Intelligent Service Robotics最新文献

{"title":"A gamified social robotics platform for intensive therapies in neurorehabilitation","authors":"José Carlos Pulido, Raquel Fuentetaja, Enrique García, Melania García, Vanesa Abuín, José Carlos González, Ana Iglesias, Fernando Fernández","doi":"10.1007/s11370-024-00521-w","DOIUrl":"https://doi.org/10.1007/s11370-024-00521-w","url":null,"abstract":"<p>The use of social assistive robots for interactive stimulation has strong potential in neurorehabilitation therapies. It is of particular interest in the case of pediatric patients to promote children’s motivation and adherence, specially when those robots are able of guide gamified activities, as it is the case of NAOTherapist. NAOTherapist is a Social Assistive Robotics (SAR) platform for hands-off rehabilitation based on upper-limb activities, that was originally designed for pediatric patients with Cerebral Palsy (CP) or Obstetric Braxial Plexus Palsy (OBPP). Formerly, it endowed the therapists with tools to perform rehabilitation exercises. This paper proposes the gamification of NAOTherapist in order to incorporate additional characteristics which allow its intensive use in new rehabilitation procedures, such as the Hand-Arm Bimanual Intensive Therapy (HABIT). This intensive therapy setting involves daily activities in several consecutive days, which require a strong engagement of the patients with the therapeutic methods and the acceptation of the NAOTherapist as a rehabilitation system. The gamified system shows very accurate results considering the different aspects defined in the USUS methodology; namely Usability, Social acceptance, User experience and Societal impact.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"39 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2024-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140635140","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}

{"title":"Acoustic analysis of ultrasonic air-borne transducer with concave structure","authors":"Chae Gyu Lim, Youngsu Cha","doi":"10.1007/s11370-024-00538-1","DOIUrl":"https://doi.org/10.1007/s11370-024-00538-1","url":null,"abstract":"<p>This paper introduces an ultrasonic transducer with a concave curved structure. The transducer is based on a concave piezoelectric film on a silicone support with an air cavity. Specifically, an air cavity exists between the piezoelectric film and the support in the shape of a curved cuboid, providing space for the film to vibrate. We build a theoretical model of a concave piezoelectric transducer. To validate the model, we demonstrate a concave piezoelectric transducer and measure the ultrasound pressure field using an acoustic imaging camera. Two types of experiments are conducted by supplying a sinusoidal input voltage with a frequency sweep and a voltage sweep. The experimental results share similarity with the theoretical results. In addition, we conduct a parametric study to analyze the characteristics of the transducer. Interestingly, we find that the radius of curvature and axial length primarily contribute to ultrasound pressure.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"26 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2024-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140627531","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}

{"title":"Human-embodied drone interface for aerial manipulation: advantages and challenges","authors":"Dongbin Kim, Paul Y. Oh","doi":"10.1007/s11370-024-00535-4","DOIUrl":"https://doi.org/10.1007/s11370-024-00535-4","url":null,"abstract":"<p>Drones have performed various tasks, such as surveillance, photography, agriculture, and package delivery. However, these tasks typically involve drones simply observing or capturing information from their surroundings without physically interacting with them. Aerial manipulation shifts this paradigm and implements drones with robotic arms that allow interaction with the environment rather than simply touching it. For example, in construction, aerial manipulation in conjunction with human interaction could allow operators to perform several tasks, such as hosing decks, drilling into surfaces, and sealing cracks via a drone. For over a decade, researchers have been working on aerial manipulation for industrial applications. These works are valuable to aerial manipulation but have not been widespread in the public domain yet. This is because most of the works are conducted in controlled indoor environments (e.g., motion capture systems), and the knowledge gap exists between researchers and the wider public who are interested in deploying aerial manipulation for practical tasks. To fill this gap, our recent work integrated the worker’s experience into aerial manipulation using haptic technology. The net effect is that such a human-in-the-loop system could enable workers to leverage their experience to complete manipulation tasks while remotely controlling a mobile manipulating drone on the task site. The system increased the feasibility and adaptiveness of aerial manipulation. The remaining challenges are completing tasks beyond the operator’s line-of-sight and lack of dexterity. To address the challenges, we present a human-embodied drone interface in this article. The interface consists of immersive virtual/augmented reality and haptic technologies. Such an interface allows the drones to embody and transport the operator’s senses, actions, and presence to a remote location in real-time. Therefore, the operator can both physically interact with the environment and socially interact with actual workers on the worksite. Two different human-embodied interfaces are developed and tested with several tasks suggested by the United States Department-of-Transportation: pick-and-place, drilling, peg-in-hole, and key insert/rotation. The conclusion describes the advantages and challenges of the interface with future works.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"48 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2024-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140611969","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}

{"title":"Monte Carlo localization based on off-line feature matching and improved particle swarm optimization for mobile robots","authors":"Yuqi Xia, Yanyan Huang, Huchen Qin, Yuang Shi","doi":"10.1007/s11370-024-00524-7","DOIUrl":"https://doi.org/10.1007/s11370-024-00524-7","url":null,"abstract":"<p>To achieve the autonomy of mobile robots, effective localization is an essential process. Among localization algorithms, the Adaptive Monte Carlo Localization (AMCL) algorithm is most commonly used in many indoor environments. However, when the initial position is unknown, the efficiency and success rate of localization based on the AMCL algorithm decrease with the increasing area of the map. In this paper, an improved MCL algorithm named off-line feature matching and improved particle swarm optimization for Monte Carlo Localization (OFM-IPSO MCL) is proposed. Feature matching is adopted to reduce the online computational burden. Compared with the AMCL algorithm, OFM-IPSO MCL shows better results in the problems of positioning without initial pose and kidnapping robot by using a small number of particles. For positioning without an initial pose, the OFM-IPSO algorithm uses the feature extraction and feature matching methods to find the possible positions of the robot. In the problem of kidnapping robot, a method for determining if the robot has been \"kidnapped\" is proposed, which determines whether the robot has lost its pose. The validity and efficiency of the OFM-IPSO MCL algorithm are demonstrated by the Robotic Operating System (ROS). Extensive results and comparisons are also provided in this paper.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"15 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2024-04-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140600594","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}

{"title":"A novel cascade calibration method for robotic grinding system","authors":"Jian Liu, Yonghong Deng, Yulin Liu, Dong Li, Linlin Chen, Zhenzen Hu, Peiyang Wei, Zhibin Li","doi":"10.1007/s11370-024-00534-5","DOIUrl":"https://doi.org/10.1007/s11370-024-00534-5","url":null,"abstract":"<p>This paper presents an efficient cascade calibration method with an improved Levenberg–Marquardt and sine–cosine hybrid algorithm to enhance the absolute positioning accuracy of robotic grinding systems. To expedite convergence in the Levenberg–Marquardt algorithm, a dynamic adaptive weight mechanism is introduced, enhancing global and local search capabilities. Furthermore, a novel learning rate, combining exponential and cosine functions, addresses local optima in the algorithm. The improved Levenberg–Marquardt algorithm is employed to obtain suboptimal values for robot kinematic parameter deviations. Subsequently, these values are used as central points for generating a candidate solution set in the sine–cosine algorithm, resulting in more accurate kinematic parameter deviation identification. This innovative dual-search optimization approach combines the two algorithms. Experimental results confirm the substantial improvements in absolute positioning accuracy and surface machining precision achieved by the proposed model, with the calibration method’s effectiveness verified through experimentation.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"8 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2024-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140600595","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}

{"title":"Selective load control of lumbar muscles in robot-assisted isometric lumbar stabilization exercise","authors":"Joowan Kim, Wonje Choi, Jaeheung Park","doi":"10.1007/s11370-024-00531-8","DOIUrl":"https://doi.org/10.1007/s11370-024-00531-8","url":null,"abstract":"<p>Lumbar stabilization exercises are commonly employed in the rehabilitation of patients with low back pain. However, many patients discontinue these exercises, generally calisthenics using various postures or tools, due to the difficulty of providing an appropriate exercise load intensity. This challenge results in an inability to apply the desired strength to the target lumbar muscles and sometimes leads to an excessive load on unintended areas during calisthenics. Consequently, a method that enables patients to exercise continuously and progressively recover is required, specifically one that can target the lumbar muscles with a desired load. To address this issue, we propose a rehabilitation assistive device that quantitatively controls the lumbar spine load. In isometric lumbar stabilization exercises, our method involves precise compensation for gravity. The device, equipped with a series elastic actuator, is positioned beneath the patient in a lying posture. It applies an assistive force in the direction opposite to gravity, enabling precise control of the load on the lumbar region and reducing the vertical load on the spine. To validate the effectiveness of our proposed method, we conducted experiments with 20 healthy subjects across three exercises and analyzed the electromyography signal using nonparametric statistical methods. Our objective was to determine whether the load on the target lumbar muscles could be precisely and gradually controlled. The statistical results indicate that exercises performed using the proposed device produce statistically significant load changes in the target lumbar muscles.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"67 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140601313","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}

{"title":"Dynamic modulation of multi-task priority for controlling redundancy insufficient robots","authors":"Lu Chen, Yue Wang, Rong Xiong","doi":"10.1007/s11370-024-00533-6","DOIUrl":"https://doi.org/10.1007/s11370-024-00533-6","url":null,"abstract":"<p>Redundant robots are gaining popularity for their agility in service tasks, but they struggle with managing multiple tasks in dynamic and unstructured environments. Research is currently centered around adjusting task priorities to facilitate the robot’s adaptability to different situational demands. This paper addresses the challenge of automated task prioritization in multi-task handling and presents a solution for robots to effectively execute demanding tasks, even when faced with limited redundancy and multiple constraints. We introduce the concept of <i>secondary merged tasks</i> and formulate task merging as a matrix design problem. An iterative updating algorithm based on real-time task status is proposed to enable automatic prioritization and dynamic adjustment of tasks. This methodology ensures appropriate execution of all tasks at the right time. We analyze the convergence of weight transfer between redundancies and task dependencies, ensuring stable task execution. Simulation experiments and real-world experiments using 9-DOF mobile manipulator and 6-DOF fixed manipulator are conducted to validate the proposed method. This research provides a feasible approach for task prioritization in multi-task handling and holds potential applications.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"57 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2024-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140600598","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}

{"title":"Posture-dependent variable transmission mechanism for prosthetic hand inspired by human grasping characteristics","authors":"","doi":"10.1007/s11370-024-00516-7","DOIUrl":"https://doi.org/10.1007/s11370-024-00516-7","url":null,"abstract":"<h3>Abstract</h3> <p>Gripping objects firmly and quickly is an important function of the human hand for everyday life. Prosthetic devices face significant challenges in replicating these capabilities, particularly in achieving a delicate balance between swift grasping and substantial grip strength while adhering to weight and form-factor constraints. To address these challenges, this study introduces a novel posture-dependent variable transmission (PDVT) that mimics the human hand’s behavior by employing a spiral-shaped spool. The PDVT’s spiral-shaped spool replicates the human hand’s quick and gentle pre-contact movements followed by a stronger force application after contact with the object. Additionally, a compressive series elastic spring enhances tendon tension across a wide range of finger postures. The manufacturing method of PDVT, utilizing both 3D printing and metal processing, enables the creation of complex spiral shapes. The PDVT demonstrates improvements in both speed and grip strength compared to conventional rigid spool mechanisms. The PDVT has the potential to be applied to various robotic grasping systems.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"70 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2024-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140600597","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}

{"title":"A Methodology for end user programming of ROS-based service robots using jigsaw metaphor and ontologies","authors":"Övünç Öztürk","doi":"10.1007/s11370-024-00528-3","DOIUrl":"https://doi.org/10.1007/s11370-024-00528-3","url":null,"abstract":"<p>This study proposes a methodology to build an interface that will enable end users to interact with ROS-based service robots. The proposed methodology enables building an easy-to-use interface using the jigsaw metaphor. The methodology exploits ontologies to maximize the data sharing and integration among the users of the system. This methodology is verified on a cocktail robot as a case study and an end user-based survey is conducted to evaluate the built interface. The case study proved the feasibility of the methodology. User-based evaluation results provided positive feedback regarding the usability and preferability of the interface built with the proposed methodology.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"50 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2024-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140602019","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}

{"title":"Model-aided and vision-based navigation for an aerial robot in real-time application","authors":"M. Alizadeh, A. M. Khoshnood","doi":"10.1007/s11370-024-00532-7","DOIUrl":"https://doi.org/10.1007/s11370-024-00532-7","url":null,"abstract":"<p>In this paper, a novel navigation method with the assistance of a vehicle dynamic model (VDM), known as the VDM-aided navigation method, is introduced. This method is specifically designed for a subset of fixed-wing aerial robots within the broader category of unmanned aerial vehicles. Vision-based navigation (VBN) is employed to increase accuracy while maintaining reliability in Global Navigation Satellite System (GNSS) outages. In addition, an unscented Kalman filter (UKF) is used to estimate navigation parameters, including speed, position and attitude. This method uses the dynamic system as a process model and employs VBN, barometric altitude and vertical gyro as measurement inputs. In VBN, the method of scale-invariant feature transform is used as a method for image matching. To ensure the real-time capability of this method with the existing microprocessor, a hardware-in-the-loop (HIL) laboratory has been utilized. According to nonlinear observability methods, one can show the proposed integrated nonlinear navigation is observable under all conditions. Finally, the results of the HIL laboratory demonstrate that the proposed approach can estimate the robot navigation parameters with an acceptable level of precision even in the absence of an Inertial Navigation System (INS) and GNSS. It was validated even when there was an error of up to 20% in VDM parameters. Furthermore, an investigation was carried out regarding the use of Extended Kalman Filter instead of the UKF for the integrated navigation output. In GNSS outage conditions, considering both accuracy and cost, this method can serve as a valuable alternative for aerial robots. In addition, this approach can be recommended for INS fault detection with or without GNSS. Additionally, the integrated navigation provided can substitute the GNSS/INS system during fault conditions.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"22 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2024-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140600591","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}