2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)最新文献_第8页

A robust design of a prosthetic finger and its dynamic analysis 假指的鲁棒设计及其动力学分析

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657605

S. Kashef, M. Davari, A. Akbarzadeh

引用次数: 1

Trajectory Tracking Control of Underactuated Autonomous Marine Surface Vessels with Guaranteed Prescribed Performance 保证性能欠驱动自主水面舰船的轨迹跟踪控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657512

Omid Elhaki, K. Shojaei

引用次数: 6

Design and Development of an Omnidirectional Mobile Manipulator for Indoor Environment 室内环境全方位移动机械手的设计与研制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657537

Amirreza Kebritchi, Pedram Hosseiniakram, Sara Havashinezhadian, M. Rostami

引用次数: 4

Learning of 2 DOF robotic arm using integrated architecture of neural network and Spike Timing Dependent Plasticity 基于神经网络和脉冲时变可塑性的二自由度机械臂学习

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657598

V. Azimirad, M. T. Ramezanlou, P. Shahabi

{"title":"Learning of 2 DOF robotic arm using integrated architecture of neural network and Spike Timing Dependent Plasticity","authors":"V. Azimirad, M. T. Ramezanlou, P. Shahabi","doi":"10.1109/ICROM.2018.8657598","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657598","url":null,"abstract":"In this paper, an integrated architecture of spiking neural network is used for learning of 2 DOF robotic arm. Brain architecture is consisting of 6 different areas that have different tasks. Two sensors are used to detect the target position and send the signals to sensory neurons. As an integrated architecture, all of the sensory neurons are connected to all motor neurons at the beginning of the process. The neural network is trained to learn a specific task using spike timing-dependent plasticity. Simultaneous sensing of target and movement of robot toward target result in unsupervised learning which is useful for learning of robots in unknown environments. To remove the effects of random inputs, the experiment is repeated six times. Through the learning process, the synaptic weights are changed. The connection between left sensory neurons and Flexor motor neurons also the connection between right sensory neurons and Extensor motor neurons are increased while other connections are weakened. The results show that the spiking neural network is effective in controlling the robot's motion.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133356073","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

Improving energy consumption in Exoped® Lower-limb Exoskeleton by means of Functional Electrical Stimulation 通过功能性电刺激改善exed®下肢外骨骼的能量消耗

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657585

S. Hosseinpour, S. Ozgoli, V. Nekoukar

{"title":"Improving energy consumption in Exoped® Lower-limb Exoskeleton by means of Functional Electrical Stimulation","authors":"S. Hosseinpour, S. Ozgoli, V. Nekoukar","doi":"10.1109/ICROM.2018.8657585","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657585","url":null,"abstract":"Walking and standing are the two fundamental problems in patients with spinal cord injury. Gait disorders in neurologically disabled people can be treated by various techniques available today. Exoskeleton robots and functional electrical stimulation (FES) are the two important solutions in this field. However, each of them has its own drawback. The patient using an exoskeleton doesn't participate in walking, in addition, battery consumption is a limiting problem. On the other hand, the muscles fatigue and complexity of joints control should be noticed in functional electrical stimulation. In this paper, in order to solve these problems, combining exoskeleton and FES system is considered. The Exoped® exoskeleton robot which consists of four motors in knee and hip joints is used for implementation of proposed method. For FES quadriceps and hamstring muscles are assumed actuate the knee joint during swing phase. The muscle stimulation is adjusted in a way that the interaction torque between the robot joint and the patient is minimized, i.e., the FES torque assists the robot. In order to show that the approach is efficient, it is implemented on Exoped® by healthy person. Experimental data and simulation results indicate that the proposed method reduces the torque and power output required for knee motors of the exoskeleton compared to walking without FES.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131962175","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, Development and Control of a Three Flexible-Fingers Gripper Based On Hand Gesture 基于手势的三指柔性抓取器的设计、开发与控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657517

Rasoul Sadeghian, P. Sedigh, Parastoo Azizinezhad, Shahrooz Shahin, M. T. Masouleh

引用次数: 1

Distributed predictive control for formation of networked mobile robots 网络化移动机器人编队的分布式预测控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657625

Farshad Rahimi, R. M. Esfanjani

引用次数: 3

Design & Characterization of a Bio-Inspired 3-DOF Tactile/Force Sensor for Human-Robot Interaction Purposes 仿生三自由度人机交互触觉/力传感器的设计与表征

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657597

Amin Hamed, M. T. Masouleh, A. Kalhor

引用次数: 5

A Tunable Helmholtz Resonator for Electromagnetic Energy Harvesting 用于电磁能量收集的可调谐亥姆霍兹谐振器

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657492

M. A. Askari Farsangi, H. Zohoor

引用次数: 0

Model Free Control of Electrically Driven Manipulator by Optimized Linear Extended State Observer, based on Voltage Control Strategy 基于电压控制策略的优化线性扩展状态观测器电驱动机械臂无模型控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657617

A. Saleki, M. Fateh

引用次数: 1