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Research on Variable Workspace of Continuum Robot for Organ Protection and Multi-arm Cooperation 连续体机器人器官保护与多臂协作的可变工作空间研究
IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907628
Fuhao Wang, Hongbo Wang, Jingjing Luo, Xiaoyang Kang, Xueze Zhang, Jiawei Wang, Qiqi Pan
{"title":"Research on Variable Workspace of Continuum Robot for Organ Protection and Multi-arm Cooperation","authors":"Fuhao Wang, Hongbo Wang, Jingjing Luo, Xiaoyang Kang, Xueze Zhang, Jiawei Wang, Qiqi Pan","doi":"10.1109/CYBER55403.2022.9907628","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907628","url":null,"abstract":"Minimally invasive surgery (MIS) has gradually become the preferred method of surgery due to its advantages of less trauma and faster recovery. However, the small and complex surgical area places high demands on the performance of the robot and the skill level of the doctor. In order to avoid the damage of other healthy organs with surgical instruments during the operation, a variable workspace of a continuum robot is designed in this paper. The information of the dynamic transformation of the surgical environment is used to continuously update the workspace of the continuum robot. For healthy vital organs, the workspace can actively shield its corresponding posture. Experiments have verified that for a variety of complex surgical scenarios, the variable workspace can simply and effectively implement the safety protection of healthy organs, and can avoid interference when multiple arms work together.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"156 1","pages":"978-982"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76799833","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
AGV State Monitoring Based on Global and First-person View Fusion in Digital Workshops 基于全局和第一人称视角融合的AGV状态监测
IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907186
Sichao Zhang, Wei Liang, Gengyu Li, Xudong Yuan, Haibo An, Yinlong Zhang
{"title":"AGV State Monitoring Based on Global and First-person View Fusion in Digital Workshops","authors":"Sichao Zhang, Wei Liang, Gengyu Li, Xudong Yuan, Haibo An, Yinlong Zhang","doi":"10.1109/CYBER55403.2022.9907186","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907186","url":null,"abstract":"AGV state monitoring is becoming increasingly important for production system safety in digital workshops. This paper develops a global and first-person view fusion to monitor the AGV (Automated Guided Vehicle) running state in the complex digital workshops. Based on the affine transformation model, the AGV running states, i.e., position, velocity and orientation are estimated by the global camera with the assistance of ArUco markers, which are pasted on the front side of the AGV. Besides, the first-person view camera is used to implement pedestrian detection and distance measurement based on the YOLOv3 model. It is noticeable that the pitch angle is considered for distance measurement, and an improved triangular model for distance measurement is proposed. The effectiveness of the proposed method has been verified in our built platform.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"18 1","pages":"99-104"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85959099","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
The Performance Of A Novel P300 Brain-Computer Interface Paradigm With Electrical And Vibration Modes 一种新颖的P300脑机接口范例的性能与电和振动模式
IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907089
Chenxi Chu, Jingjing Luo, Q. Du, Xiangke Han, Shijie Guo
{"title":"The Performance Of A Novel P300 Brain-Computer Interface Paradigm With Electrical And Vibration Modes","authors":"Chenxi Chu, Jingjing Luo, Q. Du, Xiangke Han, Shijie Guo","doi":"10.1109/CYBER55403.2022.9907089","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907089","url":null,"abstract":"A novel tactile P300 paradigm was proposed for Brain-Computer Interface(BCI), in which only two types of stimuli was used to distinguish different targets. We also adapted an algorithm for intention recognition, which used spatial information to distinguish different stimulation sites, and frequency information to identify attended-target stimuli and disturbances. Our novel paradigm was verified on both vibration and electrical stimuli modes, and achieved an average classification accuracy of 95.21% for vibration stimuli mode and 94.88% for electrical stimuli mode, respectively. Furthermore, we evaluated performances of brain's functional connectivity by the correlation coefficient, and preliminarily explored the similarities and differences between vibration stimuli mode and electrical stimuli mode.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"24 1","pages":"486-491"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86072866","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
Research status of phantom limb pain: based on CiteSpace analysis 幻肢痛的研究现状:基于CiteSpace分析
IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907723
Hong M. Liu, Zeng-Yong Li, Yu-Bo Fan, Wei Ren, H. Luan
{"title":"Research status of phantom limb pain: based on CiteSpace analysis","authors":"Hong M. Liu, Zeng-Yong Li, Yu-Bo Fan, Wei Ren, H. Luan","doi":"10.1109/CYBER55403.2022.9907723","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907723","url":null,"abstract":"Objective The CiteSpace visual analysis software is used to explore the hotspots and frontiers of researches on phantom limb pain. Methods: Using literature visualization tool CiteSpace, we have analyzed the literature on “phantom limb pain” collected by English WOS database from 2000 to 2020, to summarize the status quo and trend of phantom limb pain research in the past two decades. Results: A total of 1542 international literatures are obtained. Researchers mainly focus on the pathological mechanisms and clinical treatment methods of different types of phantom limb pain. Furthermore, most authors prefer small-scale collaborative research. Most of academic achievements published by universities in Britain, Germany and the United States, and the United States is in a leading position in academic research. In addition, the classical and key literatures in the field of phantom limb pain mainly focus on the central nervous system, peripheral nervous system, cortical reorganization and other pathological mechanisms, as well as drug therapy and a variety of physical therapy. Conclusion: The CiteSpace-based analysis can provide a more objective and scientific understanding of the research status, hotspots and frontiers of phantom limb pain, which is of great significance to its future research.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"181 1","pages":"1154-1159"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83764179","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 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
{"title":"Design and Optimization of Electric Vehicle Power Battery Box","authors":"Qiang Wu, Fangzheng Wu, Lanying Xu, Wenjun Jie, Renzhong Han","doi":"10.1109/CYBER55403.2022.9907599","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907599","url":null,"abstract":"As the country pays more and more attention to energy saving, emission reduction and environmental protection, electric vehicles have become a hot spot in the development of automobile technology. Power battery determines the comprehensive performance of electric vehicle, and the protective performance of battery box directly affects the safety of the vehicle. Therefore, the battery box is taken as the research object, and the box is designed according to the power battery. The box body is arranged under the chassis of the car, and the 3D model and finite element model of the box body are established based on SolidWorks and ANSYS Workbench software. The static performance, impact and modal analysis of the box body are carried out under typical working conditions. Based on the stiffness of the lower box, the box is optimized and verified by modal analysis. The analysis results show that the stiffness of the box can be increased by adding X type stiffeners at the bottom of the box, and the designed power battery box can meet the actual safety requirements of the car.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"21 7 1","pages":"123-128"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83384802","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
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
{"title":"Path Planning Research for Outdoor Mobile Robot","authors":"Yujing Dong, Shuang Liu, Changzheng Zhang, Qigao Zhou","doi":"10.1109/CYBER55403.2022.9907273","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907273","url":null,"abstract":"We present an improved A* algorithm based on road boundary constrainted for road scenes such as campuses, communities, and industrial parks. Firstly, the LIDAR scans the surrounding environment and saves it in the point cloud data, pre-processes the point cloud and acquires the road boundary, then translates the acquired road boundary to generate a minimal cost feasible domain, and finally adds the feasible domain to the A* algorithm for path planning. To verify the feasibility of the method, experiments were conducted in both simulated and real environments. The experimental results show that the method can improve the problem of the paths planned by the A* algorithm being too close to the road edges and reduce the influence of road boundaries when the mobile robot is moving outdoors.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"131 1","pages":"543-547"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75607642","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
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
{"title":"Structure Design and Trajectory Planning Of Meal-assistance Robot","authors":"Chao Wang, Ke-yi Wang, Jinghang Li, Xingyuan Wang, Yanjie Chen","doi":"10.1109/CYBER55403.2022.9907742","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907742","url":null,"abstract":"In order to meet the demand for autonomous feeding of people with upper limb dysfunction, a meal-assistance structure which is composed of modular lightweight robot arm, dexterous feeding hand and rotating plate was designed. The kinematics model of the meal-assistance robot is established by the Modified D-H method, and the forward and inverse kinematics are solved. Based on the variation of the robot's teaching posture parameter, the working mission segments of the robot were divided into four segments and the motion trajectory of the robot was planned by quintic B-spline. The trajectory planning result shows that the joint curve is smooth and continuous, the trajectory of the end of the spoon is stable, and the posture varys are smooth as expected.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"3 1","pages":"277-282"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79758957","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
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
{"title":"Fast AFM probes switching method via Integrated dual-probes","authors":"Kaixuan Wang, Tie Yang, Jialin Shi, Peng Yu, C. Su, Lianqing Liu","doi":"10.1109/CYBER55403.2022.9907059","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907059","url":null,"abstract":"As the core component of the atomic force microscope(AFM), the probe directly affects the measurement results. Many AFM-based experiments require control validation of the same target in a sample in different modes. The existing dual-probe system is complex, cannot switch the same target, and cannot be applied to the existing commercial AFM system. In this paper, an integrated dual-probe design based on a common probe is proposed, and a single optical path lever is used for sensing, which can quickly switch imaging at the same target. A U-shape dual-probe structure was designed, and the single-optical path signal decoupling was realized by distinguishing the resonant frequencies of the dual-probes. The designed integrated dual-probe can perform different modifications on the tip to achieve rapid switching imaging of the same target with different functions, and is fully compatible with commercial AFMs without the limitations of systems and environments.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"113 1","pages":"574-578"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79759096","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
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
{"title":"Research on lower limb rehabilitation training device based on gravity balance","authors":"Zhen Zhang, Taisheng Zhang, Yanpeng Kan, Manman Xu","doi":"10.1109/CYBER55403.2022.9907746","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907746","url":null,"abstract":"Based on the principle of constant total potential energy of the system, we designed a lower limb rehabilitation robot for MMT-2 level patients. It balanced The gravity of the patient's leg to a certain extent so that the patient can make full joint range of motion. After determining the operation range of each joint in human lower extremity and the average gravity of the leg, a specific structure was designed and the overall static and kinematic analyses were performed to verify that the stiffness and strength of the structure met the requirements and could achieve the required range of motion.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"42 1","pages":"817-820"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79908879","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
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