Frontiers in Robotics and AI最新文献_第10页

Abraded optical fibre-based dynamic range force sensor for tissue palpation. 基于磨蚀光纤的动态范围力传感器，用于组织触诊。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-11 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1489884

Abu Bakar Dawood, Vamsi Krishna Chavali, Thomas Mack, Zhenyu Zhang, Hareesh Godaba, Martin Angelmahr, Kaspar Althoefer

{"title":"Abraded optical fibre-based dynamic range force sensor for tissue palpation.","authors":"Abu Bakar Dawood, Vamsi Krishna Chavali, Thomas Mack, Zhenyu Zhang, Hareesh Godaba, Martin Angelmahr, Kaspar Althoefer","doi":"10.3389/frobt.2024.1489884","DOIUrl":"10.3389/frobt.2024.1489884","url":null,"abstract":"Tactile information acquired through palpation plays a crucial role in relation to surface characterisation and tissue differentiation - an essential clinical requirement during surgery. In the case of Minimally Invasive Surgery, access is restricted, and tactile feedback available to surgeons is therefore reduced. This paper presents a novel stiffness controllable, dynamic force range sensor that can provide remote haptic feedback. The sensor has an abraded optical fibre integrated into a silicone dome. Forces applied to the dome change the curvature of the optical fibres, resulting in light attenuation. By changing the pressure within the dome and thereby adjusting the sensor's stiffness, we are able to modify the force measurement range. Results from our experimental study demonstrate that increasing the pressure inside the dome increases the force range whilst decreasing force sensitivity. We show that the maximum force measured by our sensor prototype at 20 mm/min was 5.02 N, 6.70 N and 8.83 N for the applied pressures of 0 psi (0 kPa), 0.5 psi (3.45 kPa) and 1 psi (6.9 kPa), respectively. The sensor has also been tested to estimate the stiffness of 13 phantoms of different elastic moduli. Results show the elastic modulus sensing range of the proposed sensor to be from 8.58 to 165.32 kPa.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1489884"},"PeriodicalIF":2.9,"publicationDate":"2024-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11586255/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142717483","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

An analysis of dialogue repair in virtual assistants. 虚拟助手对话修复分析。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-11 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1356847

Matthew Galbraith

{"title":"An analysis of dialogue repair in virtual assistants.","authors":"Matthew Galbraith","doi":"10.3389/frobt.2024.1356847","DOIUrl":"10.3389/frobt.2024.1356847","url":null,"abstract":"Conversational user interfaces have transformed human-computer interaction by providing nearly real-time responses to queries. However, misunderstandings between the user and system persist. This study explores the significance of interactional language in dialogue repair between virtual assistants and users by analyzing interactions with Google Assistant and Siri in both English and Spanish, focusing on the assistants' utilization and response to the colloquial other-initiated repair strategy \"huh?\", which is prevalent as a human-human dialogue repair strategy. Findings revealed ten distinct assistant-generated repair strategies, but an inability to replicate human-like strategies such as \"huh?\". Despite slight variations in user acceptability judgments among the two surveyed languages, results indicated an overall hierarchy of preference towards specific dialogue repair strategies, with a notable disparity between the most preferred strategies and those frequently used by the assistants. These findings highlight discrepancies in how interactional language is utilized in human-computer interaction, underscoring the need for further research on the impact of interactional elements among different languages to advance the development of conversational user interfaces across domains, including within human-robot interaction.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1356847"},"PeriodicalIF":2.9,"publicationDate":"2024-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11586770/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142717485","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: Influential voices in soft robotics. 社论：软体机器人技术领域具有影响力的声音。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-08 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1521226

Panagiotis Polygerinos

引用次数: 0

Editorial: Localization and scene understanding in urban environments. 社论：城市环境中的定位和场景理解。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-08 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1509637

Augusto Luis Ballardini, Daniele Cattaneo, Domenico G Sorrenti, Ignacio Parra Alonso

引用次数: 0

Evaluation of different robotic grippers for simultaneous multi-object grasping. 评估用于同时抓取多个物体的不同机器人抓手。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-07 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1351932

Werner Friedl

{"title":"Evaluation of different robotic grippers for simultaneous multi-object grasping.","authors":"Werner Friedl","doi":"10.3389/frobt.2024.1351932","DOIUrl":"10.3389/frobt.2024.1351932","url":null,"abstract":"For certain tasks in logistics, especially bin picking and packing, humans resort to a strategy of grasping multiple objects simultaneously, thus reducing picking and transport time. In contrast, robotic systems mainly grasp only one object per picking action, which leads to inefficiencies that could be solved with a smarter gripping hardware and strategies. Development of new manipulators, robotic hands, hybrid or specialized grippers, can already consider such challenges for multi-object grasping in the design stages. This paper introduces different hardware solutions and tests possible grasp strategies for the simultaneous grasping of multiple objects (SGMO). The four hardware solutions presented here are: an under-actuated Constriction Gripper, Linear Scoop Gripper suitable for deform-able object grasping, Hybrid Compliant Gripper equipped with mini vacuum gripper on each fingertip, and a Two-finger Palm Hand with fingers optimized by simulation in pybullet for maximum in-hand manipulation workspace. Most of these hardware solutions are based on the DLR CLASH end-effector and have variable stiffness actuation, high impact robustness, small contact forces, and low-cost design. For the comparison of the capability to simultaneously grasp multiple objects and the capability to grasp a single delicate object in a cluttered environment, the manipulators are tested with four different objects in an extra designed benchmark. The results serve as guideline for future commercial applications of these strategies.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1351932"},"PeriodicalIF":2.9,"publicationDate":"2024-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11578830/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142689207","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: Variable autonomy for human-robot teaming. 社论：人机协作的可变自主性。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-06 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1465183

Andreas Theodorou, Manolis Chiou, Bruno Lacerda, Simon Rothfuß

引用次数: 0

Survey of learning-based approaches for robotic in-hand manipulation. 基于学习的机器人手部操作方法概览。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-05 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1455431

Abraham Itzhak Weinberg, Alon Shirizly, Osher Azulay, Avishai Sintov

{"title":"Survey of learning-based approaches for robotic in-hand manipulation.","authors":"Abraham Itzhak Weinberg, Alon Shirizly, Osher Azulay, Avishai Sintov","doi":"10.3389/frobt.2024.1455431","DOIUrl":"10.3389/frobt.2024.1455431","url":null,"abstract":"Human dexterity is an invaluable capability for precise manipulation of objects in complex tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects is critical for their use in the ever changing human environment, and for their ability to replace manpower. In recent decades, significant effort has been put in order to enable in-hand manipulation capabilities to robotic systems. Initial robotic manipulators followed carefully programmed paths, while later attempts provided a solution based on analytical modeling of motion and contact. However, these have failed to provide practical solutions due to inability to cope with complex environments and uncertainties. Therefore, the effort has shifted to learning-based approaches where data is collected from the real world or through a simulation, during repeated attempts to complete various tasks. The vast majority of learning approaches focused on learning data-based models that describe the system to some extent or Reinforcement Learning (RL). RL, in particular, has seen growing interest due to the remarkable ability to generate solutions to problems with minimal human guidance. In this survey paper, we track the developments of learning approaches for in-hand manipulations and, explore the challenges and opportunities. This survey is designed both as an introduction for novices in the field with a glossary of terms as well as a guide of novel advances for advanced practitioners.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1455431"},"PeriodicalIF":2.9,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11573780/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142676680","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

Controller design and experimental validation of walking for a musculoskeletal bipedal lower limb robot based on the spring-loaded inverted pendulum model. 基于弹簧加载倒立摆模型的肌肉骨骼双足下肢机器人行走控制器设计与实验验证。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-05 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1449721

Yiqi Li, Yelin Jiang, Koh Hosoda

{"title":"Controller design and experimental validation of walking for a musculoskeletal bipedal lower limb robot based on the spring-loaded inverted pendulum model.","authors":"Yiqi Li, Yelin Jiang, Koh Hosoda","doi":"10.3389/frobt.2024.1449721","DOIUrl":"10.3389/frobt.2024.1449721","url":null,"abstract":"In the study of PAM (McKibben-type pneumatic artificial muscle)-driven bipedal robots, it is essential to investigate whether the intrinsic properties of the PAM contribute to achieving stable robot motion. Furthermore, it is crucial to determine if this contribution can be achieved through the interaction between the robot's mechanical structure and the PAM. In previous research, a PAM-driven bipedal musculoskeletal robot was designed based on the principles of the spring-loaded inverted pendulum (SLIP) model. The robot features low leg inertia and concentrated mass near the hip joint. However, it is important to note that for this robot, only the design principles were based on the SLIP model, and no specialized controller was specifically designed based on the model. To address this issue, based on the characteristics of the developed robot, a PAM controller designed also based on the SLIP model is developed in this study. This model-based controller regulates ankle flexion PAM to adjust the direction of the ground reaction force during robot walking motion. The results indicate that the proposed controller effectively directs the leg ground reaction force towards the center of mass during walking.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1449721"},"PeriodicalIF":2.9,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11574207/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142676596","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

Evolutionary robotics as a modelling tool in evolutionary biology. 作为进化生物学建模工具的进化机器人学。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-05 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1278983

Alan F T Winfield

引用次数: 0

Editorial: Pipeline inspection robots. 社论：管道检测机器人

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-05 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1497809

Lyudmila Mihaylova, Atsushi Kakogawa, Shugen Ma, Hyouk Ryeol Choi, Taro Nakamura

引用次数: 0