Robotica最新文献_第2页

Design of a traction neck brace with two degrees-of-freedom via a novel architecture of a spatial parallel mechanism 通过空间并联机构的新结构设计具有两个自由度的牵引颈托

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-18 DOI: 10.1017/s0263574724000882

Jingzong Zhou, Priya Kulkarni, Xincheng Zhao, Sunil K. Agrawal

{"title":"Design of a traction neck brace with two degrees-of-freedom via a novel architecture of a spatial parallel mechanism","authors":"Jingzong Zhou, Priya Kulkarni, Xincheng Zhao, Sunil K. Agrawal","doi":"10.1017/s0263574724000882","DOIUrl":"https://doi.org/10.1017/s0263574724000882","url":null,"abstract":"Traction of the head-neck is important in the treatment of patients suffering from neck pain due to degeneration of the intervertebral discs. Conventional neck traction is provided manually by experienced physical therapists who maintain a desired orientation of the head-neck relative to the trunk while applying the traction. It is postulated that innovative designs of neck exoskeletons can provide the same function both flexibly and accurately. This article presents a novel architecture of a parallel mechanism whose base sits on the human shoulders with 4 parallel chains, each chain having a revolute-revolute-universal-revolute (RRUR) structure, while the end-effector is connected rigidly to the human head. Each chain has five degrees-of-freedom (DOF) and applies a constraint on the motion of the end-effector. As a result, this parallel mechanism allows two DOFs to the end-effector. These are (i) forward flexion or lateral bending of the head and (ii) vertical translation. An important motivation for the current design with RRUR structure is to characterize the range of forward flexion/lateral bending of the head-neck with this structure and the vertical translation to the end-effector. A physical prototype was constructed and tested to evaluate the performance of this mechanism in hardware for the proposed application.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"10 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142265240","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

A pixel-level grasp detection method based on Efficient Grasp Aware Network 基于高效抓取感知网络的像素级抓取检测方法

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-18 DOI: 10.1017/s0263574724001358

Haonan Xi, Shaodong Li, Xi Liu

{"title":"A pixel-level grasp detection method based on Efficient Grasp Aware Network","authors":"Haonan Xi, Shaodong Li, Xi Liu","doi":"10.1017/s0263574724001358","DOIUrl":"https://doi.org/10.1017/s0263574724001358","url":null,"abstract":"This work proposes a novel grasp detection method, the Efficient Grasp Aware Network (EGA-Net), for robotic visual grasp detection. Our method obtains semantic information for grasping through feature extraction. It efficiently obtains feature channel weights related to grasping tasks through the constructed ECA-ResNet module, which can smooth the network’s learning. Meanwhile, we use concatenation to obtain low-level features with rich spatial information. Our method inputs an RGB-D image and outputs the grasp poses and their quality score. The EGA-Net is trained and tested on the Cornell and Jacquard datasets, and we achieve 98.9% and 95.8% accuracy, respectively. The proposed method only takes 24 ms for real-time performance to process an RGB-D image. Moreover, our method achieved better results in the comparison experiment. In the real-world grasp experiments, we use a 6-degree of freedom (DOF) UR-5 robotic arm to demonstrate its robust grasping of unseen objects in various scenes. We also demonstrate that our model can successfully grasp different types of objects without any processing in advance. The experiment results validate our model’s exceptional robustness and generalization.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"48 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142265242","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

MonoVisual3DFilter: 3D tomatoes’ localisation with monocular cameras using histogram filters MonoVisual3DFilter：使用直方图滤波器用单目摄像头进行三维番茄定位

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-18 DOI: 10.1017/s0263574724000936

Sandro Augusto Costa Magalhães, Filipe Neves dos Santos, António Paulo Moreira, Jorge Manuel Miranda Dias

引用次数: 0

Type synthesis of a new parallel mechanism with complete separation of constraints and drives 完全分离约束和驱动的新型并行机制的类型合成

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-18 DOI: 10.1017/s0263574724001346

Yu Wang, Can Qiu, Xiaoyu He, Jiabin Wu, Yundou Xu, Yongsheng Zhao

引用次数: 0

Kinematic analysis and advanced control of a vectored thruster based on 3RRUR parallel manipulator for micro-size AUVs 基于 3RRUR 并联机械手的矢量推进器运动学分析和先进控制，用于微型自动潜航器

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-18 DOI: 10.1017/s0263574724001280

Tao Liu, Jintao Zhao, Junhao Huang

{"title":"Kinematic analysis and advanced control of a vectored thruster based on 3RRUR parallel manipulator for micro-size AUVs","authors":"Tao Liu, Jintao Zhao, Junhao Huang","doi":"10.1017/s0263574724001280","DOIUrl":"https://doi.org/10.1017/s0263574724001280","url":null,"abstract":"Autonomous underwater vehicles (AUVs) have played a pivotal role in advancing ocean exploration and exploitation. However, traditional AUVs face limitations when executing missions at minimal or near-zero forward velocities due to the ineffectiveness of their control surfaces, considerably constraining their potential applications. To address this challenge, this paper introduces an innovative vectored thruster system based on a 3RRUR parallel manipulator tailored for micro-sized AUVs. The incorporation of a vectored thruster enhances the performance of micro-sized AUVs when operating at minimal and low forward speeds. A comprehensive exploration of the kinematics of the thrust-vectoring mechanism has been undertaken through theoretical analysis and experimental validation. The findings from theoretical analysis and experimental confirmation unequivocally affirm the feasibility of the devised thrust-vectoring mechanism. The precise control of the vector device is studied using Physics-informed Neural Network and Model Predictive Control (PINN-MPC). Through the adoption of this pioneering thrust-vectoring mechanism rooted in the 3RRUR parallel manipulator, AUVs can efficiently and effectively generate the requisite motion for thrust-vectoring propulsion, overcoming the limitations of traditional AUVs and expanding their potential applications across various domains.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"47 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142269371","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

Prediction of abnormal gait behavior of lower limbs based on depth vision 基于深度视觉的下肢异常步态行为预测

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-18 DOI: 10.1017/s0263574724000948

Tie Liu, Dianchun Bai, Hongyu Yi, Hiroshi Yokoi

{"title":"Prediction of abnormal gait behavior of lower limbs based on depth vision","authors":"Tie Liu, Dianchun Bai, Hongyu Yi, Hiroshi Yokoi","doi":"10.1017/s0263574724000948","DOIUrl":"https://doi.org/10.1017/s0263574724000948","url":null,"abstract":"As a kind of lower-limb motor assistance device, the intelligent walking aid robot plays an essential role in helping people with lower-limb diseases to carry out rehabilitation walking training. In order to enhance the safety performance of the lower-limb walking aid robot, this study proposes a deep vision-based abnormal lower-limb gait prediction model construction method for the problem of abnormal gait prediction of patients’ lower limbs. The point cloud depth vision technique is used to acquire lower-limb motion data, and a multi-posture angular prediction model is trained using long and short-term memory networks to build a model of the user’s lower-limb posture characteristics during normal walking as well as a real-time lower-limb motion prediction model. The experimental results indicate that the proposed lower-limb abnormal behavior prediction model is able to achieve a 97.4% prediction rate of abnormal lower-limb movements within 150 ms. Additionally, the model demonstrates strong generalization ability in practical applications. This paper proposes further ideas to enhance the safety performance of lower-limb rehabilitation robot use for patients with lower-limb disabilities.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"2 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142265349","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

RGB-D visual odometry by constructing and matching features at superpixel level 通过构建和匹配超像素级特征进行 RGB-D 视觉里程测量

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-18 DOI: 10.1017/s0263574724000985

Meiyi Yang, Junlin Xiong, Youfu Li

{"title":"RGB-D visual odometry by constructing and matching features at superpixel level","authors":"Meiyi Yang, Junlin Xiong, Youfu Li","doi":"10.1017/s0263574724000985","DOIUrl":"https://doi.org/10.1017/s0263574724000985","url":null,"abstract":"Visual odometry (VO) is a key technology for estimating camera motion from captured images. In this paper, we propose a novel RGB-D visual odometry by constructing and matching features at the superpixel level that represents better adaptability in different environments than state-of-the-art solutions. Superpixels are content-sensitive and perform well in information aggregation. They could thus characterize the complexity of the environment. Firstly, we designed the superpixel-based feature SegPatch and its corresponding 3D representation MapPatch. By using the neighboring information, SegPatch robustly represents its distinctiveness in various environments with different texture densities. Due to the inclusion of depth measurement, the MapPatch constructs the scene structurally. Then, the distance between SegPatches is defined to characterize the regional similarity. We use the graph search method in scale space for searching and matching. As a result, the accuracy and efficiency of matching process are improved. Additionally, we minimize the reprojection error between the matched SegPatches and estimate camera poses through all these correspondences. Our proposed VO is evaluated on the TUM dataset both quantitatively and qualitatively, showing good balance to adapt to the environment under different realistic conditions.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"36 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142265351","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

Customized stiffness control strategy for a six-bar linkage-based gait rehabilitation robot 基于六杆联动的步态康复机器人的定制刚度控制策略

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-18 DOI: 10.1017/s0263574724001425

Akim Kapsalyamov, Shahid Hussain, Roland Goecke, Nicholas A.T. Brown, Prashant K. Jamwal

{"title":"Customized stiffness control strategy for a six-bar linkage-based gait rehabilitation robot","authors":"Akim Kapsalyamov, Shahid Hussain, Roland Goecke, Nicholas A.T. Brown, Prashant K. Jamwal","doi":"10.1017/s0263574724001425","DOIUrl":"https://doi.org/10.1017/s0263574724001425","url":null,"abstract":"Lower limb rehabilitation robots based on linkage-based mechanisms have recently drawn significant attention in the field due to their numerous advantages. The control of previously proposed linkage-based gait rehabilitation robotic orthoses has been achieved using constant speed control without consideration for the interaction forces. However, such an approach can be harmful to people with stroke since the level of disability varies among individuals, and it may cause potential injuries when excessive force is applied by the robot. To overcome this limitation and improve the rehabilitation process, it is necessary to recognize the force exerted by the person during walking and adjust the robot’s assistive torque accordingly, to provide synchronized motion. Thus, in this work, a human-cooperative approach based on a stiffness control strategy for the six-bar linkage-based gait rehabilitation robot is presented. The proposed methodology can serve as a solid foundation for developing a human-cooperative approach for linkage-based lower limb rehabilitation robotic orthoses. The control was validated and tested with eight healthy human subjects. As a result, customized robotic assistance with this mechanism can be provided during training to meet the individual needs of stroke patients, which can lead to increased engagement and contribution, thus improving treatment outcomes.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"26 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142269370","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

Fixed-time control of teleoperation systems based on adaptive event-triggered communication and force estimators 基于自适应事件触发通信和力估算器的远距操作系统固定时间控制

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-16 DOI: 10.1017/s0263574724001310

Xia Liu, Hui Wen

引用次数: 0

Incipient fault diagnosis for robot manipulators based on evolution of friction characteristics in transmission components 基于传动部件摩擦特性演变的机器人机械手初期故障诊断

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-16 DOI: 10.1017/s0263574724001450

Xing Zhou, Shifeng Huang, Yaoqi Xian, Huicheng Zhou, Wenbin Deng, Jian Zhou

{"title":"Incipient fault diagnosis for robot manipulators based on evolution of friction characteristics in transmission components","authors":"Xing Zhou, Shifeng Huang, Yaoqi Xian, Huicheng Zhou, Wenbin Deng, Jian Zhou","doi":"10.1017/s0263574724001450","DOIUrl":"https://doi.org/10.1017/s0263574724001450","url":null,"abstract":"<p>The tribological behavior can be informative about the incipient faults of robot manipulators. This study explores the evolution of friction characteristics from cold start to thermal equilibrium through a series of steady-state friction experiments. Based on these experimental observations, a friction-based fault diagnosis framework is proposed. The fault diagnosis process primarily involves defining the healthy state, decomposing friction curves and their features, and anomaly detection. Given the dependence of friction characteristics on different sources of faults, the parameters of steady-state experimental friction model are divided into two categories: one associated with contact interactions and the other related to non-contact regimes. Subsequently, confidence regions corresponding to distinguishable friction characteristics are independently constructed. These regions encapsulate the statistical description of the healthy state, characterized by mean values and the covariance of the friction characteristic parameter vectors during the unloaded state. In addition, we conduct experiments that consider the influence of applied loads on friction behavior. These experiments serve as a test set for comparison against nominal statistics. Leveraging the similarity between the effects of wear and load on friction, we introduce equivalent load thresholds to assess the severity of joint degradation. The results demonstrate the feasibility of employing confidence region views based on friction characteristic classification for fault detection and isolation.</p>","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"44 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142265357","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