2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)最新文献

{"title":"Development of lower limb rehabilitation evaluation system based on virtual reality technology","authors":"Shihui Shen, Chang Gao, Yong Zhao, Haojian Lu, Yajin Shen, Chunbao Wang, T. Sun, Quanquan Liu, Q. Shi, J. Long, Yulong Wang, Zhengzhi Wu, J. Qin, Weiguang Li, M. Zecca, A. Takanishi","doi":"10.1109/RCAR.2016.7784083","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784083","url":null,"abstract":"Nowadays, with the development of the proportion of the elderly population in the world, several problems caused by the population aging gradually into people's horizons. One of the biggest problems plagued the vast majority of the elderly is hemiplegia, which leads to the vigorous development of the physical therapists. However, these traditional methods of physical therapy mainly rely on the skill of the physical therapists. In order to make up the defects of traditional methods, many research groups have developed different kinds of robots for lower limb rehabilitation training but most of them can only realize passive training which cannot adopt rehabilitation training based on the patients' individual condition effectively and they do not have a rehabilitation evaluation system to assess the real time training condition of the hemiplegic patients effectively. In order to solve the problems above, this paper proposed a lower limb rehabilitation evaluation system which is based on the virtual reality technology. This system has an easy observation of the human-computer interaction interface and the doctor is able to adjust the rehabilitation training direct at different patients in different rehabilitation stage based on this lower limb rehabilitation evaluation system. Compared with current techniques, this novel lower limb rehabilitation evaluation system is expected to have significant impacts in medical rehabilitation robot field.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129863208","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}

{"title":"Development of an ankle robot MKA-III for rehabilitation training","authors":"Zhijiang Lu, Chunbao Wang, L. Duan, Quanquan Liu, T. Sun, Yajin Shen, Q. Shi, Meng Li, Yulong Wang, J. Long, Jianjun Wei, Weiguang Li, A. Takanishi, Zhengzhi Wu","doi":"10.1109/RCAR.2016.7784084","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784084","url":null,"abstract":"With the developments of robotics, it has become a fashion trend that ankle rehabilitation robots assist traditional training in rehabilitation field. In this thesis, a novel ankle robot combing with 3 degrees of freedom, combining passive-active training, subjective awareness and objective training was proposed. Prior to robot developments, the requirement of ankle robot was analyzed based on the ankle structure and rehabilitation. In order to acquire the range of ankle motion, an experiment was established to detect the physiological data. Based on traditional rehabilitation therapy, a novel robot-assist rehabilitation therapy combing subjective awareness and objective training was proposed. Based on the requirements analysis, a novel mechanism structure of cross-circle was proposed to robot movement around ankle center. The mechanical structure includes four parts, adduction/abduction parts, dorsiflexion/plantar flexion parts, inversion/eversion parts and sensing unit. Each part of ankle rehabilitation robot was introduced in detail. By means of stress analysis and strength check, the feasibility of the structure was verified. After the mechanism design, the hardware configuration of control system was built up. Finally, the core control strategy, position control and force control were proposed.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"7 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131331982","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}

{"title":"A human-friendly robot navigation algorithm using the risk-RRT approach","authors":"Wenzheng Chi, H. Kono, Y. Tamura, A. Yamashita, H. Asama, M. Meng","doi":"10.1109/RCAR.2016.7784030","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784030","url":null,"abstract":"According to the proxemics, it is very important for pedestrians to keep themselves out of the personal spaces of others. The encroachment of the personal space usually causes discomfort, anxiety, or anger. In the human robot coexisting environment, the mobile robots are also expected to navigate like human beings and obey the motion conventions of human beings. Inspired by that, a pedestrian discomfort function is proposed to represent the discomfort value of pedestrians. A Comfort and Collision Risk (CCR) map is proposed to unify the discomfort value of pedestrians and the collision risk between the robot and the static barriers in one map. A human-friendly robot navigation algorithm is proposed by using the CCR map and the Risk-based Rapidly exploring Random Tree (Risk-RRT) algorithm. A multi RGB-D cameras intelligent robot system is constructed in this paper for experiments. Experimental results in both simulations and realistic environments reveal that our proposed method can achieve a good performance in human robot coexisting environment.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121063257","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}

{"title":"Vision-based moving target interception with a mobile robot based on motion prediction and online planning","authors":"Xuebo Zhang, Yongxin Wang, Yongchun Fang","doi":"10.1109/RCAR.2016.7783994","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7783994","url":null,"abstract":"In this paper, a vision-based moving target interception approach is proposed based on motion prediction and online path and velocity planning. For motion prediction, a fusion method of two motion prediction approaches with historical motion data is proposed to forecast the robot motion. With the predicted target pose as the subgoal, an optimal path is selected from a set of the third order Bezier curves based on their length and curvature cost. Finally, the control input can be calculated through the curvature function from the generated path. Simulation results show the effectiveness of the proposed method. The seamless integration of motion prediction and online planning makes the moving target interception more efficient and predictable.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121275851","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}

{"title":"Development of lower limb motion detection based on LPMS","authors":"T. Sun, Chunbao Wang, Quanquan Liu, Zhijiang Lu, L. Duan, Pengfang Chen, Yajin Shen, Meng Li, Weiguang Li, Qihong Liu, Q. Shi, Yulong Wang, J. Qin, Jianjun Wei, Zhengzhi Wu","doi":"10.1109/RCAR.2016.7784033","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784033","url":null,"abstract":"Up to now, with the increasing of the elderly population, more and more patients are suffering from hemiplegia. It leads to a great need for hemiplegic rehabilitation. In traditional rehabilitation, each patient must be treated by therapist, one by one. However, since the individual differences of therapists, no effectiveness rehabilitation is guaranteed. And the rehabilitation status of patient is still diagnosed by therapists with their subjective experience. This would cause the inhomogeneity on rehabilitation evaluation and sometimes negative influence on the rehabilitation effect. To solve these problems, many research groups proposed rehabilitation evaluation systems to assess the status of the hemiplegic patients quantitatively. Rehabilitation motion detection is the basis of the evaluation system, and it requires the participation of therapist. However, many motion detection methods do not meet the detection requirements, such as mechanical tracking and optical sensor, etc. In this article we present a method to detect lower limb motion of hemiplegic patients based on inertial sensor technology. LPMS, a high performance, easy wearable, portable and large measurement range sensor, is selected as the motion sensor. We obtain the gesture quaternion of lower limb through LPMS, and then use the algorithm to convert quaternion to matrix and Euler angle. Combining with the simplified lower limb motion model, we compute the rotation angle of joint by processing the rotation quaternion in Matlab. Finally, the curve of rotation angle of knee is established. The method detecting the motion of lower limb can be integrated into the rehabilitation robot control system, realizing intelligent detection and evaluation. Thus, the rehabilitation robots could be expected adjusting training parameters based on patient status automatically, expected to have significant impacts in medical rehabilitation robot field.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"34 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114098979","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}

{"title":"A localization and navigation method with ORB-SLAM for indoor service mobile robots","authors":"Shirong Wang, Yuan Li, Yue Sun, Xiaobin Li, Ning Sun, Xuebo Zhang, Ningbo Yu","doi":"10.1109/RCAR.2016.7784070","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784070","url":null,"abstract":"Autonomous mobile robots need to acquire environment information for localization and navigation, and thus are usually equipped with various sensors. Consequently, the system is complex and expensive, bringing obstacles for general home applications. In this paper, we present an efficient, yet economic and simple solution for indoor autonomous robots, consisting of a basic mobile platform, a Kinect V2 sensor and a computing unit running Linux. Within the ROS environment, the ORB-SLAM algorithm, pointcloud processing methods and a feedback controller have been developed and implemented respectively for localization, obstacle detection and avoidance, and navigation. Experimental results showed robust localization, safe and smooth navigation, good motion control accuracy and repeatability, demonstrating the efficacy of the system architecture and algorithms.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125027163","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}

{"title":"Adaptive robot control for human-dominant interactions using a general task function","authors":"S. Lyu, C. Cheah","doi":"10.1109/RCAR.2016.7783998","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7783998","url":null,"abstract":"When humans and a robot manipulator are sharing the same workspace, the robot is required to interact with the humans in addition to performing the standard robot tasks. Due to the different natures of the robot tasks and interaction tasks, different controllers are required when the task is switched from one to another. However, few results have been obtained in integrating the robot task and the interaction task using one general controller. In this paper, a general task function is employed so that different task requirements can be specified by changing certain task parameters instead of the controller. A simple active role allocation is developed such that when the human is outside the robots workspace, the robot performs the desired robot task and when the human enters the workspace, the robot interacts with human in a way or behaviour as specified by the human. The stability of overall system which integrates both the robot task and interaction task is shown by using Lyapunov like analysis. Experimental results are presented to illustrate the performance of proposed controller.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128516950","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}

{"title":"A wearable multi-modal human performance monitoring system for video display terminal users: Concept, development and clinical data validation","authors":"Yudong Luo, Na Zhao, Yantao Shen","doi":"10.1109/RCAR.2016.7784019","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784019","url":null,"abstract":"The objective of this project is to evaluate the fatigue of the video display terminal (VDT) users by monitoring the multi-physiological parameters through the designed and integrated wearable device. The evaluated fatigue condition of the VDT user can prevent the related syndrome by using the guide of fatigue relief. As the first stage of this project, this paper investigates the real time human fatigue detection based on Electroencephalo-graphy (EEG), Electrocardiograph (ECG), Electrooculography (EOG) and Saturation of Peripheral oxygen(SpO2) data to test our concept for the preliminary study. We selected and extracted different types of features base on the collected multi-physiological signals. We used the unsupervised learning method k-medoids which is the modifications of the k-means clustering to help us to classify the fatigue condition of the video display terminal user. More importantly, we tested our concept by using 25-subject full overnight multi-physiological data, proposed features and classification methods to monitor the fatigue recovery during sleeping. The results validate our concept and show the evaluated human performance (fatigue) condition becomes recovery during sleeping clearly. It proves that the proposed system can monitor the human performance (fatigue) change for the VDT users and it is able to feedback the value to help them relieve the fatigue and to prevent the related syndrome for the next stage.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"156 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132322297","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}

{"title":"Real time prediction of suction cup's negative pressure decrement without previous measurement of air inflow speed","authors":"Takahiro Matsuno, Shugen Ma","doi":"10.1109/RCAR.2016.7784009","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784009","url":null,"abstract":"When a suction cup is attached to a surface, air inflow happens inevitably which affects the safety of the application using the suction cup. Therefore, the prediction of suction cup's negative pressure decrement is important for enhancing safety of attachment. This study proposes a prediction method of negative pressure decrement in the attached state of the suction cup. It does not require previous measurement data of the relationship between negative pressure of suction cup and air inflow speed to suction cup. The unknown air inflow speed is estimated by polynomial approximation. The proposed estimation method is applied to a suction cup, and estimation results are verified with experiment.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"348 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121698146","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}

{"title":"Autonomous WiFi-relay control with mobile robots","authors":"Yajun Gao, Haoyao Chen, Yanjie Li, Yunhui Liu","doi":"10.1109/RCAR.2016.7784025","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784025","url":null,"abstract":"Stable communication plays an important role in autonomous applications with mobile robots, especially in the environments without communication infrastructures. There are high demands for quickly building wireless communication network for robots. To ensure stable wireless communication, the bottleneck of the data transmission is needed eliminating to make the communication ability best amongst base station, mobile robots and clients. The paper proposes an efficient approach to address the problem, by equipping WiFi routers on robots to enable and enhance communication ability. Two WiFi models are first introduced to assist the navigation of relay robots. A visual-laser SLAM is proposed to build the environmental map and further localize the relay robots. The RRT-based motion planning method is utilized to find the relay locations with best communication ability. The mobile relay robots are then controlled automatically to the corresponding target locations, setting up ad-hoc wireless network with good quality. Finally, experimental results are presented to illustrate the effectiveness of the proposed approach.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115508500","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}