Frontiers in Robotics and AI最新文献_第10页

A multi-modal sensing system for human-robot interaction through tactile and proximity data. 通过触觉和接近数据实现人机交互的多模态传感系统。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-06-10 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1581154

Gianluca Laudante, Michele Mirto, Olga Pennacchio, Salvatore Pirozzi

{"title":"A multi-modal sensing system for human-robot interaction through tactile and proximity data.","authors":"Gianluca Laudante, Michele Mirto, Olga Pennacchio, Salvatore Pirozzi","doi":"10.3389/frobt.2025.1581154","DOIUrl":"10.3389/frobt.2025.1581154","url":null,"abstract":"Introduction: The rapid advancement of collaborative robotics has driven significant interest in Human-Robot Interaction (HRI), particularly in scenarios where robots work alongside humans. This paper considers tasks where a human operator teaches the robot an operation that is then performed autonomously.Methods: A multi-modal approach employing tactile fingers and proximity sensors is proposed, where tactile fingers serve as an interface, while proximity sensors enable end-effector movements through contactless interactions and collision avoidance algorithms. In addition, the system is modular to make it adaptable to different tasks.Results: Demonstrative tests show the effectiveness of the proposed system and algorithms. The results illustrate how the tactile and proximity sensors can be used separately or in a combined way to achieve human-robot collaboration.Discussion: The paper demonstrates the use of the proposed system for tasks involving the manipulation of electrical wires. Further studies will investigate how it behaves with object of different shapes and in more complex tasks.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1581154"},"PeriodicalIF":2.9,"publicationDate":"2025-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12186202/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144486621","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

Decentralized nonlinear model predictive control-based flock navigation with real-time obstacle avoidance in unknown obstructed environments. 未知环境下基于分散非线性模型预测控制的实时避障群导航。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-06-10 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1540808

Nuthasith Gerdpratoom, Kaoru Yamamoto

{"title":"Decentralized nonlinear model predictive control-based flock navigation with real-time obstacle avoidance in unknown obstructed environments.","authors":"Nuthasith Gerdpratoom, Kaoru Yamamoto","doi":"10.3389/frobt.2025.1540808","DOIUrl":"10.3389/frobt.2025.1540808","url":null,"abstract":"This work extends our prior work on the distributed nonlinear model predictive control (NMPC) for navigating a robot fleet following a certain flocking behavior in unknown obstructed environments with a more realistic local obstacle-avoidance strategy. More specifically, we integrate the local obstacle-avoidance constraint using point clouds into the NMPC framework. Here, each agent relies on data from its local sensor to perceive and respond to nearby obstacles. A point cloud processing technique is presented for both two-dimensional and three-dimensional point clouds to minimize the computational burden during the optimization. The process consists of directional filtering and down-sampling that significantly reduce the number of data points. The algorithm's performance is validated through realistic 3D simulations in Gazebo, and its practical feasibility is further explored via hardware-in-the-loop (HIL) simulations on embedded platforms. The results demonstrate that the agents can safely navigate through obstructed environments, and the HIL simulation confirms the feasibility of deploying this scheme on an embedded computer. These results suggest that the proposed NMPC scheme is suitable for real-world robotics deployment in decentralized robotic systems operating in complex environments.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1540808"},"PeriodicalIF":2.9,"publicationDate":"2025-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12185270/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144486622","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

Robotic optimization of powdered beverages leveraging computer vision and Bayesian optimization. 利用计算机视觉和贝叶斯优化的粉状饮料机器人优化。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-06-09 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1603729

Emilia Szymańska, Josie Hughes

引用次数: 0

Toward an active exoskeleton with full energy autonomy. 朝着一个能量完全自主的主动外骨骼发展。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-06-09 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1597271

Yakir Knafo, Yinjie Zhou, Avi Manor, Alon Osovizky, Raziel Riemer

{"title":"Toward an active exoskeleton with full energy autonomy.","authors":"Yakir Knafo, Yinjie Zhou, Avi Manor, Alon Osovizky, Raziel Riemer","doi":"10.3389/frobt.2025.1597271","DOIUrl":"10.3389/frobt.2025.1597271","url":null,"abstract":"Exoskeletons aim to enhance human performance and reduce physical fatigue. However, one major challenge for active exoskeletons is the need for a power source. This demand is typically met with batteries, which limit the device's operational time. This study presents a novel solution to this challenge: a design that enables the generation of electricity during motions where the muscles work as brakes and absorb energy, with the energy stored and subsequently returned to assist when the muscles function as motors. To achieve this goal, a knee exoskeleton design with a direct drive and a novel electronic board was designed and manufactured to capture the energy generated by the wearer's movements and convert it into electrical energy. The harvested energy is stored in a power bank, and later, during motion, this energy is used to power the exoskeleton motor. Further, the device has torque control and can change the assistive profile and magnitude as needed for different assistance scenarios. Sit-to-stand (STS) motion was chosen as a test case for the first exoskeleton prototype. It was found that, during lowering (from stand to sit), the exoskeleton provided up to 10 Nm and harvested 9.4 J. During rising (from sit to stand), it provided up to 7.6 Nm and was able to return 6.8 J of the harvested energy. Therefore, the cycle efficiency of the exoskeleton system (return divided by harvesting) is 72.3%. In summary, this study introduces the first active exoskeleton for STS that can generate its own electrical power. The results show that the full development of this technology could reduce exoskeletons' need for external energy sources.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1597271"},"PeriodicalIF":2.9,"publicationDate":"2025-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12183371/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144477311","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

Is AI currently capable of identifying wild oysters? A comparison of human annotators against the AI model, ODYSSEE. 人工智能目前能够识别野生牡蛎吗？人类注释者与人工智能模型ODYSSEE的比较。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-06-06 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1587033

Brendan Campbell, Alan Williams, Kleio Baxevani, Alyssa Campbell, Rushabh Dhoke, Rileigh E Hudock, Xiaomin Lin, Vivek Mange, Bernhard Neuberger, Arjun Suresh, Alhim Vera, Arthur Trembanis, Herbert G Tanner, Edward Hale

{"title":"Is AI currently capable of identifying wild oysters? A comparison of human annotators against the AI model, ODYSSEE.","authors":"Brendan Campbell, Alan Williams, Kleio Baxevani, Alyssa Campbell, Rushabh Dhoke, Rileigh E Hudock, Xiaomin Lin, Vivek Mange, Bernhard Neuberger, Arjun Suresh, Alhim Vera, Arthur Trembanis, Herbert G Tanner, Edward Hale","doi":"10.3389/frobt.2025.1587033","DOIUrl":"10.3389/frobt.2025.1587033","url":null,"abstract":"Oysters are ecologically and commercially important species that require frequent monitoring to track population demographics (e.g., abundance, growth, mortality). Current methods of monitoring oyster reefs often require destructive sampling methods and extensive manual effort. However, these methods are destructive and are suboptimal for small-scale or sensitive environments. A recent alternative, the ODYSSEE model, was developed to use deep learning techniques to identify live oysters using video or images taken in the field of oyster reefs to assess abundance. The validity of this model in identifying live oysters on a reef was compared to expert and non-expert annotators. In addition, we identified potential sources of prediction error. Although the model can make inferences significantly faster than expert and non-expert annotators (39.6 s, <math><mrow><mn>2.34</mn> <mo>±</mo> <mn>0.61</mn></mrow> </math> h, <math><mrow><mn>4.50</mn> <mo>±</mo> <mn>1.46</mn></mrow> </math> h, respectively), the model overpredicted the number of live oysters, achieving lower accuracy (63%) in identifying live oysters compared to experts (74%) and non-experts (75%) alike. Image quality was an important factor in determining the accuracy of the model and annotator. Better quality images improved human accuracy and worsened model accuracy. Although ODYSSEE was not sufficiently accurate, we anticipate that future training on higher-quality images, utilizing additional live imagery, and incorporating additional annotation training classes will greatly improve the model's predictive power based on the results of this analysis. Future research should address methods that improve the detection of living vs dead oysters.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1587033"},"PeriodicalIF":2.9,"publicationDate":"2025-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12178886/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144477309","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: Applications of AI in autonomous, surveillance, and robotic systems. 社论：人工智能在自主、监控和机器人系统中的应用。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-06-06 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1616634

Patrick Sebastian

引用次数: 0

Improving optimal prompt learning through multilayer fusion and latent dirichlet allocation. 通过多层融合和潜在狄利克雷分配改进最优提示学习。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-06-06 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1579990

Qinghua Chen, Jessica Korneder, Osamah A Rawashdeh, Yanfeng Wang, Wing-Yue Geoffrey Louie

{"title":"Improving optimal prompt learning through multilayer fusion and latent dirichlet allocation.","authors":"Qinghua Chen, Jessica Korneder, Osamah A Rawashdeh, Yanfeng Wang, Wing-Yue Geoffrey Louie","doi":"10.3389/frobt.2025.1579990","DOIUrl":"10.3389/frobt.2025.1579990","url":null,"abstract":"Recent advances in few-shot learning have demonstrated the potential of prompt-based techniques with pre-trained models, eliminating the need for extensive fine-tuning. However, challenges such as obtaining optimal prompts and addressing data scarcity in specialized domains remain challenging. We introduce a novel framework incorporating a Global Attention Mechanism (GAM) that effectively integrates features from multiple layers of pre-trained language models, enhanced by Latent Dirichlet Allocation (LDA) generated topic features for prompt optimization. Extensive experiments on four datasets consistently show that our approach outperforms state of-the-art baselines. The strategic integration of GAM with layer-specific features and LDA topics proves particularly effective in extracting valuable latent information for few-shot learning scenarios, yielding significant improvements in specialized domains, as evidenced by enhanced performance in therapeutic dialogue classification within a Applied Behavior Analysis clinical dataset.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1579990"},"PeriodicalIF":2.9,"publicationDate":"2025-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12178875/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144477308","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

Preliminary investigation of the design space of geared magnetorheological actuators for safer robotic manipulators. 面向安全机械臂的齿轮传动磁流变作动器设计空间初探。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-06-05 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1581651

Samuel Gingras, Alexandre St-Jean, Jean-Sébastien Plante

{"title":"Preliminary investigation of the design space of geared magnetorheological actuators for safer robotic manipulators.","authors":"Samuel Gingras, Alexandre St-Jean, Jean-Sébastien Plante","doi":"10.3389/frobt.2025.1581651","DOIUrl":"10.3389/frobt.2025.1581651","url":null,"abstract":"Geared magnetorheological (MR) actuators have the potential to provide safe and fast physical interactions between human and machine due to their low inertia and high bandwidth. The use of MR actuators in collaborative robotics serial manipulators is only emerging and the design space of this approach is unknown. This paper provides a preliminary understanding of this design space by studying how much gearing can be used between the MR actuators and the joint outputs while maintaining adequate safety levels for collaborative tasks. An analytical collision model is derived for a 6 degrees-of-freedom serial manipulator based on the geometry of the well-known UR5e robot. Model validity is confirmed by comparing predictions to experimental collision data from two robots, a UR5e and a MR5 equivalent. The model is then used to study the impact of gearing level on safety during eventual collisions with human. Results show that for both technologies, robot safety is governed by the balance between the reflected mass due to structural mass and actuator rotational inertia. Results show that, for the UR5e geometry studied in this paper, MR actuators have the potential to reduce the reflected mass in collisions by a factor ranging from 2 to 6 while keeping gearing ratios above 100:1. The paper also briefly studies the influence of robot shape on optimal gearing ratios showing that smaller robots with shorter range have lower structural mass and, thus, proportionally benefit even more of MR actuators. Delocalizing wrist actuators to the elbow has a similar impact since it also reduces structural mass. In all, this work suggests that MR actuators have a strong potential to improve the \"hapticness\" of collaborative robots while maintaining high gearing ratios.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1581651"},"PeriodicalIF":2.9,"publicationDate":"2025-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12176604/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144334151","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

Role of haptic feedback technologies and novel engineering developments for surgical training and robot-assisted surgery. 触觉反馈技术在外科训练和机器人辅助手术中的作用和新工程发展。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-06-04 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1567955

Imán Laga Boul-Atarass, Mercedes Rubio Manzanares Dorado, Andrés Padillo-Eguía, Jesús Racero-Moreno, Ignacio Eguía-Salinas, Sheila Pereira-Arenas, Rosa María Jiménez-Rodríguez, Javier Padillo-Ruiz

{"title":"Role of haptic feedback technologies and novel engineering developments for surgical training and robot-assisted surgery.","authors":"Imán Laga Boul-Atarass, Mercedes Rubio Manzanares Dorado, Andrés Padillo-Eguía, Jesús Racero-Moreno, Ignacio Eguía-Salinas, Sheila Pereira-Arenas, Rosa María Jiménez-Rodríguez, Javier Padillo-Ruiz","doi":"10.3389/frobt.2025.1567955","DOIUrl":"10.3389/frobt.2025.1567955","url":null,"abstract":"Haptic feedback, or tactile perception, is presented by many authors as a technology that can greatly impact biomedical fields, such as minimally invasive surgeries. Laparoscopic interventions are considered the gold standard for many surgical interventions, providing recognized benefits, such as reduced recovery time and mortality rate. In addition to this, the advances in robotic engineering in the last few years have contributed to the increase in the number of robotic and tele-operated interventions, providing surgeons with fewer hand tremors and increased depth perception during surgery. However, currently, both techniques are totally or partially devoid of haptic feedback. This added to the fact that the skill acquisition process to be able to use these technologies shows a pronounced learning curve, has propelled biomedical engineers to aim to develop safe and realistic training programs using simulators to address surgical apprentices' needs in safe environments for the patients. This review aims to present and summarize some of the latest engineering advances reported in the current literature related to the development of haptic feedback systems in surgical simulators and robotic surgical systems, as well as highlight the benefits that these technologies provide in medical settings for surgical training and preoperative rehearsal.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1567955"},"PeriodicalIF":2.9,"publicationDate":"2025-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12174858/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144327257","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

Exploring LLM-powered multi-session human-robot interactions with university students. 探索法学硕士与大学生的多会话人机交互。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-06-03 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1585589

Mauliana Mauliana, Ashita Ashok, Daniela Czernochowski, Karsten Berns

{"title":"Exploring LLM-powered multi-session human-robot interactions with university students.","authors":"Mauliana Mauliana, Ashita Ashok, Daniela Czernochowski, Karsten Berns","doi":"10.3389/frobt.2025.1585589","DOIUrl":"10.3389/frobt.2025.1585589","url":null,"abstract":"This exploratory study investigates how open-domain, multi-session interactions with a large language model (LLM)-powered social humanoid robot (SHR), EMAH, affect user perceptions and willingness for adoption in a university setting. Thirteen students (5 female, 8 male) engaged with EMAH across four weekly sessions, utilizing a compact open-source LLM (Flan-T5-Large) to facilitate multi-turn conversations. Mixed-method measures were employed, including subjective ratings, behavioral observations, and conversational analyses. Results revealed that perceptions of robot's sociability, agency, and engagement remained stable over time, with engagement sustained despite repeated exposure. While perceived animacy increased with familiarity, disturbance ratings did not significantly decline, suggesting enhanced lifelikeness of SHR without reducing discomfort. Observational data showed a mid-study drop in conversation length and turn-taking, corresponding with technical challenges such as slower response generation and speech recognition errors. Although prior experience with robots weakly correlated with rapport, it did not significantly predict adoption willingness. Overall, the findings highlight the potential for LLM-powered robots to maintain open-domain interactions over time, but also underscore the need for improving technical robustness, adapting conversation strategies by personalization, and managing user expectations to foster long-term social engagement. This work provides actionable insights for advancing humanoid robot deployment in educational environments.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1585589"},"PeriodicalIF":2.9,"publicationDate":"2025-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12170534/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144318374","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