Intelligent Service Robotics最新文献

Two Novel Variants Associated with Brain Abnormalities in Clinical Suspicion of Arthrogryposis and Similar Phenotype in Three Children: Challenges in Offering Prenatal Diagnosis. 临床怀疑为关节突眼症的两个与脑异常有关的新变异及三个儿童的相似表型：提供产前诊断的挑战。

4区计算机科学

Intelligent Service Robotics Pub Date : 2024-06-01 Epub Date: 2023-09-01 DOI: 10.1007/s13224-023-01776-6

Shailesh Pande, Sonali Mutha, Suchitra Surve, Shiny Babu, Harshwardhan Gawde

引用次数: 0

Frontend and backend electronics achieving flexibility and scalability for tomographic tactile sensing 前端和后端电子设备实现了断层触觉传感的灵活性和可扩展性

IF 2.5 4区计算机科学

Intelligent Service Robotics Pub Date : 2024-01-08 DOI: 10.1007/s11370-023-00502-5

Alberto Sánchez-Delgado, Keshav Garg, Cor Scherjon, Hyosang Lee

{"title":"Frontend and backend electronics achieving flexibility and scalability for tomographic tactile sensing","authors":"Alberto Sánchez-Delgado, Keshav Garg, Cor Scherjon, Hyosang Lee","doi":"10.1007/s11370-023-00502-5","DOIUrl":"https://doi.org/10.1007/s11370-023-00502-5","url":null,"abstract":"<p>Tactile sensing is essential for robots to adequately interact with the physical world, but creating tactile sensors for the robot’s soft and flexible body surface has been a challenge. The resistance tomography-based tactile sensors have been introduced as a promising approach to creating soft tactile skins because the sensor fabrication can be greatly simplified with the aid of a computation model. This article introduces an electronic design strategy dividing frontend and backend electronics for the resistance tomography-based tactile sensors. In this scheme, the frontend is made of the piezoresistive structure and electrodes that can be changed depending on the required geometry. The backend is the electronic circuit for resistance tomography, which can be used for various frontend geometries. To evaluate the use of a unified backend for different frontend geometries, two frontend specimens with a square shape and a circular shape are tested. The minimum detectable contact force and the minimum discernible contact distance are calculated as <span>(0.83 times 10^{-4})</span> N/mm<span>(^2)</span>, 2.51 mm for the square-shaped frontend and <span>(1.19 times 10^{-4})</span> N/mm<span>(^2)</span>, 3.42 mm for the circular-shaped frontend. The results indicated that the proposed electronic design strategy can be used to create tactile skins with different scales and geometries while keeping the same backend design.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"2 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2024-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139409365","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Enhanced flexible vibrotactile actuator based on dielectric elastomer with propylene carbonate 基于碳酸丙烯酯介电弹性体的增强型柔性振动触觉致动器

IF 2.5 4区计算机科学

Intelligent Service Robotics Pub Date : 2024-01-06 DOI: 10.1007/s11370-023-00503-4

Yong Hae Heo, Seok Hun Lee, In Kwon Lee, Sang-Youn Kim

{"title":"Enhanced flexible vibrotactile actuator based on dielectric elastomer with propylene carbonate","authors":"Yong Hae Heo, Seok Hun Lee, In Kwon Lee, Sang-Youn Kim","doi":"10.1007/s11370-023-00503-4","DOIUrl":"https://doi.org/10.1007/s11370-023-00503-4","url":null,"abstract":"<p>This paper proposes a flexible vibrotactile actuator based on a dielectric elastomer which is fabricated by mixing a PDMS-Ecoflex elastomer and PC (propylene carbonate) solution. The proposed flexible vibrotactile actuator is composed of a top electrode, an adhesive tape, the PDMS-Ecoflex-PC-based elastomer, and a bottom electrode. The applied electric field between two parallel electrodes (top and bottom electrodes) creates an electrostatic force in the actuator, resulting in the actuator being compressed. The performance of the vibrotactile actuator based on dielectric elastomers is affected by the mechanical and dielectric properties of the dielectric elastomer. So, in this paper, we experimentally optimize the design of the haptic actuator and then quantitatively evaluate the actuator. For evaluation, the six samples of PDMS-Ecoflex-PC elastomers having different mixing ratios are prepared and their material properties are investigated by experiments. We fabricate the haptic actuators based on PDMS-Ecoflex-PC elastomers and then measure the haptic behaviors of the proposed actuator as a function of the applied voltage amplitude and frequency. Furthermore, we inquire the response time of the proposed actuator. Maximum vibrational force of the optimized sample is about 0.556 N at 140 Hz which is strong enough to stimulate human finger, and the response time is 21 ms which is fast enough to obtain the touch feedback in real time. From the results, we show that the proposed vibrotactile actuator creates a variety of haptic sensations in real time.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"22 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2024-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139373055","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Imaging radar and LiDAR image translation for 3-DOF extrinsic calibration 用于三维空间外校准的成像雷达和激光雷达图像转换

IF 2.5 4区计算机科学

Intelligent Service Robotics Pub Date : 2024-01-03 DOI: 10.1007/s11370-023-00498-y

Sangwoo Jung, Hyesu Jang, Minwoo Jung, Ayoung Kim, Myung-Hwan Jeon

{"title":"Imaging radar and LiDAR image translation for 3-DOF extrinsic calibration","authors":"Sangwoo Jung, Hyesu Jang, Minwoo Jung, Ayoung Kim, Myung-Hwan Jeon","doi":"10.1007/s11370-023-00498-y","DOIUrl":"https://doi.org/10.1007/s11370-023-00498-y","url":null,"abstract":"<p>The integration of sensor data is crucial in the field of robotics to take full advantage of the various sensors employed. One critical aspect of this integration is determining the extrinsic calibration parameters, such as the relative transformation, between each sensor. The use of data fusion between complementary sensors, such as radar and LiDAR, can provide significant benefits, particularly in harsh environments where accurate depth data is required. However, noise included in radar sensor data can make the estimation of extrinsic calibration challenging. To address this issue, we present a novel framework for the extrinsic calibration of radar and LiDAR sensors, utilizing CycleGAN as a method of image-to-image translation. Our proposed method employs translating radar bird-eye-view images into LiDAR-style images to estimate the 3-DOF extrinsic parameters. The use of image registration techniques, as well as deskewing based on sensor odometry and B-spline interpolation, is employed to address the rolling shutter effect commonly present in spinning sensors. Our method demonstrates a notable improvement in extrinsic calibration compared to filter-based methods using the MulRan dataset.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"150 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2024-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139105113","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Trajectory planning and inverse kinematics solution of Kuka robot using COA along with pick and place application 使用 COA 对库卡机器人进行轨迹规划和逆运动学求解，并进行拾放应用

IF 2.5 4区计算机科学

Intelligent Service Robotics Pub Date : 2024-01-02 DOI: 10.1007/s11370-023-00501-6

Manpreet Kaur, Venkata Karteek Yanumula, Swati Sondhi

{"title":"Trajectory planning and inverse kinematics solution of Kuka robot using COA along with pick and place application","authors":"Manpreet Kaur, Venkata Karteek Yanumula, Swati Sondhi","doi":"10.1007/s11370-023-00501-6","DOIUrl":"https://doi.org/10.1007/s11370-023-00501-6","url":null,"abstract":"<p>In this work, Coyote optimization algorithm (COA) is used for inverse kinematics optimization of a 7 degrees-of-freedom Kuka robot. The Denavit–Hartenberg (D–H) Convention approach is used to compute the forward kinematics of the robotic arm. The fitness functions based on sum of squares of distance and torque are employed to compute the optimized inverse kinematics solution using the COA. A comparative analysis has been conducted with other optimization algorithms including genetic algorithm (GA), particle swarm optimization (PSO) and Grey wolf optimization (GWO), artificial bee colony (ABC) optimization, and whale optimization algorithm (WOA) to evaluate the performance of the proposed approach. The experimental results show that the COA leads to least computation error of <span>(3.59 times 10^{-7})</span> and computation time of 1.405 s as compared to GA, PSO, GWO, ABC, and WOA algorithms. Further, jerk being control input has a major impact on the efficiency of robotic arm. COA is employed to obtain the optimal joint parameters, such as joint velocity, joint acceleration, and joint jerk, respectively. This leads to a minimum jerk trajectory which contributes to the smooth movement of Kuka arm. The simulation of Kuka robotic arm for pick and place operations is performed in CoppeliaSim, which further justifies its usage for real-time applications.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"10 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2024-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139077634","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Development of the sub-10 cm, sub-100 g jumping–crawling robot 开发 10 厘米以下、100 克以下的跳跃式爬行机器人

IF 2.5 4区计算机科学

Intelligent Service Robotics Pub Date : 2023-12-29 DOI: 10.1007/s11370-023-00497-z

引用次数: 0

Pneumatic artificial muscle-based stroke rehabilitation device for upper and lower limbs 基于气动人工肌肉的上下肢中风康复装置

IF 2.5 4区计算机科学

Intelligent Service Robotics Pub Date : 2023-12-27 DOI: 10.1007/s11370-023-00509-y

{"title":"Pneumatic artificial muscle-based stroke rehabilitation device for upper and lower limbs","authors":"","doi":"10.1007/s11370-023-00509-y","DOIUrl":"https://doi.org/10.1007/s11370-023-00509-y","url":null,"abstract":"<h3>Abstract</h3> <p>Rehabilitation of the upper and lower limbs is crucial for patients recovering from strokes, surgeries, or injuries. Traditional rehabilitation often takes place in hospitals under the guidance of a therapist, which can delay treatment due to various constraints. This paper proposes a soft robotic device designed to aid in the flexion and extension of both the elbow and knee. The device utilizes pneumatic artificial muscles, constructed from an elastomeric bladder with a threaded mesh exterior, as its actuating mechanism. It operates in two distinct modes: a continuous passive mode, where continuous, repetitive flexion, and extension of limbs are carried out, and an active intent-based assisted mode, which detects a patient's movement intention via surface electromyography (sEMG) and subsequently aids in the movement execution. To test the effectiveness of the device, sEMG electrodes were placed on upper and lower limbs of six healthy male subjects, range of motion, and muscle activity were recorded with and without the device. Also NASA task load index (NASA-TLX) was calculated for the usability of the device. The results indicate the required muscle activity and range of motions for both upper and lower limb rehabilitation are effectively generated in both the modes.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"81 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-12-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139056010","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Soft actuators in surgical robotics: a state-of-the-art review 手术机器人中的软致动器：最新进展综述

IF 2.5 4区计算机科学

Intelligent Service Robotics Pub Date : 2023-12-26 DOI: 10.1007/s11370-023-00506-1

{"title":"Soft actuators in surgical robotics: a state-of-the-art review","authors":"","doi":"10.1007/s11370-023-00506-1","DOIUrl":"https://doi.org/10.1007/s11370-023-00506-1","url":null,"abstract":"<h3>Abstract</h3> <p>Soft surgical robots represent a groundbreaking innovation in the field of medical technology. These robots utilize soft, deformable materials to navigate and interact with delicate structures inside the human body, such as organs and blood vessels, with enhanced safety. They have the potential to transform healthcare by expanding the capabilities of minimally invasive surgeries, targeted drug delivery, and precise diagnostics. They can also reduce patient discomfort, recovery times, and the risk of complications, infections, and accidental injuries. The key to the functionality of soft surgical robots lies in their actuation mechanisms. Various actuation methods have been developed, including pneumatic, magnetic, tendon-driven, smart materials (like shape memory alloys, dielectric elastomer actuators, and ionic polymer–metal composites), and hybrid combinations of these mechanisms. Each actuator type offers unique advantages and challenges, making the selection of the right actuation solution a complex task. This review paper aims to provide a comprehensive understanding of these soft actuation mechanisms and their applications in surgical robotics. It delves into the current state of the art in various applications, from endoscopes and catheters to cardiac support devices, bioinspired inchworm robots, and more. While significant progress has been made in the field of soft actuators for surgical robotics, this paper identifies several challenges that must still be overcome to effectively apply these innovations in real-life surgical procedures on human patients.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"2 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139055867","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

ART: Avatar Robotics Telepresence—the future of humanoid material handling loco-manipulation 艺术：阿凡达机器人遥感技术--人形物料搬运机车操纵的未来

IF 2.5 4区计算机科学

Intelligent Service Robotics Pub Date : 2023-12-21 DOI: 10.1007/s11370-023-00499-x

Jean Chagas Vaz, Nicolas Kosanovic, Paul Oh

{"title":"ART: Avatar Robotics Telepresence—the future of humanoid material handling loco-manipulation","authors":"Jean Chagas Vaz, Nicolas Kosanovic, Paul Oh","doi":"10.1007/s11370-023-00499-x","DOIUrl":"https://doi.org/10.1007/s11370-023-00499-x","url":null,"abstract":"<p>Material handling loco-manipulation is heavily present in humanitarian assistance and disaster relief (HADR) efforts. Consider a scenario requiring human expertise to transcend the physical location of the human body; an approach—harnessing the innately long-range and precise abilities of robotic Avatar technologies—was successfully applied to material handling and loco-manipulation tasks, proving that humanoids may play an integral role in future disaster relief. Typically, first responders, such as firefighters and/or paramedics, must carry, push, pull, and handle objects, facilitating the transportation of goods. Hence, researchers have sought to enable full-sized humanoid robots to perform such essential material handling tasks. This work aims to tackle current limitations in humanoid object interaction capabilities, specifically with common objects such as carts, wheelbarrows, etc. Furthermore, this article compiles many methods to ensure stable gait during cart loco-manipulation. The examined objects range from simple carts (such as rolling and utility carts) to challenging carts (such as wheelbarrows). Thus, the authors present a comprehensive approach to address some of the most convoluted material handling and loco-manipulation challenges in the field of humanoid robotics. Finally, promising results are showcased when ART (Avatar Robotics Telepresence) and humanoid embodiment are applied in the context of loco-manipulation and material handling.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"37 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139029583","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Humanising robot-assisted navigation 人性化机器人辅助导航

IF 2.5 4区计算机科学

Intelligent Service Robotics Pub Date : 2023-12-19 DOI: 10.1007/s11370-023-00495-1

{"title":"Humanising robot-assisted navigation","authors":"","doi":"10.1007/s11370-023-00495-1","DOIUrl":"https://doi.org/10.1007/s11370-023-00495-1","url":null,"abstract":"<h3>Abstract</h3> <p>Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the robot controller should kick-in guiding them towards safer paths. Shared authority control is a way to achieve this behaviour by deciding online how much of the authority should be given to the human and how much should be retained by the robot. An open problem is how to evaluate the appropriateness of the human’s choices. One possible way is to consider the deviation from an ideal path computed by the robot. This choice is certainly safe and efficient, but it emphasises the importance of the robot’s decision and relegates the human to a secondary role. In this paper, we propose a different paradigm: a human’s behaviour is correct if, at every time, it bears a close resemblance to what other humans do in similar situations. This idea is implemented through the combination of machine learning and adaptive control. The map of the environment is decomposed into a grid. In each cell, we classify the possible motions that the human executes. We use a neural network classifier to classify the current motion, and the probability score is used as a hyperparameter in the control to vary the amount of intervention. The experiments collected for the paper show the feasibility of the idea. A qualitative evaluation, done by surveying the users after they have tested the robot, shows that the participants preferred our control method over a state-of-the-art visco-elastic control.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"1 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138745010","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0