Robotics and Autonomous Systems最新文献_第4页

CMFFN: An efficient cross-modal feature fusion network for semantic segmentation

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-12-26 DOI: 10.1016/j.robot.2024.104900

Yingjian Zhang, Ning Li, Jichao Jiao, Jiawen Ai, Zheng Yan, Yingchao Zeng, Tianxiang Zhang, Qian Li

{"title":"CMFFN: An efficient cross-modal feature fusion network for semantic segmentation","authors":"Yingjian Zhang, Ning Li, Jichao Jiao, Jiawen Ai, Zheng Yan, Yingchao Zeng, Tianxiang Zhang, Qian Li","doi":"10.1016/j.robot.2024.104900","DOIUrl":"10.1016/j.robot.2024.104900","url":null,"abstract":"<div><div>Multimodal information fusion can improve the accuracy and robustness of semantic segmentation results. However, the differences between modalities, the complementarity of the information provided, and the effectiveness of the fusion process await further exploration. In addition, another modality significantly increases the computational complexity, parameters and model training cost. To address these issues, we propose a novel end-to-end multimodal dual-stream semantic segmentation network, called cross-modal filtering fusion network (CMFFN), which efficiently fuses features from RGB and raw point cloud modalities. In particular, our CMFFN does not require mapping raw point clouds into image formats or additional modality alignment designs. For the point cloud branch of CMFFN, to alleviate the problem of increasing computational resources with the number of input point clouds, we propose a lightweight backbone network based on a sparse query attention mechanism, which achieves a balance between feature extraction performance and training resource utilization on the ModelNet40. For multimodal fusion, we introduce the cross-modal scoring feature selection and fusion module (CMSSF) with learnable parameters, which provides a general approach to reduce expensive costs caused by modalities interaction. Benefiting from the effective pruning and fine-grained framework, CMFFN achieves up to 67.39% in mIoU with a 3. 64% gain compared to the latest state-of-the-art model CMNeXt on KITTI-360 raw data, while reducing parameters and computational workload by 14.4% and 15.6%, respectively. Furthermore, since CMFFN directly models raw 3D point cloud data, it produces visually higher quality masks than the ground truth in certain aspects, such as locating relative spatial positions of targets and predicting distant objects.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"186 ","pages":"Article 104900"},"PeriodicalIF":4.3,"publicationDate":"2024-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143096429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

MBCNN-EATCFNet: A multi-branch neural network with efficient attention mechanism for decoding EEG-based motor imagery

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-12-21 DOI: 10.1016/j.robot.2024.104899

Shiming Xiong, Li Wang, Guoxian Xia, Jiaxian Deng

{"title":"MBCNN-EATCFNet: A multi-branch neural network with efficient attention mechanism for decoding EEG-based motor imagery","authors":"Shiming Xiong, Li Wang, Guoxian Xia, Jiaxian Deng","doi":"10.1016/j.robot.2024.104899","DOIUrl":"10.1016/j.robot.2024.104899","url":null,"abstract":"<div><div>The decoding performance of motor imagery (MI) based on electroencephalogram (EEG) limits the practical applications of brain-computer interface (BCI). In this paper, we propose a decoding approach for MI classification tasks based on a multi-branch convolutional neural network (MBCNN) and a time convolution fusion network with efficient attention mechanism (EATCFN). In MBCNN-EATCFNet, the combination of multi-branch and multi-scale structures is employed to capture spatiotemporal features at different scales. Additionally, to extract more discriminative temporal features from EEG signals, by integrating ECA into TCN, the module captures integrated information of bidirectional cross-channel interactions and long-term dependencies in the temporal sequence. Finally, to improve the adaptability of the model, a novel adaptive feature fusion method is proposed to distinguish the importance of bidirectional features. Our proposed model achieves classification results of 81.34 % (subject-dependent) and 69.46 % (subject-independent) on the BCI Competition IV dataset 2a, and 87.45 % (subject-dependent) and 83.63 % (subject-independent) on the BCI Competition IV dataset 2b, respectively. On dataset 2a, compared to eight baseline models, our approach achieves an average improvement of 10.15 % (subject-dependent) and 4.34 % (subject-independent), respectively. On dataset 2b, it achieves an average improvement of 2.76 % (subject-dependent) and 1.55 % (subject-independent). Furthermore, ablation experiments have been conducted to validate the effectiveness of each module. This model has significant potential in the clinical and practical application of MI-based BCI systems, thus promoting the further development of BCI technology.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"185 ","pages":"Article 104899"},"PeriodicalIF":4.3,"publicationDate":"2024-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143103069","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Finding degenerate conics by in-plane rotations: A direct perspective-three-point solver

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-12-20 DOI: 10.1016/j.robot.2024.104897

Yi Zhang, Baoqiong Wang, Yueqiang Zhang, Zechun Lin, Wenjun Chen, Xiaolin Liu, Qifeng Yu

{"title":"Finding degenerate conics by in-plane rotations: A direct perspective-three-point solver","authors":"Yi Zhang, Baoqiong Wang, Yueqiang Zhang, Zechun Lin, Wenjun Chen, Xiaolin Liu, Qifeng Yu","doi":"10.1016/j.robot.2024.104897","DOIUrl":"10.1016/j.robot.2024.104897","url":null,"abstract":"<div><div>The perspective-three-point (P3P) method, which estimates pose of a calibrated camera using three 2D/3D point correspondences, plays a crucial role in various visual pipelines. While most methods directly simplify the problem to a quartic, some contemporary approaches solve by degenerate conics, offering benefits in efficiency, preventing duplicate solutions and correct rate. However, existing degenerate-conic-based methods rely on the indirect framework, which is acknowledged to be less efficient and stable than the direct framework. In addition, they formulate degenerate conics algebraically, lacking clear geometric interpretations. To this end, a direct and degenerate-conic-based P3P method has been proposed in this work, which furthermore provides geometric interpretations to the degenerate conics. Concretely, it demonstrates that the conics undergo degeneration under certain in-plane rotations, angles of which are determined by a cubic. The proposed method is carefully designed to circumvent numerically risky computations and unnecessary computational burdens on recovering geometrically-invalid solutions. Both simulated and real experiments show that it excels in efficiency, noise robustness and correct rate, while avoiding the duplicate solutions commonly encountered in quartic-based methods. Additionally, it has the highest efficiency when combined with RANSAC. Code is at <span><span>https://github.com/Johnnyzyzy/our_p3p</span><svg><path></path></svg></span>.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"185 ","pages":"Article 104897"},"PeriodicalIF":4.3,"publicationDate":"2024-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143102984","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Safe peg-in-hole automatic assembly using virtual guiding force: A deep reinforcement learning solution

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-12-16 DOI: 10.1016/j.robot.2024.104894

Yujia Zang , Zitong Wang , Mingfeng Pan, Zhixuan Hou, Ziqin Ding, Mingyang Zhao

{"title":"Safe peg-in-hole automatic assembly using virtual guiding force: A deep reinforcement learning solution","authors":"Yujia Zang , Zitong Wang , Mingfeng Pan, Zhixuan Hou, Ziqin Ding, Mingyang Zhao","doi":"10.1016/j.robot.2024.104894","DOIUrl":"10.1016/j.robot.2024.104894","url":null,"abstract":"<div><div>This paper proposes an automatic peg-in-hole assembly method based on deep reinforcement learning, incorporating a feedforward virtual guiding force with safety considerations. Unlike traditional approaches that involve positional trajectories, our method draws inspiration from human dragging movements and utilizes feedforward virtual guiding forces as actions. This enables the reinforcement learning agent to drag the end effector to achieve peg-in-hole assembly and effectively addresses the safety issues caused by random actions throughout the training and testing processes. Experimental validation involves testing scenarios with pegs and holes featuring varying chamfers and clearances, as well as different levels of positioning uncertainty and initial search positions. The experiments demonstrate that our approach not only tackles the safety challenges but also exhibits good performance in cylindrical peg-in-hole tasks with initial positioning uncertainty and different chamfer/clearance structures, achieving high success rates.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"185 ","pages":"Article 104894"},"PeriodicalIF":4.3,"publicationDate":"2024-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143102980","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Occupation-aware planning method for robotic monitoring missions in dynamic environments

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-12-16 DOI: 10.1016/j.robot.2024.104892

Yaroslav Marchukov, Luis Montano

{"title":"Occupation-aware planning method for robotic monitoring missions in dynamic environments","authors":"Yaroslav Marchukov, Luis Montano","doi":"10.1016/j.robot.2024.104892","DOIUrl":"10.1016/j.robot.2024.104892","url":null,"abstract":"<div><div>This paper presents a method for robotic monitoring missions in the presence of moving obstacles. Although the scenario map is known, the robot lacks information about the movement of dynamic obstacles during the monitoring mission. Numerous local planners have been developed in recent years for navigating highly dynamic environments. However, the absence of a global planner for these environments can result in unavoidable collisions or the inability to successfully complete missions in densely populated areas, such as a scenario monitoring in our case. This work addresses the development and evaluation of a global planner, <span><math><mrow><mi>M</mi><mi>A</mi><mi>D</mi><mi>A</mi></mrow></math></span> (Monitoring Avoiding Dynamic Areas), aimed at enhancing the deployment of robots in such challenging conditions. The robot plans and executes the mission using the proposed two-step approach. The first step involves selecting the observation goal based on the environment’s distribution and estimated monitoring costs. In the second step, the robot identifies areas with moving obstacles and obtains paths avoiding densely occupied dynamic regions based on their occupation. Quantitative and qualitative results based on simulations and on real-world experimentation, confirm that the proposed method allows the robot to effectively monitor most of the environment while avoiding densely occupied dynamic areas.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"185 ","pages":"Article 104892"},"PeriodicalIF":4.3,"publicationDate":"2024-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143102983","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Hierarchical probabilistic graphical models for multi-UAV cooperative pursuit in dynamic environments

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-12-15 DOI: 10.1016/j.robot.2024.104890

Yixin Huang , Xiaojia Xiang , Chao Yan , Han Zhou , Dengqing Tang , Jun Lai

{"title":"Hierarchical probabilistic graphical models for multi-UAV cooperative pursuit in dynamic environments","authors":"Yixin Huang , Xiaojia Xiang , Chao Yan , Han Zhou , Dengqing Tang , Jun Lai","doi":"10.1016/j.robot.2024.104890","DOIUrl":"10.1016/j.robot.2024.104890","url":null,"abstract":"<div><div>Pursuing a non-cooperative moving target through multiple unmanned aerial vehicles (multi-UAV) is still challenging, especially in complex environments with dynamic obstacles. This article proposes a self-organizing multi-UAV cooperative pursuit approach based on hierarchical probabilistic graphical models. Firstly, we establish the UAV double-integrator kinematic models and provide a mathematical description of the pursuit task. Subsequently, a task-specific hierarchical probabilistic graphical model is designed for autonomous decision-making of UAVs. In the model, local perception states and individual motion capabilities are integrated to estimate the probability distribution parameters for each node. To enhance pursuit efficiency, the pursuit task is segmented into multiple phases and a “dispersed encirclement” strategy is devised inspired by wolf pack hunting behavior. Finally, numerical simulations and real-world experiments are conducted to validate the scalability, adaptability, and robustness of the proposed approach.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"185 ","pages":"Article 104890"},"PeriodicalIF":4.3,"publicationDate":"2024-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143102977","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

3D3A class of parallel mechanisms: Design and performance evaluation

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-12-13 DOI: 10.1016/j.robot.2024.104891

Savaş Yılmaz , Serdar Küçük , Metin Toz

{"title":"3D3A class of parallel mechanisms: Design and performance evaluation","authors":"Savaş Yılmaz , Serdar Küçük , Metin Toz","doi":"10.1016/j.robot.2024.104891","DOIUrl":"10.1016/j.robot.2024.104891","url":null,"abstract":"<div><div>This paper presents a study of 20 six-degrees-of-freedom (DoF) Generalized Stewart–Gough Platform (GSP) type mechanisms in 3D3A class. These mechanisms are characterized by three distance and three angular constraints between their base platforms (BPs) and moving platforms (MPs). The mechanisms are categorized into two groups based on the geometric shapes of their BPs and MPs. The platform shapes are determined by the types of joints and their connection configurations on the platforms. The platforms are designed with regular polygonal shapes. Two groups are generated according to whether the geometric shapes of the platforms are the same or different. There are 10 types of mechanisms in the first group, where the BP and the MP shapes of each are the same. The second group also includes 10 types of mechanisms, each with two design variations, resulting in 20 designs. Thus, a total of 30 mechanisms are designed. The reachable workspaces and dexterities of these manipulators are computed to assess the impact of design parameters such as the ratio between the BP and MP radii and the rotation of one end of the BP edges. The reachable workspace volume and the Global Conditioning Index (GCI) are selected as the performance metrics. The results of all mechanisms are presented in the paper, with a comparison of the two best mechanisms against the classical 3×3 Stewart Platform. The study shows that the <span><math><mrow><msubsup><mi>D</mi><mn>4</mn><mn>3</mn></msubsup><mspace></mspace><msubsup><mi>A</mi><mn>1</mn><mn>3</mn></msubsup></mrow></math></span> type mechanism achieves a large reachable workspace while maintaining a high GCI value.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"185 ","pages":"Article 104891"},"PeriodicalIF":4.3,"publicationDate":"2024-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143102632","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Hybrid brain-computer interfacing paradigm for assistive robotics

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-12-13 DOI: 10.1016/j.robot.2024.104893

Ahona Ghosh , Lidia Ghosh , Sriparna Saha

{"title":"Hybrid brain-computer interfacing paradigm for assistive robotics","authors":"Ahona Ghosh , Lidia Ghosh , Sriparna Saha","doi":"10.1016/j.robot.2024.104893","DOIUrl":"10.1016/j.robot.2024.104893","url":null,"abstract":"<div><div>Human-computer interfacing, which can be controlled by eye movements and brain signals, is of widespread use in recent times as an intelligent rehabilitation aid. Although some exciting literature exists on robot-assisted physical therapy, enhancing the quality of neurological rehabilitation, most can only focus on a smaller range of control commands required for real-time robot navigation. In this paper, a hybrid brain-computer interfacing system to control a robotic arm has been proposed where an Electrooculography (EOG) and an Electroencephalography (EEG) sensor, respectively, have been used to select the joints of the robot and to control the movement of the selected joint in the required direction. The proposed technique, which applies interquartile range-based data augmentation to extracted time-domain features, can effectively deal with the outliers and prevent overfitting. Afterwards, a novel variant of the Two-Dimensional Convolutional Neural Network is employed for the classification of EOG signals. On the other hand, a Phase sensitive Common Spatial Pattern induced Linear Discriminant Analysis is utilized for classifying the EEG data. The classifiers exhibit satisfactory performance with 98.45 % and 96.61 % accuracy for EOG and EEG, respectively, leading to the implementation of an online robot navigation system in real-time. The system integrates EEG-based signals into the robotic control loop, enabling real-time error detection in the end-effector trajectory of the Robotic arm through Error Related Potential signals and confirming task completion or target attainment via P300 detection. The proposed framework yields an average steady-state error, peak overshoot, and settling time of 0.036, 2.5 %, and 30 s, respectively. Moreover, the average target reaching rate is 95 %, making it a suitable choice for real-time rehabilitative platforms in prosthetics design.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"185 ","pages":"Article 104893"},"PeriodicalIF":4.3,"publicationDate":"2024-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143102981","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

LBH gripper: Linkage-belt based hybrid adaptive gripper design for dish collecting robots

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-12-12 DOI: 10.1016/j.robot.2024.104886

YoungHwan Kim, JeongPil Shin, Jeeho Won, Wonhyoung Lee, TaeWon Seo

{"title":"LBH gripper: Linkage-belt based hybrid adaptive gripper design for dish collecting robots","authors":"YoungHwan Kim, JeongPil Shin, Jeeho Won, Wonhyoung Lee, TaeWon Seo","doi":"10.1016/j.robot.2024.104886","DOIUrl":"10.1016/j.robot.2024.104886","url":null,"abstract":"<div><div>Recent developments in robot technology have led to the expansion of robot automation in various service fields. In this study, we developed a gripper for a plate retrieval robot for restaurant environments. Plate retrieval grippers are challenged by the variety of types and sizes of plates to be collected. Therefore, a gripper that can adapt to a variety of plate shapes and sizes is needed. To address these issues, we propose a Linkage-Belt Hybrid (LBH) gripper that combines a linkage structure and a soft gripper. The design of the LBH gripper was verified through structural analysis through simulation, and its performance was experimentally evaluated. Results show that the LBH gripper outperforms traditional bar-type, linkage-adaptive, and soft grippers. In an experiment involving randomly grasping 23 objects, the LBH gripper demonstrated the ability to grasp the highest number of objects, with only two objects experiencing a 30% failure rate. Additionally, the gripper’s payload is verified to be 10kg for bowls and 6kg for plates. In the safe release test, it was confirmed that it showed a significantly lower impact amount compared to the bar-type gripper. In addition, by operating the manipulator after gripping the dish, the gripping stability and the possibility of performing non-grabbing movements were confirmed, confirming that the LBH Gripper is suitable for the target dish collection task. These findings pave the way for the development of new connected belt hybrid grippers capable of gripping a variety of objects.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"185 ","pages":"Article 104886"},"PeriodicalIF":4.3,"publicationDate":"2024-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143102634","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Six-degree-of-freedom upper limb rehabilitation robot based on tight-coupled dynamic interactive control: Design and implementation

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-12-12 DOI: 10.1016/j.robot.2024.104895

Guanxin Liu , Lingqi Zeng , Qingyun Meng , Xin Xu , Qiaoling Meng , Hongliu Yu

{"title":"Six-degree-of-freedom upper limb rehabilitation robot based on tight-coupled dynamic interactive control: Design and implementation","authors":"Guanxin Liu , Lingqi Zeng , Qingyun Meng , Xin Xu , Qiaoling Meng , Hongliu Yu","doi":"10.1016/j.robot.2024.104895","DOIUrl":"10.1016/j.robot.2024.104895","url":null,"abstract":"<div><h3>Objective</h3><div>The upper limb rehabilitation robot is utilized to enhance the functionality of stroke patients, and its effectiveness has been proven. However, many upper limb rehabilitation devices currently suffer from issues such as bulkiness, limited control methods, and poor resistance to interference.</div></div><div><h3>Methods</h3><div>In response to these challenges, we have designed and implemented a Six-degree-of-freedom Upper Limb Rehabilitation Robot (S-ULRR) based on tightly coupled dynamic interaction control.</div></div><div><h3>Results</h3><div>The S-ULRR boasts a simple and compact structure, requiring only two motors to achieve three degrees of freedom in wrist motion. The mechanical arm's height and length are adjustable, catering to various upper limb users. Introduced a gravity compensation mechanism to prevent unnecessary movements. Proposed an interference-resistant control strategy based on a nonlinear disturbance observer fuzzy sliding mode controller, which has demonstrated superior interference tracking performance compared to a single observer. The design of a tightly coupled dynamic interaction control system has improved the precision of upper limb rehabilitation training. Additionally, developed an upper computer interface and a lower computer interface with an HMI touchscreen, enhancing the flexibility of the control system.</div></div><div><h3>Conclusion</h3><div>Relevant experiments have confirmed the achievement of our design objectives and validated the feasibility of the device.</div></div><div><h3>Significance</h3><div>This study presents a novel rehabilitation device that contains new structural design and control methods and provides new ideas for future research.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"185 ","pages":"Article 104895"},"PeriodicalIF":4.3,"publicationDate":"2024-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143102982","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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