Frontiers in Robotics and AI最新文献_第10页

X-ray fluoroscopy guided localization and steering of miniature robots using virtual reality enhancement. 利用虚拟现实增强技术实现 X 射线透视引导微型机器人定位和转向。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-13 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1495445

Husnu Halid Alabay, Tuan-Anh Le, Hakan Ceylan

{"title":"X-ray fluoroscopy guided localization and steering of miniature robots using virtual reality enhancement.","authors":"Husnu Halid Alabay, Tuan-Anh Le, Hakan Ceylan","doi":"10.3389/frobt.2024.1495445","DOIUrl":"10.3389/frobt.2024.1495445","url":null,"abstract":"In developing medical interventions using untethered milli- and microrobots, ensuring safety and effectiveness relies on robust methods for real-time robot detection, tracking, and precise localization within the body. The inherent non-transparency of human tissues significantly challenges these efforts, as traditional imaging systems like fluoroscopy often lack crucial anatomical details, potentially compromising intervention safety and efficacy. To address this technological gap, in this study, we build a virtual reality environment housing an exact digital replica (digital twin) of the operational workspace and a robot avatar. We synchronize the virtual and real workspaces and continuously send the robot position data derived from the image stream into the digital twin with short average delay time around 20-25 ms. This allows the operator to steer the robot by tracking its avatar within the digital twin with near real-time temporal resolution. We demonstrate the feasibility of this approach with millirobots steered in confined phantoms. Our concept demonstration herein can pave the way for not only improved procedural safety by complementing fluoroscopic guidance with virtual reality enhancement, but also provides a platform for incorporating various additional real-time derivative data, e.g., instantaneous robot velocity, intraoperative physiological data obtained from the patient, e.g., blood flow rate, and pre-operative physical simulation models, e.g., periodic body motions, to further refine robot control capacity.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1495445"},"PeriodicalIF":2.9,"publicationDate":"2024-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11599259/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142741106","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

Erratum: Novel bio-inspired soft actuators for upper-limb exoskeletons: design, fabrication and feasibility study. 更正：用于上肢外骨骼的新型生物启发软致动器：设计、制造和可行性研究。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-13 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1517037

引用次数: 0

Heuristic satisficing inferential decision making in human and robot active perception. 人类和机器人主动感知中的启发式满意推理决策。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-12 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1384609

Yucheng Chen, Pingping Zhu, Anthony Alers, Tobias Egner, Marc A Sommer, Silvia Ferrari

{"title":"Heuristic satisficing inferential decision making in human and robot active perception.","authors":"Yucheng Chen, Pingping Zhu, Anthony Alers, Tobias Egner, Marc A Sommer, Silvia Ferrari","doi":"10.3389/frobt.2024.1384609","DOIUrl":"10.3389/frobt.2024.1384609","url":null,"abstract":"Inferential decision-making algorithms typically assume that an underlying probabilistic model of decision alternatives and outcomes may be learned a priori or online. Furthermore, when applied to robots in real-world settings they often perform unsatisfactorily or fail to accomplish the necessary tasks because this assumption is violated and/or because they experience unanticipated external pressures and constraints. Cognitive studies presented in this and other papers show that humans cope with complex and unknown settings by modulating between near-optimal and satisficing solutions, including heuristics, by leveraging information value of available environmental cues that are possibly redundant. Using the benchmark inferential decision problem known as \"treasure hunt\", this paper develops a general approach for investigating and modeling active perception solutions under pressure. By simulating treasure hunt problems in virtual worlds, our approach learns generalizable strategies from high performers that, when applied to robots, allow them to modulate between optimal and heuristic solutions on the basis of external pressures and probabilistic models, if and when available. The result is a suite of active perception algorithms for camera-equipped robots that outperform treasure-hunt solutions obtained via cell decomposition, information roadmap, and information potential algorithms, in both high-fidelity numerical simulations and physical experiments. The effectiveness of the new active perception strategies is demonstrated under a broad range of unanticipated conditions that cause existing algorithms to fail to complete the search for treasures, such as unmodelled time constraints, resource constraints, and adverse weather (fog).","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1384609"},"PeriodicalIF":2.9,"publicationDate":"2024-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11589672/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142733272","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

Trajectory shaping guidance for impact angle control of planetary hopping robots. 用于行星跳跃机器人撞击角控制的轨迹整形引导。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-11 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1452997

Sabyasachi Mondal, Saurabh Upadhyay

引用次数: 0

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