unmanned driving, AR/VR, cultural relics restoration, and other fields. However, due to the complex information and cluttered features of indoor scenes, the existing feature matching algorithms and point cloud registration algorithms still have certain limitations in terms of computational efficiency and matching accuracy. Therefore, this paper firstly adopts a uniform extraction of ORB features method based on octree and a feature matching method based on colour and descriptor distance information and uses the RANSAC algorithm to eliminate mismatched points to obtain matching results with high accuracy. Secondly, this paper adopts a point cloud fine-registration method based on a double threshold constraint. Based on the point cloud normal vector angle threshold constraint, the search of the nearest neighbour point pair in the ICP algorithm is realized through the adaptive distance threshold constraint. Finally, experimental analysis is carried out in a real indoor scene to verify the effectiveness of the proposed algorithm in reconstruction efficiency and accuracy.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"15 1","pages":"906-911"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88273516","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

An Efficient Color and Geometric Feature Fusion Module for 6D Object Pose Estiamtion 一种有效的6D物体姿态估计颜色和几何特征融合模块

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907032

Jiangeng Li, Hong Liu, Gao Huang, Guoyu Zuo

引用次数: 0

Design of Programmable Droplet Manipulation Platform Based on Magnetic Control 基于磁控的可编程液滴操作平台设计

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907625

Xianmiao Zhang, Jie Liu, Jiying Liu, Yu-zhou Wang, Mian Zhang, Hongbiao Xiang

{"title":"Design of Programmable Droplet Manipulation Platform Based on Magnetic Control","authors":"Xianmiao Zhang, Jie Liu, Jiying Liu, Yu-zhou Wang, Mian Zhang, Hongbiao Xiang","doi":"10.1109/CYBER55403.2022.9907625","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907625","url":null,"abstract":"Droplet actuation simplifies the handling of various reagents or samples and can be applied to a wide range of fields, including chemistry, biology, biomedical, and others. This paper presents a programmable droplet control system based on a magnetoelastic membrane and electromagnetic pillar array. Different magnetic blocks with different magnetization directions were designed on the silicone rubber membrane, and the magnetoelastic membrane deformed under the magnetic field generated by the array of electromagnetic pillars. By combining the gravitational forces of the droplet and the deformation of the magnetic membranes, the motion of the droplet can be controlled. Furthermore, the surface of membranes was ablated with a laser machine to impart superhydrophobic properties. The simulation results show that with the different magnetic fields, the droplet can move lengthwise, widthwise, and diagonally in the horizontal plane, and multiple droplets can be merged and mixed. In contrast to the traditional droplet control method, the droplet programmable movement control system utilizing superhydrophobic magnetoelastic membranes and an electromagnetic pillar array has better stationarity, flexibility and does not affect the basic properties of the droplets.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"21 1","pages":"1224-1229"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74911572","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

Robot Manipulation Skill Learning Based on Dynamic Movement Primitive* 基于动态运动原语的机器人操作技能学习

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907262

Yunfeng Bai, Fengming Li, Man Zhao, Wei Wang, Yibin Li, R. Song

引用次数: 0