Frontiers in Robotics and AI最新文献

A comparative psychological evaluation of a robotic avatar in Dubai and Japan. 迪拜和日本机器人化身的比较心理评估。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-01-07 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1426717

Hiroko Kamide, Yukiko Horikawa, Moe Sato, Atsushi Toyoda, Kurima Sakai, Takashi Minato, Takahiro Miyashita, Hiroshi Ishiguro

{"title":"A comparative psychological evaluation of a robotic avatar in Dubai and Japan.","authors":"Hiroko Kamide, Yukiko Horikawa, Moe Sato, Atsushi Toyoda, Kurima Sakai, Takashi Minato, Takahiro Miyashita, Hiroshi Ishiguro","doi":"10.3389/frobt.2024.1426717","DOIUrl":"https://doi.org/10.3389/frobt.2024.1426717","url":null,"abstract":"Introduction: This study focused on the psychological evaluation of an avatar robot in two distinct regions, Dubai in the Middle East and Japan in the Far East. Dubai has experienced remarkable development in advanced technology, while Japan boasts a culture that embraces robotics. These regions are distinctively characterized by their respective relationships with robotics. In addition, the use of robots as avatars is anticipated to increase, and this research aimed to compare the psychological impressions of people from these regions when interacting with an avatar as opposed to a human.Methods: Considering that avatars can be presented on screens or as physical robots, two methodologies were employed: a video presentation survey (Study 1, Dubai: n = 120, Japan: n = 120) and an experiment involving live interactions with a physical robot avatar (Study 2, Dubai: n = 28, Japan: n = 30).Results and discussion: Results from the video presentations indicated that participants from Dubai experienced significantly lower levels of discomfort towards the avatar compared to their Japanese counterparts. In contrast, during live interactions, Japanese participants showed a notably positive evaluation towards a Japanese human operator. The findings suggest that screen-presented avatars may be more readily accepted in Dubai, while humans were generally preferred over avatars in terms of positive evaluations when physical robots were used as avatars. The study also discusses the implications of these findings for the appropriate tasks for avatars and the relationship between cultural backgrounds and avatar evaluations.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1426717"},"PeriodicalIF":2.9,"publicationDate":"2025-01-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11746044/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143013901","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}

引用次数: 0

Android avatar improves educational effects by embodied anthropomorphization. Android化身通过体现人格化来提高教育效果。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-01-06 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1469626

Naoki Kodani, Takahisa Uchida, Nahoko Kameo, Kurima Sakai, Tomo Funayama, Takashi Minato, Akane Kikuchi, Hiroshi Ishiguro

{"title":"Android avatar improves educational effects by embodied anthropomorphization.","authors":"Naoki Kodani, Takahisa Uchida, Nahoko Kameo, Kurima Sakai, Tomo Funayama, Takashi Minato, Akane Kikuchi, Hiroshi Ishiguro","doi":"10.3389/frobt.2024.1469626","DOIUrl":"https://doi.org/10.3389/frobt.2024.1469626","url":null,"abstract":"After the COVID-19 pandemic, the adoption of distance learning has been accelerated in educational institutions in multiple countries. In addition to using a videoconferencing system with camera images, avatars can also be used for remote classes. In particular, an android avatar with a sense of presence has the potential to provide higher quality education than a video-recorded lecture. To investigate the specific educational effects of android avatars, we used a Geminoid. an android with the appearance of a specific individual, and conducted both laboratory experiment and large-scale field experiment. The first compared the android avatar lecture with a videoconferencing system. We found that the use of an android avatar for the lecture led to the significantly higher subjective feelings of being seen, feeling more motivated, and focused on the lecture compared to the video lecture. We further conducted a large-scale field experiment with an android avatar to clarify what contributes to such educational effects. The results suggest that the students' perception of android's anthroppomorphism and competence has a positive impact, and discomfort has a negative impact on the subjective experence of educational effect. These results indicate the role of embodied anthropomorphization in positive educational experience. The important point of this study is that both the laboratory experiment and the large-scale experiment were conducted to clarify the educational effects of androids. These results support several related studies and are clarified in detail. Based on these results, the potential for the future usage of androids in education is discussed.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1469626"},"PeriodicalIF":2.9,"publicationDate":"2025-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11743274/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143013904","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}

引用次数: 0

Bicycle-inspired simple balance control method for quadruped robots in high-speed running. 基于自行车的四足机器人高速奔跑简单平衡控制方法。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-01-06 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1473628

Shoei Hattori, Shura Suzuki, Akira Fukuhara, Takeshi Kano, Akio Ishiguro

{"title":"Bicycle-inspired simple balance control method for quadruped robots in high-speed running.","authors":"Shoei Hattori, Shura Suzuki, Akira Fukuhara, Takeshi Kano, Akio Ishiguro","doi":"10.3389/frobt.2024.1473628","DOIUrl":"https://doi.org/10.3389/frobt.2024.1473628","url":null,"abstract":"This paper explores the applicability of bicycle-inspired balance control in a quadruped robot model. Bicycles maintain stability and change direction by intuitively steering the handle, which induces yaw motion in the body frame and generates an inertial effect to support balance. Inspired by this balancing strategy, we implemented a similar mechanism in a quadruped robot model, introducing a yaw trunk joint analogous to a bicycle's steering handle. Simulation results demonstrate that the proposed model achieves stable high-speed locomotion with robustness against external disturbances and maneuverability that allows directional changes with only slight speed reduction. These findings suggest that utilizing centrifugal force plays a critical role in agile locomotion, aligning with the movement strategies of cursorial animals. This study underscores the potential of bicycle balance control as an effective and straightforward control approach for enhancing the agility and stability of quadruped robots as well as potentially offering insights into animal motor control mechanisms for agile locomotion.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1473628"},"PeriodicalIF":2.9,"publicationDate":"2025-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11743184/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143013906","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}

引用次数: 0

Versatile graceful degradation framework for bio-inspired proprioception with redundant soft sensors. 具有冗余软传感器的仿生本体感觉的多功能优雅降解框架。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-01-06 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1504651

Taku Sugiyama, Kyo Kutsuzawa, Dai Owaki, Elijah Almanzor, Fumiya Iida, Mitsuhiro Hayashibe

{"title":"Versatile graceful degradation framework for bio-inspired proprioception with redundant soft sensors.","authors":"Taku Sugiyama, Kyo Kutsuzawa, Dai Owaki, Elijah Almanzor, Fumiya Iida, Mitsuhiro Hayashibe","doi":"10.3389/frobt.2024.1504651","DOIUrl":"https://doi.org/10.3389/frobt.2024.1504651","url":null,"abstract":"Reliable proprioception and feedback from soft sensors are crucial for enabling soft robots to function intelligently in real-world environments. Nevertheless, soft sensors are fragile and are susceptible to various damage sources in such environments. Some researchers have utilized redundant configuration, where healthy sensors compensate instantaneously for lost ones to maintain proprioception accuracy. However, achieving consistently reliable proprioception under diverse sensor degradation remains a challenge. This paper proposes a novel framework for graceful degradation in redundant soft sensor systems, incorporating a stochastic Long Short-Term Memory (LSTM) and a Time-Delay Feedforward Neural Network (TDFNN). The LSTM estimates readings from healthy sensors to compare them with actual data. Then, statistically abnormal readings are zeroed out. The TDFNN receives the processed sensor readings to perform proprioception. Simulation experiments with a musculoskeletal leg that contains 40 nonlinear soft sensors demonstrate the effectiveness of the proposed framework. Results show that the knee angle proprioception accuracy is retained across four distinct degradation scenarios. Notably, the mean proprioception error increases by less than 1.91°(1.36%) when <math><mrow><mn>30</mn> <mi>%</mi></mrow> </math> of the sensors are degraded. These results suggest that the proposed framework enhances the reliability of soft sensor proprioception, thereby improving the robustness of soft robots in real-world applications.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1504651"},"PeriodicalIF":2.9,"publicationDate":"2025-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11743178/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143013938","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}

引用次数: 0

WearMoCap: multimodal pose tracking for ubiquitous robot control using a smartwatch. WearMoCap：使用智能手表进行无处不在的机器人控制的多模态姿势跟踪。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-01-03 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1478016

Fabian C Weigend, Neelesh Kumar, Oya Aran, Heni Ben Amor

{"title":"WearMoCap: multimodal pose tracking for ubiquitous robot control using a smartwatch.","authors":"Fabian C Weigend, Neelesh Kumar, Oya Aran, Heni Ben Amor","doi":"10.3389/frobt.2024.1478016","DOIUrl":"https://doi.org/10.3389/frobt.2024.1478016","url":null,"abstract":"We present WearMoCap, an open-source library to track the human pose from smartwatch sensor data and leveraging pose predictions for ubiquitous robot control. WearMoCap operates in three modes: 1) a Watch Only mode, which uses a smartwatch only, 2) a novel Upper Arm mode, which utilizes the smartphone strapped onto the upper arm and 3) a Pocket mode, which determines body orientation from a smartphone in any pocket. We evaluate all modes on large-scale datasets consisting of recordings from up to 8 human subjects using a range of consumer-grade devices. Further, we discuss real-robot applications of underlying works and evaluate WearMoCap in handover and teleoperation tasks, resulting in performances that are within 2 cm of the accuracy of the gold-standard motion capture system. Our Upper Arm mode provides the most accurate wrist position estimates with a Root Mean Squared prediction error of 6.79 cm. To evaluate WearMoCap in more scenarios and investigate strategies to mitigate sensor drift, we publish the WearMoCap system with thorough documentation as open source. The system is designed to foster future research in smartwatch-based motion capture for robotics applications where ubiquity matters. www.github.com/wearable-motion-capture.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1478016"},"PeriodicalIF":2.9,"publicationDate":"2025-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11738771/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143013940","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}

引用次数: 0

EzSkiROS: enhancing robot skill composition with embedded DSL for early error detection. EzSkiROS：通过嵌入式DSL增强机器人技能组成，用于早期错误检测。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-01-03 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1363443

Momina Rizwan, Christoph Reichenbach, Ricardo Caldas, Matthias Mayr, Volker Krueger

{"title":"EzSkiROS: enhancing robot skill composition with embedded DSL for early error detection.","authors":"Momina Rizwan, Christoph Reichenbach, Ricardo Caldas, Matthias Mayr, Volker Krueger","doi":"10.3389/frobt.2024.1363443","DOIUrl":"https://doi.org/10.3389/frobt.2024.1363443","url":null,"abstract":"When developing general-purpose robot software components, we often lack complete knowledge of the specific contexts in which they will be executed. This limits our ability to make predictions, including our ability to detect program bugs statically. Since running a robot is an expensive task, finding errors at runtime can prolong the debugging loop or even cause safety hazards. This paper proposes an approach to help developers catch these errors as soon as we have some context (typically at pre-launch time) with minimal additional efforts. We use embedded domain-specific language (DSL) techniques to enforce early checks. We describe design patterns suitable for robot programming and show how to use these design patterns for DSL embedding in Python, using two case studies on an open-source robot skill platform SkiROS2, designed for the composition of robot skills. These two case studies help us understand how to use DSL embedding on two abstraction levels: the high-level skill description that focuses on what the robot can do and under what circumstances and the lower-level decision-making and execution flow of tasks. Using our DSL EzSkiROS, we show how our design patterns enable robotics software platforms to detect bugs in the high-level contracts between the robot's capabilities and the robot's understanding of the world. We also apply the same techniques to detect bugs in the lower-level implementation code, such as writing behavior trees (BTs), to control the robot's behavior based on its capabilities. We perform consistency checks during the code deployment phase, significantly earlier than the typical runtime checks. This enhances the overall safety by identifying potential issues with the skill execution before they can impact robot behavior. An initial study with SkiROS2 developers shows that our DSL-based approach is useful for finding bugs early and thus improving the maintainability of the code.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1363443"},"PeriodicalIF":2.9,"publicationDate":"2025-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11738934/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143013928","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}

引用次数: 0

Informed circular fields: a global reactive obstacle avoidance framework for robotic manipulators. 通知圆形场：机器人操纵器的全局反应性避障框架。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-01-03 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1447351

Marvin Becker, Philipp Caspers, Torsten Lilge, Sami Haddadin, Matthias A Müller

{"title":"Informed circular fields: a global reactive obstacle avoidance framework for robotic manipulators.","authors":"Marvin Becker, Philipp Caspers, Torsten Lilge, Sami Haddadin, Matthias A Müller","doi":"10.3389/frobt.2024.1447351","DOIUrl":"https://doi.org/10.3389/frobt.2024.1447351","url":null,"abstract":"In this paper, we present a global reactive motion planning framework designed for robotic manipulators navigating in complex dynamic environments. Utilizing local minima-free circular fields, our methodology generates reactive control commands while also leveraging global environmental information from arbitrary configuration space motion planners to identify promising trajectories around obstacles. Furthermore, we extend the virtual agents framework introduced in Becker et al. (2021) to incorporate this global information, simulating multiple robot trajectories with varying parameter sets to enhance avoidance strategies. Consequently, the proposed unified robotic motion planning framework seamlessly combines global trajectory planning with local reactive control and ensures comprehensive obstacle avoidance for the entire body of a robotic manipulator. The efficacy of the proposed approach is demonstrated through rigorous testing in over 4,000 simulation scenarios, where it consistently outperforms existing motion planners. Additionally, we validate our framework's performance in real-world experiments using a collaborative Franka Emika robot with vision feedback. Our experiments illustrate the robot's ability to promptly adapt its motion plan and effectively avoid unpredictable movements by humans within its workspace. Overall, our contributions offer a robust and versatile solution for global reactive motion planning in dynamic environments.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1447351"},"PeriodicalIF":2.9,"publicationDate":"2025-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11738950/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143013933","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}

引用次数: 0

Building for speech: designing the next-generation of social robots for audio interaction. 语音构建：设计下一代音频交互社交机器人。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-01-03 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1356477

Angus Addlesee, Ioannis Papaioannou

{"title":"Building for speech: designing the next-generation of social robots for audio interaction.","authors":"Angus Addlesee, Ioannis Papaioannou","doi":"10.3389/frobt.2024.1356477","DOIUrl":"https://doi.org/10.3389/frobt.2024.1356477","url":null,"abstract":"There have been significant advances in robotics, conversational AI, and spoken dialogue systems (SDSs) over the past few years, but we still do not find social robots in public spaces such as train stations, shopping malls, or hospital waiting rooms. In this paper, we argue that early-stage collaboration between robot designers and SDS researchers is crucial for creating social robots that can legitimately be used in real-world environments. We draw from our experiences running experiments with social robots, and the surrounding literature, to highlight recurring issues. Robots need better speakers, a greater number of high-quality microphones, quieter motors, and quieter fans to enable human-robot spoken interaction in the wild. If a robot was designed to meet these requirements, researchers could create SDSs that are more accessible, and able to handle multi-party conversations in populated environments. Robust robot joints are also needed to limit potential harm to older adults and other more vulnerable groups. We suggest practical steps towards future real-world deployments of conversational AI systems for human-robot interaction.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1356477"},"PeriodicalIF":2.9,"publicationDate":"2025-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11738917/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143013921","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}

引用次数: 0

Editorial: Creative approaches to appropriation and design: novel robotic systems for heterogeneous contexts. 社论：挪用和设计的创造性方法：异质环境下的新型机器人系统。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-01-03 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1531132

Richard Paluch, Felix Carros, Galina Volkova, Mohammad Obaid, Claudia Müller

引用次数: 0

From construction machines to remote construction robots: control, interfaces, and usability of the Cranebot. 从施工机械到远程施工机器人：Cranebot的控制、接口和可用性。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-01-03 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1504317

Alessandra Duz, Francesca Negrello, Alexandr Rucodainii, Daniel Lanzoni, Mario Corsanici, Angelo Iapichino, Andrea Vitali, Daniele Regazzoni, Valentino Birolini, Roberto Signori, Rossano Ceresoli, Giorgio Grioli, Antonio Bicchi, Manuel G Catalano

{"title":"From construction machines to remote construction robots: control, interfaces, and usability of the Cranebot.","authors":"Alessandra Duz, Francesca Negrello, Alexandr Rucodainii, Daniel Lanzoni, Mario Corsanici, Angelo Iapichino, Andrea Vitali, Daniele Regazzoni, Valentino Birolini, Roberto Signori, Rossano Ceresoli, Giorgio Grioli, Antonio Bicchi, Manuel G Catalano","doi":"10.3389/frobt.2024.1504317","DOIUrl":"https://doi.org/10.3389/frobt.2024.1504317","url":null,"abstract":"Construction machines, for example cranes, excavators, or bulldozers, are widely diffused systems operating outdoors in harsh and dangerous environments, such as building sites, forests, and mines. Typically, construction machines require the on-site presence of highly skilled users to manage the complexity of their control and the high power of hydraulic actuation. Construction machines could benefit from recent developments of robot avatar technology that has demonstrated the viability of remotizing human physical activities, leveraging on intuitive interfaces and controls. Similar approaches could also improve the overall usability of construction machines, making them safer and accessible for untrained users. With this in mind, we developed a novel system for the remote control of cranes through intuitive and immersive interfaces. To validate the solution, we evaluated the experience of approximately 80 untrained users that remotely operated a crane during the 33rd Edition of Bauma, the world's leading fair for construction machines.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1504317"},"PeriodicalIF":2.9,"publicationDate":"2025-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11738943/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143013931","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}

引用次数: 0