2018 15th International Conference on Ubiquitous Robots (UR)最新文献_第10页

Locomotion Mode Recognition based on Foot posture and Ground Reaction Force 基于足部姿态和地面反作用力的运动模式识别

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441827

Aibin Zhu, Y. Li, Yuexuan Wu, Mengke Wu, Xiaodong Zhang

{"title":"Locomotion Mode Recognition based on Foot posture and Ground Reaction Force","authors":"Aibin Zhu, Y. Li, Yuexuan Wu, Mengke Wu, Xiaodong Zhang","doi":"10.1109/URAI.2018.8441827","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441827","url":null,"abstract":"Efficient and accurate locomotion mode recognition is the basis and the key to compliance control of exoskeleton. Considering the fact that single ground reaction force information can not realize continuous gait phase recognition in the whole gait cycle and traditional inertial sensors' installation method tends to cause binding error, this paper established a wearable gait analysis system based on inertial sensor and foot pressure sensor which entirely embedded in a shoe insole. An inertial sensor mounting structure for foot posture information acquisition was designed to reduces the binding errors caused by the uncertain binding position and the random errors caused by the relative position changes with the movement. Two force sensors was set to measure the force load on the shoe insole at the heel and the forefoot during walking. Then, the gait curve of the normal human beings measured by this wearable gait analysis system is segmented by a periodic segmentation method combining power spectrum and feature points, and features is extracted from the time series of sensor signals according to the characteristics of the human gait. Probabilistic neural network is used to identify the locomotion modes and to verify the effectiveness of this wearable gait analysis system, experiments on different terrains are performed. The experiment results show that this method can effectively reduce binding error and random error, and reflect the foot movement during walking. Furthermore, the measurement method can accurately and effectively identify level-ground walking, stair ascent and stair decent, showing great potential for further development and applicability in control of exoskeleton.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"124 2-3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123571367","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: 3

Adaptive Framework for Emotional Engagement in Child-Robot Interactions for Autism Interventions 自闭症儿童-机器人互动中情感参与的自适应框架

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441775

Hifza Javed, M. Jeon, C. Park

引用次数: 7

Acoustic Image Simulator Based on Active Sonar Model in Underwater Environment 基于主动声呐模型的水下环境声图像模拟器

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441870

Ngoc Trung Mai, Yonghoon Ji, Hanwool Woo, Y. Tamura, A. Yamashita, H. Asama

引用次数: 10

Approach for Obstacle Avoidance Fuzzy Logic Control of an Elderly-assistant and Walking-assistant Robot Using Ultrasonic Sensors 基于超声传感器的老年助行机器人避障模糊控制方法

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441818

Odekhe Randolph Osivue, Xiaodong Zhang, Xiaoqi Mu, Huanjie Han, Yabin Wang

{"title":"Approach for Obstacle Avoidance Fuzzy Logic Control of an Elderly-assistant and Walking-assistant Robot Using Ultrasonic Sensors","authors":"Odekhe Randolph Osivue, Xiaodong Zhang, Xiaoqi Mu, Huanjie Han, Yabin Wang","doi":"10.1109/URAI.2018.8441818","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441818","url":null,"abstract":"This paper develops a fuzzy obstacle avoidance system for an elderly-assistant and walking-assistant robot (EWR) using two ultrasonic sensors mounted at the front of the robot. The control architecture for a behavior-based EWR is implemented in this paper. The robot uses a reactive strategy determined by sensory information to interact with an unknown environment. The EWR uses tactile force to convey the user's intended motion action to the robot via man-machine interaction. For user's safety and avoidance of collision, autonomous obstacle avoidance are increasingly used in unfamiliar environments. For the EWR navigation in unpredictable environment, fuzzy behavior capable of making inferences is more appropriate. Equipped with ultrasonic sensors, a rule-based fuzzy controller with reactive behavior was implemented and tested on the EWR to perform collision-free navigation. From the simulation and experimental results obtained, it can be inferred that the proposed architecture provides an efficient and flexible solution for the EWR obstacle avoidance.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"151 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132551535","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: 3

Design and Development of a Smart Multifunction Toilet Wheelchair (SMTW) 智能多功能厕所轮椅(SMTW)的设计与开发

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441871

Woon Jong Yoon, M. Shakir, Y. Ali

引用次数: 4

Identifying Safety Conditions of Human-Robot Collision based on Skin Injury Analysis 基于皮肤损伤分析的人机碰撞安全条件识别

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441793

Doyeon Han, M. Park, Heonseop Shin, Kyung-Sook Kim, S. Rhim

引用次数: 6

Comparison of Visual Cortex Functional Connectivity Patterns Based on Steady-state Monochromatic Flicker and Oscillating Checkerboard Visual Stimulus 基于稳态单色闪烁和振荡棋盘视觉刺激的视皮层功能连接模式比较

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441841

Xingliang Han, Jun Xie, Ailing Luo, Guanghua Xu, Xiaodong Zhang, Jing Wang, Min Li

{"title":"Comparison of Visual Cortex Functional Connectivity Patterns Based on Steady-state Monochromatic Flicker and Oscillating Checkerboard Visual Stimulus","authors":"Xingliang Han, Jun Xie, Ailing Luo, Guanghua Xu, Xiaodong Zhang, Jing Wang, Min Li","doi":"10.1109/URAI.2018.8441841","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441841","url":null,"abstract":"Steady-state visual evoked potential (SSVEP) and steady-state motion visual evoked potential (SSMVEP) are commonly implemented in brain computer interfaces (BCIs). The primary visual system is believed to consist of two pathways: a ventral pathway involved with conscious perception and a dorsal pathway for moving visual information processing. In this paper, as monochromatic flicker and oscillating checkerboard served as distinct stimuli for the elicit of SSVEP and SSMVEP respectively, we investigated functional connectivity patterns of SSVEP and SSMVEP by applying directed transfer function (DTF) to electroencephalography (EEG) signals. The value of flow gain, which is defined as the ratio of outflow to inflow of information flows in one channel, was used to measure the activating level of specific brain region in the information transmission process. We found that the occipital region was strongly activated by flicker stimulation whereas the strongest response of oscillating checkerboard was in the middle temporal visual region. Owing to the difference of activating area, fourteen-channel canonical correlation analysis (CCA) was also applied to compare the recognition accuracy. Results indicated that, due to the wider area activated by oscillating checkerboard, it achieved a higher recognition performance with short response time when compared to monochromatic flicker.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123488948","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

Vehicle Localization in Urban Environment Using a 2D Online Map with Building Outlines 基于建筑轮廓的二维在线地图在城市环境中的车辆定位

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441821

Jonghwi Kim, Yonghoon Cho, Jinwhan Kim

引用次数: 2

Robust Multi-Objective Path Planning for Flying Robots under Wind Disturbance 风干扰下飞行机器人鲁棒多目标路径规划

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441822

Yoonseon Oh, Kyunghoon Cho, Songhwai Oh

{"title":"Robust Multi-Objective Path Planning for Flying Robots under Wind Disturbance","authors":"Yoonseon Oh, Kyunghoon Cho, Songhwai Oh","doi":"10.1109/URAI.2018.8441822","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441822","url":null,"abstract":"This paper proposes a robust multi-objective path planning algorithm for flying robots carrying out complex missions. When a robot is put into the field, the robot is required to perform complex missions such as visiting sequential goals. We specify these missions using a linear temporal logic and search the path to accomplish the mission for flying robots. Since flying robots are more sensitive to air flow than ground robots, we should plan a path more carefully so that the disturbance by airflow does not cause mission failures or collision with obstacles. In addition, it is important to increase energy effectiveness for stability of flying robots. To achieve these purposes, we propose a multi-objective path planning problem which minimizes the mission failure probability and the moving distance while guaranteeing the safety of the robot and mission completion. We introduce a multi-layer path planning algorithm, where the high-level planner guides the low-level planner by generating a discrete path to accomplish the mission and the low-level planner searches the path to optimize multiple objective functions using a sampling-based RRT search tree. The presented low-level planner can improve the Pareto optimality of the trajectory effectively. We analyze the effectiveness theoretically and evaluate the performance by simulations.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122043032","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

Optimization of Semi-Active Pneumatic Actuators for an Exoskeleton Robot for Running 外骨骼机器人半主动气动执行器优化研究

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441883

Yoosuk Kim, Cheolmin Kwon, Huiseok Moon, Kanghyun Kim, Jungsoo Cho, Kyoungchul Kong

{"title":"Optimization of Semi-Active Pneumatic Actuators for an Exoskeleton Robot for Running","authors":"Yoosuk Kim, Cheolmin Kwon, Huiseok Moon, Kanghyun Kim, Jungsoo Cho, Kyoungchul Kong","doi":"10.1109/URAI.2018.8441883","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441883","url":null,"abstract":"In running motion, human legs are often represented by a spring loaded inverted pendulum (SLIP) model. Therefore, an exoskeleton robot that helps human to run needs spring-like mechanisms. Semi-active pneumatic actuators can achieve spring-like behavior during stance by closing of an electronic solenoid valve and almost no resistive force during swing by opening the valve. In this paper, the mounting position and initial pneumatic pressure of the pneumatic actuators are optimized. In the process of optimization, simulations are conducted on one-leg hopping motion for effectiveness of pneumatic actuators instead of a more complicated running motion. To optimize pneumatic actuators, the mounting position and initial pressure are set as design variables. And the average energy consumption rate calculated from the humans joint power during the hopping motion is selected as the cost function. The constraints includes the pneumatic actuators mountable range, maximum cylinder length, minimum cylinder length, and the maximum permissible internal pressure. As a result, the energy consumption rate is reduced by 13.0%, 4.5%, and 31.8% when the actuators are used only for knee, ankle, and both, respectively, compared to the case without pneumatic actuators.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124035078","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