IET Cybersystems and Robotics最新文献_第9页

Design and Optimization of Electric Vehicle Power Battery Box 电动汽车动力电池箱的设计与优化

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907599

Qiang Wu, Fangzheng Wu, Lanying Xu, Wenjun Jie, Renzhong Han

引用次数: 0

Research on Robot-Assisted Bathing Based on Impedance Iterative Learning Sliding Mode Control Algorithm 基于阻抗迭代学习滑模控制算法的机器人辅助沐浴研究

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907368

Yuexuan Xu, Xin Guo, Bokai Xuan, Tianyi Ma, Minghe Liu, Qingsong Ding, Yinglun Tan, Jian Li, Hao Sun

{"title":"Research on Robot-Assisted Bathing Based on Impedance Iterative Learning Sliding Mode Control Algorithm","authors":"Yuexuan Xu, Xin Guo, Bokai Xuan, Tianyi Ma, Minghe Liu, Qingsong Ding, Yinglun Tan, Jian Li, Hao Sun","doi":"10.1109/CYBER55403.2022.9907368","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907368","url":null,"abstract":"Aiming at providing effective technical means for intelligent bathing and low-intensity care for the semi-disabled elderly, an impedance iterative learning sliding mode control (IILSMC) scheme for robot-assisted bathing with unknown model parameters is investigated in this paper. Firstly, the desired trajectory is adjusted by impedance control in order to ensure the active compliance control of the robot-assisted bathing. Secondly, iterative learning control (ILC) is implemented to dynamically estimate the unknown model parameters, and reconstructed trajectory method is employed to ensure the convergence accuracy of iterative learning with any initial conditions. Thirdly, as for handling nonparametric uncertainties, external disturbances and the human-machine interaction (HMI) torque, adaptive sliding mode control (SMC) is proposed where the chattering problem in output torque is suppressed by adaptive method. Based on the composite energy function (CEF) method, the convergence of the double closed-loop system in the time domain and iterative domain is proved. Finally, through co-simulation of MATLAB and ADAMS, tracking errors of all joint angles can be maintained within 0.002rad with constant HMI force. The simulation results demonstrate that the IILSMC strategy is verified to be effective and superior.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"58 1","pages":"1106-1111"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85728446","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: 1

Path Planning Research for Outdoor Mobile Robot 户外移动机器人路径规划研究

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907273

Yujing Dong, Shuang Liu, Changzheng Zhang, Qigao Zhou

引用次数: 2

Structure Design and Trajectory Planning Of Meal-assistance Robot 助餐机器人的结构设计与轨迹规划

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907742

Chao Wang, Ke-yi Wang, Jinghang Li, Xingyuan Wang, Yanjie Chen

引用次数: 0

Fast AFM probes switching method via Integrated dual-probes 基于集成双探针的AFM探针快速切换方法

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907059

Kaixuan Wang, Tie Yang, Jialin Shi, Peng Yu, C. Su, Lianqing Liu

引用次数: 0

Research on lower limb rehabilitation training device based on gravity balance 基于重力平衡的下肢康复训练装置研究

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907746

Zhen Zhang, Taisheng Zhang, Yanpeng Kan, Manman Xu

引用次数: 0

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