Frontiers in Robotics and AI最新文献

{"title":"Editorial: Advancements in AI-driven multimodal interfaces for robot-aided rehabilitation.","authors":"Christian Tamantini, Kevin Patrice Langlois, David Rodriguez Cianca, Loredana Zollo","doi":"10.3389/frobt.2025.1605418","DOIUrl":"https://doi.org/10.3389/frobt.2025.1605418","url":null,"abstract":"","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1605418"},"PeriodicalIF":2.9,"publicationDate":"2025-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12119299/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144183468","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Editorial: Advances in modern intelligent surgery: from computer-aided diagnosis to medical robotics.","authors":"Zhe Min, Rui Song, Changsheng Li, Jax Luo","doi":"10.3389/frobt.2025.1620551","DOIUrl":"10.3389/frobt.2025.1620551","url":null,"abstract":"","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1620551"},"PeriodicalIF":2.9,"publicationDate":"2025-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12117187/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144175371","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A hybrid tendon-driven continuum robot that avoids torsion under external load.","authors":"Maria Paula Huertas Niño, Mohamed Boutayeb, Dominique Martinez","doi":"10.3389/frobt.2025.1576209","DOIUrl":"10.3389/frobt.2025.1576209","url":null,"abstract":"<p><p>Tendon-driven continuum robots usually consists of several actuators and cables pulling a flexible backbone. The tendon path alongside the backbone allows to perform complex movements with high dexterity. Yet, the integration of multiple tendons adds complexity and the lack of rigidity makes continuum robots susceptible to torsion whenever an external force or load is applied. This paper proposes a reduced complexity, hybrid tendon-driven continuum robot (HTDCR) that avoids undesired torsion under external load. Bending of the HTDCR is achieved from a single tendon with lateral joints alongside the backbone acting as mechanical constraint on the bending plane. A rotary base then provides an additional degree of freedom by allowing full rotation of the arm. We developed a robot prototype with control law based on a constant curvature model and validated it experimentally with various loads on the tip. Body deviation outside the bending plane is negligible (mm range), thereby demonstrating no torsional deformation. Tip deflection within the bending plane is smaller than the one obtained with a 4-tendon driven continuum robot. Moreover, tip deflection can be accurately estimated from the load and motor input which paves the way to possible compensation. All together, the experiments demonstrate the efficiency of the HTDCR with 450 g payload which makes it suitable in agricultural tasks such as fruit and vegetable harvesting.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1576209"},"PeriodicalIF":2.9,"publicationDate":"2025-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12116320/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144175370","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Consideration of communication in human-machine interaction for cooperative trajectory planning.","authors":"Julian Schneider, Balint Varga, Sören Hohmann","doi":"10.3389/frobt.2025.1568402","DOIUrl":"10.3389/frobt.2025.1568402","url":null,"abstract":"<p><p>Interactive human-machine systems aim to significantly enhance performance and reduce human workload by leveraging the combined strengths of humans and automated systems. In the state of the art, human-machine cooperation (HMC) systems are modeled in various interaction layers, e.g., the decision layer, trajectory layer, and action layer. The literature usually focuses on the action layer, assuming that there is no need for a consensus at the decision or trajectory layers. Only few studies deal with the interaction at the trajectory layer. None of the previous work has systematically examined the structure of communication for interaction between humans and machines beyond the action layer. Therefore, this paper proposes a graph representation based on a multi-agent system theory for human-machine cooperation. For this purpose, a layer model for human-machine cooperation from the literature is converted into a graph representation. Using our novel graph representation, the existence of communication loops can be demonstrated, which are necessary for emancipated cooperation. In contrast, a leader-follower structure does not possess a closed loop in this graph representation. The choice of the communication loop for emancipated cooperation is ambiguous and can take place via various closed loops at higher layers of human-machine interactions, which open new possibilities for the design of emancipated cooperative control systems. In a simulation, it is shown that emancipated cooperation is possible via three variants of communication loops and that a consensus on a common trajectory is found in each case. The results indicate that taking into account cooperative strategies at the trajectory layer can enhance the performance and effectiveness of human-machine systems.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1568402"},"PeriodicalIF":2.9,"publicationDate":"2025-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12089044/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144112061","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Enhancing needle puncture detection using high-pass filtering and diffuse reflectance.","authors":"Rachael L'Orsa, Anupam Bisht, Linhui Yu, Kartikeya Murari, Garnette R Sutherland, David T Westwick, Katherine J Kuchenbecker","doi":"10.3389/frobt.2025.1429327","DOIUrl":"10.3389/frobt.2025.1429327","url":null,"abstract":"<p><strong>Introduction: </strong>Chest trauma or disease progression can lead to tension pneumothorax, a condition where mounting pressurization of the pleural cavity (the space between the chest wall and the lungs) leads rapidly to cardiac arrest. In pre-hospital settings, tension pneumothorax is treated by venting the pleural cavity via a needle introduced through the chest wall. Very high failure rates (up to 94.1%) have been reported for pre-hospital needle decompression, however, and the procedure can result in the accidental puncture of critical thoracic tissues because it is performed blind. Instrumented needles could help operators more reliably identify when the tool has entered the target space.</p><p><strong>Methods: </strong>This paper investigates technical approaches to provide such support; we created an experimental system that acquires needle force and position signals, as well as the diffuse backscattered reflectance from white light carried to and collected from the needle's tip via two in-bore optical fibers. Data collection occurred while two experimenters inserted a bevel-tipped percutaneous needle into an <i>ex vivo</i> porcine rib section simulating human chest anatomy. Four data-driven puncture-detection (DDPD) algorithms from the literature, which are appropriate for use with the variable tool velocities produced by manual insertions, were applied to the resulting data set offline. Grid search was performed across key signal-processing parameters, high-pass filters (HPFs) were applied to examine their impact on puncture detection, and a first exploration of multimodal (ensemble) methods was performed.</p><p><strong>Results: </strong>Combining high-pass filters with DDPD methods resulted in a 2.7-fold improvement (from 8.2% to 21.9%) in the maximum overall precision (MOP) produced by force signals. Applying this HPF + DDPD scheme to reflectance data streams yielded a peak MOP of 36.4%, and combining reflectance with force generated the best MOP overall (42.1%); these results represent 4.4-fold and 5.1-fold improvements, respectively, over the best MOP produced by the traditional application of DDPD algorithms to force signals alone.</p><p><strong>Discussion: </strong>These results strongly support the utility of high-pass filters combined with both reflectance-only and multimodal reflectance-plus-force data-driven puncture-detection schemes for needle decompression applications.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1429327"},"PeriodicalIF":2.9,"publicationDate":"2025-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12090360/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144112063","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Learning computer-aided manufacturing from demonstration: a case study with probabilistic movement primitives in robot wood carving.","authors":"Daniel Schäle, Martin F Stoelen, Erik Kyrkjebø","doi":"10.3389/frobt.2025.1569476","DOIUrl":"10.3389/frobt.2025.1569476","url":null,"abstract":"<p><p>Computer-Aided Manufacturing (CAM) tools are a key component in many digital fabrication workflows, translating digital designs into machine instructions to manufacture physical objects. However, conventional CAM tools are tailored for standard manufacturing processes such as milling, turning or laser cutting, and can therefore be a limiting factor - especially for craftspeople and makers who want to employ non-standard, craft-like operations. Formalizing the tacit knowledge behind such operations to incorporate it in new CAM-routines is inherently difficult and often not feasible for the ad hoc incorporation of custom manufacturing operations in a digital fabrication workflow. In this paper, we address this gap by exploring the integration of Learning from Demonstration (LfD) into digital fabrication workflows, allowing makers to establish new manufacturing operations by providing manual demonstrations. To this end, we perform a case study on robot wood carving with hand tools, in which we integrate probabilistic movement primitives (ProMPs) into Rhino's Grasshopper environment to achieve basic CAM-like functionality. Human demonstrations of different wood carving cuts are recorded via kinesthetic teaching and modeled by a mixture of ProMPs to capture correlations between the toolpath parameters. The ProMP model is then exposed in Grasshopper, where it functions as a translator from drawing input to toolpath output. With our pipeline, makers can create simplified 2D drawings of their carving patterns with common CAD tools and then seamlessly generate skill-informed 6 degree-of-freedom carving toolpaths from them, all in the same familiar CAD environment. We demonstrate our pipeline on multiple wood carving applications and discuss its limitations, including the need for iterative toolpath adjustments to address inaccuracies. Our findings illustrate the potential of LfD in augmenting CAM tools for specialized and highly customized manufacturing tasks. At the same time, the question of how to best represent carving skills for flexible and generalizable toolpath generation remains open and requires further investigation.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1569476"},"PeriodicalIF":2.9,"publicationDate":"2025-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12088953/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144112164","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Exoskeletons for the rehabilitation of temporomandibular disorders: a comprehensive review.","authors":"Paul-Otto Müller, Robert Sader, Oskar von Stryk","doi":"10.3389/frobt.2025.1492275","DOIUrl":"10.3389/frobt.2025.1492275","url":null,"abstract":"<p><p>Despite the many technological advancements in exoskeletons for the rehabilitation of lower or upper limbs, there has been limited exploration of their application in treating temporomandibular disorders, a set of musculoskeletal and neuromuscular conditions affecting the masticatory system. By collecting data, implementing assisting and resisting training routines, and encouraging active patient engagement, exoskeletons could provide controlled and individualized exercise with flexibility in time and location to aid in the recovery or improvement of jaw mobility and function. Thus, they might offer a valuable alternative or complement to conservative physiotherapy. In this context, the review aims to draw attention to rehabilitating temporomandibular disorders with the help of exoskeletons by looking at the advantages and opportunities these devices potentially provide. After stating the requirements and resulting scientific challenges in various fields and discussing the state of the art, existing research gaps and deficiencies will be discussed, highlighting areas where further research and development is needed.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1492275"},"PeriodicalIF":2.9,"publicationDate":"2025-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12081923/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144095489","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Bat optimization of hybrid neural network-FOPID controllers for robust robot manipulator control.","authors":"Bashra Kadhim Oleiwi, Mohamed Jasim, Ahmad Taher Azar, Saim Ahmed, Ahmed Redha Mahlous","doi":"10.3389/frobt.2025.1487844","DOIUrl":"10.3389/frobt.2025.1487844","url":null,"abstract":"<p><p>The position and trajectory tracking control of rigid-link robot manipulators suffers from problems such as poor accuracy, unstable performance, and response caused by unidentified loads and outside disturbances. In this paper, three control structures have been proposed to control a multi-input, multi-output coupled nonlinear three-link rigid robot manipulator (3-LRRM) system and effectively solve the signal chattering in the control signal. To overcome these problems, three hybrid control structures based on combinations between the benefits of fractional order proportional-integral-derivative operations (FOPID) and the benefits of neural networks are proposed for a 3-LRRM. The first hybrid control scheme is a neural network- (NN) like fractional order proportional-integral plus an NN-like fractional order proportional derivative controller (NN-FOPIPD) and the second control scheme is an NN plus FOPID controller (NN + FOPID). In contrast, the third control scheme is the Elman NN-like FOPID controller (ELNN-FOPID). The bat optimization algorithm (BOA) is applied to find the best parameter values of the proposed control scheme by minimizing the performance index of the integral time square error (ITSE). MATLAB software is used to carry out the simulation results. Using the simulation tests, the performance of the suggested controllers is compared without retraining the controller parameters. The robustness of the designed control schemes' performance is assessed utilizing uncertainties in system parameters, outside disturbances, and initial position changes. The results show that the NN-FOPIPD structure demonstrated the best performance among the suggested controllers.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1487844"},"PeriodicalIF":2.9,"publicationDate":"2025-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12082718/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144095488","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Seamless multi-skill learning: learning and transitioning non-similar skills in quadruped robots with limited data.","authors":"Jiaxin Tu, Peng Zhai, Yueqi Zhang, Xiaoyi Wei, Zhiyan Dong, Lihua Zhang","doi":"10.3389/frobt.2025.1542692","DOIUrl":"https://doi.org/10.3389/frobt.2025.1542692","url":null,"abstract":"<p><p>In multi-skill imitation learning for robots, expert datasets with complete motion features are crucial for enabling robots to learn and transition between different skills. However, such datasets are often difficult to obtain. As an alternative, datasets constructed using only joint positions are more accessible, but they are incomplete and lack details, making it challenging for existing methods to effectively learn and model skill transitions. To address these challenges, this study introduces the Seamless Multi-Skill Learning (SMSL) framework. Integrated within the Adversarial Motion Priors framework and incorporating self-trajectory augmentation techniques, SMSL effectively utilizes high-quality historical experiences to guide agents in learning skills and generating smooth, natural transitions between them, addressing the learning difficulties caused by incomplete expert datasets. Additionally, the research incorporates an adaptive command sampling mechanism to balance the training opportunities for skills of various difficulties and prevent catastrophic forgetting. Our experiments highlight potential issues with baseline methods when imitating incomplete expert datasets and demonstrate the superior performance of the SMSL framework. Sim-to-real experiments on real Solo8 robots further validate the effectiveness of SMSL. Overall, this study confirms the SMSL framework's capability in real robotic applications and underscores its potential for autonomous skill learning and generation from minimal data.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1542692"},"PeriodicalIF":2.9,"publicationDate":"2025-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12075956/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144080280","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Enhancing supermarket robot interaction: an equitable multi-level LLM conversational interface for handling diverse customer intents.","authors":"Chandran Nandkumar, Luka Peternel","doi":"10.3389/frobt.2025.1576348","DOIUrl":"10.3389/frobt.2025.1576348","url":null,"abstract":"<p><p>This paper presents the design and evaluation of a comprehensive system to develop voice-based interfaces to support users in supermarkets. These interfaces enable shoppers to convey their needs through both generic and specific queries. Although customisable state-of-the-art systems like GPTs from OpenAI are easily accessible and adaptable, featuring low-code deployment with options for functional integration, they still face challenges such as increased response times and limitations in strategic control for tailored use cases and cost optimization. Motivated by the goal of crafting equitable and efficient conversational agents with a touch of personalisation, this study advances on two fronts: 1) a comparative analysis of four popular off-the-shelf speech recognition technologies to identify the most accurate model for different genders (male/female) and languages (English/Dutch) and 2) the development and evaluation of a novel multi-LLM supermarket chatbot framework, comparing its performance with a specialized GPT model powered by the GPT-4 Turbo, using the Artificial Social Agent Questionnaire (ASAQ) and qualitative participant feedback. Our findings reveal that OpenAI's Whisper leads in speech recognition accuracy between genders and languages and that our proposed multi-LLM chatbot architecture, which outperformed the benchmarked GPT model in performance, user satisfaction, user-agent partnership, and self-image enhancement, achieved statistical significance in these four key areas out of the 13 evaluated aspects that all showed improvements. The paper concludes with a simple method for supermarket robot navigation by mapping the final chatbot response to the correct shelf numbers to which the robot can plan sequential visits. Later, this enables the effective use of low-level perception, motion planning, and control capabilities for product retrieval and collection. We hope that this work encourages more efforts to use multiple specialized smaller models instead of always relying on a single powerful model.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1576348"},"PeriodicalIF":2.9,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12069059/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144046163","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}