Robotica最新文献_第9页

Insights into the deployment of a social robot-augmented telepresence robot in an elder care clinic – perspectives from patients and therapists: a pilot study 在老年护理诊所部署社交机器人增强型远程呈现机器人的启示--患者和治疗师的观点：一项试点研究

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-14 DOI: 10.1017/s026357472400002x

Michael J. Sobrepera, Anh T. Nguyen, Emily S. Gavin, Michelle J. Johnson

{"title":"Insights into the deployment of a social robot-augmented telepresence robot in an elder care clinic – perspectives from patients and therapists: a pilot study","authors":"Michael J. Sobrepera, Anh T. Nguyen, Emily S. Gavin, Michelle J. Johnson","doi":"10.1017/s026357472400002x","DOIUrl":"https://doi.org/10.1017/s026357472400002x","url":null,"abstract":"As the proportion of the elderly population in the USA expands, so will the demand for rehabilitation and social care, which play an important role in maintaining function and mediating motor and cognitive decline in older adults. The use of social robotics and telemedicine are each potential solutions but each have limitations. To address challenges with classical telemedicine for rehabilitation, we propose to use a social robot-augmented telepresence (SRAT), Flo, which was deployed for long-term use in a community-based rehabilitation facility catering to older adults. Our goals were to explore how clinicians and patients would use and respond to the robot during rehab interactions. In this pilot study, three clinicians were recruited and asked to rate usability after receiving training for operating the robot and two of them conducted multiple rehab interactions with their patients using the robot (eleven patients with cognitive impairment and/or motor impairment and 23 rehab sessions delivered via SRAT in total). We report on the experience of both therapists and patients after the interactions.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"148 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140127874","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

Research and experiment on active training of lower limb based on five-bar mechanism of man-machine integration system 基于人机一体化系统五杆机构的下肢主动训练研究与实验

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-14 DOI: 10.1017/s0263574724000304

Jianghong Sun, Fuqing Hu, Keke Gao, Feng Gao, Chao Ma, Junjian Wang

{"title":"Research and experiment on active training of lower limb based on five-bar mechanism of man-machine integration system","authors":"Jianghong Sun, Fuqing Hu, Keke Gao, Feng Gao, Chao Ma, Junjian Wang","doi":"10.1017/s0263574724000304","DOIUrl":"https://doi.org/10.1017/s0263574724000304","url":null,"abstract":"In view of the fact that the current research on active and passive rehabilitation training of lower limbs is mainly based on the analysis of exoskeleton prototype and the lack of analysis of the actual movement law of limbs, the human-machine coupling dynamic characteristics for active rehabilitation training of lower limbs are studied. In this paper, the forward and inverse kinematics are solved on the basis of innovatively integrating the lower limb and rehabilitation prototype into a human-machine integration system and equivalent to a five-bar mechanism. According to the constraint relationship of hip joint, knee joint and ankle joint, the Lagrange dynamic equation and simulation model of five-bar mechanism under the constraint of human physiological joint motion are constructed, and the simulation problem of closed-loop five-bar mechanism is solved. The joint angle experimental system was built to carry out rehabilitation training experiments to analyze the relationship between lower limb error and height, weight and BMI, and then, a personalized training planning method suitable for people with different lower limb sizes was proposed. The reliability of the method is proved by experiments. Therefore, we can obtain the law of limb movement on the basis of traditional rehabilitation training, appropriately reduce the training speed or reduce the man-machine position distance and reduce the training speed or increase the man-machine distance to reduce the error to obtain the range of motion angle closer to the theory of hip joint and knee joint respectively, so as to achieve better rehabilitation.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"36 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140127924","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

Adaptive fractional-order integral fast terminal sliding mode and fault-tolerant control of dual-arm robots 双臂机器人的自适应分数阶积分快速终端滑动模式和容错控制

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-07 DOI: 10.1017/s0263574724000328

Le Anh Tuan, Quang Phuc Ha

{"title":"Adaptive fractional-order integral fast terminal sliding mode and fault-tolerant control of dual-arm robots","authors":"Le Anh Tuan, Quang Phuc Ha","doi":"10.1017/s0263574724000328","DOIUrl":"https://doi.org/10.1017/s0263574724000328","url":null,"abstract":"Closed-loop kinematics of a dual-arm robot (DAR) often induces motion conflict. Control formulation is increasingly difficult in face of actuator failures. This article presents a new approach for fault-tolerant control of DARs based on advanced sliding mode control. A comprehensive fractional-order model is proposed taking nonlinear viscous and viscoelastic friction at the joints into account. Using integral fast terminal sliding mode control and fractional calculus, we develop two robust controllers for robots subject to motor faults, parametric uncertainties, and disturbances. Their merits rest with their strong robustness, speedy finite-time convergence, shortened reaching phase, and flexible selection of derivative orders. To avoid the need for full knowledge of faults, robot parameters, and disturbances, two versions of the proposed approach, namely adaptive integral fractional-order fast terminal sliding mode control, are developed. Here, an adaptation mechanism is equipped for estimating a common representative of individual uncertainties. Simulation and experiment are provided along with an extensive comparison with existing approaches. The results demonstrate the superiority of the proposed control technique. The robot performs well the tasks with better responses (e.g., with settling time reduced by at least 16%).","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"64 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140056721","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

Force analysis of a soft-rigid hybrid pneumatic actuator and its application in a bipedal inchworm robot 软硬混合气动致动器的受力分析及其在双足尺蠖机器人中的应用

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-07 DOI: 10.1017/s0263574724000298

Zhujin Jiang, Ketao Zhang

{"title":"Force analysis of a soft-rigid hybrid pneumatic actuator and its application in a bipedal inchworm robot","authors":"Zhujin Jiang, Ketao Zhang","doi":"10.1017/s0263574724000298","DOIUrl":"https://doi.org/10.1017/s0263574724000298","url":null,"abstract":"This paper systematically investigates a soft-rigid hybrid pneumatic actuator (SRHPA), which consists of a rigid-foldable twisting skeleton capable of a large range of helical motion and a soft bellows muscle with high linear driving force. Considering the unique varying-pitch helical motion of the foldable skeleton, the analytical model mapping the input force generated by the bellows muscle and output forces of the actuator is revealed and verified with a simulation of the force analysis. Prototypes of the actuator are developed by fabricating the twisting skeleton with multilayered aluminum composite panels and 3D-printing the bellows muscle with thermoplastic polyurethane (TPU) 95A filament. The static and dynamic performances of the prototypes are tested to validate the analytical modeling of output forces. Using the actuator as a module, a novel bipedal inchworm robot with four modules is developed and tested to demonstrate its adaptability in confined space by switching between the going-straight, the turning-around, and the rotating gaits. The hybrid actuator and the inchworm robot with zero onboard electronics have the potential to be deployed in extreme environments where pneumatically actuated systems are preferred over electrical machines and drives, such as in nuclear and explosive environments.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"64 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140057010","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 novel tactile sensor with multimodal vision and tactile units for multifunctional robot interaction 用于多功能机器人交互的带有多模态视觉和触觉单元的新型触觉传感器

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-05 DOI: 10.1017/s0263574724000286

Pengwen Xiong, Yuxuan Huang, Yifan Yin, Yu Zhang, Aiguo Song

{"title":"A novel tactile sensor with multimodal vision and tactile units for multifunctional robot interaction","authors":"Pengwen Xiong, Yuxuan Huang, Yifan Yin, Yu Zhang, Aiguo Song","doi":"10.1017/s0263574724000286","DOIUrl":"https://doi.org/10.1017/s0263574724000286","url":null,"abstract":"Robots with multi-sensors always have a problem of weak pairing among different modals of the collected information produced by multi-sensors, which leads to a bad perception performance during robot interaction. To solve this problem, this paper proposes a Force Vision Sight (FVSight) sensor, which utilizes a distributed flexible tactile sensing array integrated with a vision unit. This innovative approach aims to enhance the overall perceptual capabilities for object recognition. The core idea is using one perceptual layer to trigger both tactile images and force-tactile arrays. It allows the two heterogeneous tactile modal information to be consistent in the temporal and spatial dimensions, thus solving the problem of weak pairing between visual and tactile data. Two experiments are specially designed, namely object classification and slip detection. A dataset containing 27 objects with deep presses and shallow presses is collected for classification, and then 20 slip experiments on three objects are conducted. The determination of slip and stationary state is accurately obtained by covariance operation on the tactile data. The experimental results show the reliability of generated multimodal data and the effectiveness of our proposed FVSight sensor.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"90 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140034284","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

Collision-free path planning for cable-driven continuum robot based on improved artificial potential field 基于改进型人工势场的缆索驱动连续机器人无碰撞路径规划

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-05 DOI: 10.1017/s026357472400016x

Meng Ding, Xianjie Zheng, Liaoxue Liu, Jian Guo, Yu Guo

引用次数: 0

FabricFolding: learning efficient fabric folding without expert demonstrations 织物折叠：无需专家示范即可学习高效织物折叠

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-04 DOI: 10.1017/s0263574724000250

Can He, Lingxiao Meng, Zhirui Sun, Jiankun Wang, Max Q.-H. Meng

{"title":"FabricFolding: learning efficient fabric folding without expert demonstrations","authors":"Can He, Lingxiao Meng, Zhirui Sun, Jiankun Wang, Max Q.-H. Meng","doi":"10.1017/s0263574724000250","DOIUrl":"https://doi.org/10.1017/s0263574724000250","url":null,"abstract":"Autonomous fabric manipulation is a challenging task due to complex dynamics and potential self-occlusion during fabric handling. An intuitive method of fabric-folding manipulation first involves obtaining a smooth and unfolded fabric configuration before the folding process begins. However, the combination of quasi-static actions like pick & place and dynamic action like fling proves inadequate in effectively unfolding long-sleeved T-shirts with sleeves mostly tucked inside the garment. To address this limitation, this paper introduces an enhanced quasi-static action called pick & drag, specifically designed to handle this type of fabric configuration. Additionally, an efficient dual-arm manipulation system is designed in this paper, which combines quasi-static (including pick & place and pick & drag) and dynamic fling actions to flexibly manipulate fabrics into unfolded and smooth configurations. Subsequently, once it is confirmed that the fabric is sufficiently unfolded and all fabric keypoints are detected, the keypoint-based heuristic folding algorithm is employed for the fabric-folding process. To address the scarcity of publicly available keypoint detection datasets for real fabric, we gathered images of various fabric configurations and types in real scenes to create a comprehensive keypoint dataset for fabric folding. This dataset aims to enhance the success rate of keypoint detection. Moreover, we evaluate the effectiveness of our proposed system in real-world settings, where it consistently and reliably unfolds and folds various types of fabrics, including challenging situations such as long-sleeved T-shirts with most parts of sleeves tucked inside the garment. Specifically, our method achieves a coverage rate of 0.822 and a success rate of 0.88 for long-sleeved T-shirts folding. Supplemental materials and dataset are available on our project webpage at https://sites.google.com/view/fabricfolding.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"65 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140034285","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

Design and motion mechanism analysis of screw-driven in-pipe inspection robot based on novel adapting mechanism 基于新型自适应机构的螺杆驱动管道内检测机器人的设计与运动机构分析

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-04 DOI: 10.1017/s0263574724000316

Jihua Yin, Xuemei Liu, Youqiang Wang, Yucheng Wang

{"title":"Design and motion mechanism analysis of screw-driven in-pipe inspection robot based on novel adapting mechanism","authors":"Jihua Yin, Xuemei Liu, Youqiang Wang, Yucheng Wang","doi":"10.1017/s0263574724000316","DOIUrl":"https://doi.org/10.1017/s0263574724000316","url":null,"abstract":"In the pipeline industry, it is often necessary to monitor cracks and damage in pipelines, or need to clean the inside of the pipeline regularly, or collect adhesive on the inner wall of the pipe, but the pipe is too narrow and difficult for humans to enter, it is necessary to use a pipe machine to complete the work. In this paper, a newly designed screw-driven in-pipe inspection robot (IPIR) is proposed. Compared with common robots, this robot innovatively designs adapting mechanism. The robot can not only adapt to the change of the inner diameter size of the pipeline by using the bionic principle and the deformation characteristics of flexible components but also can pass smoothly in the horizontal/oblique/vertical pipelines and has a certain ability to cross obstacles. In addition, it can transmit images of the inner wall of the pipeline wirelessly for data analysis. Finally, through theoretical analysis and prototype construction, the performance of the robot is verified. The results show that the prototype robot can not only smoothly pass through the acrylic pipe with inner diameter of 120–138 mm but also pass through boss with a height of 3 mm.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"157 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140034610","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

Computer-aided design tool for typical flexible mechanisms synthesis by means of evolutionary algorithms 利用进化算法合成典型柔性机构的计算机辅助设计工具

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-04 DOI: 10.1017/s0263574724000171

Mohamed Amine Ben Abdallah, Imed Khemili, Nizar Aifaoui, Med Amine Laribi

{"title":"Computer-aided design tool for typical flexible mechanisms synthesis by means of evolutionary algorithms","authors":"Mohamed Amine Ben Abdallah, Imed Khemili, Nizar Aifaoui, Med Amine Laribi","doi":"10.1017/s0263574724000171","DOIUrl":"https://doi.org/10.1017/s0263574724000171","url":null,"abstract":"Accurate prediction for mechanisms’ dynamic responses has always been a challenging task for designers. For modeling easiness purposes, mechanisms’ synthesis and optimization have been mostly limited to rigid systems, making consequently the designer unable to vow that the manufactured mechanism satisfies the target responses. To address this limitation, flexible mechanism synthesis is aimed in this work. Two benchmark mechanisms being the core of myriad mechanical devices are of scope, mainly, the flexible slider-crank and the four-bar. In addition to the mechanism dimensions, materials properties have been embedded in the synthesis problem. Two responses are of interest for the slider-crank mechanism, the slider velocity, and the midpoint axial displacement for the flexible connecting rod. Whereas five responses have been compiled for the four-bar mechanism synthesis. A comparative analysis of seven optimization techniques to solve the synthesis problem for both mechanisms has been performed. Subsequently, an executable computer-aided design tool for mechanisms synthesis has been developed under MATLAB®. Numerical outcomes emphasize the limits of a single-response-based synthesis for a flexible mechanism. It has been proven that combining different responses alleviates possible error and fulfill high-accuracy requirement.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"3 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140034282","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

Outdoor LiDAR-inertial SLAM using ground constraints 利用地面约束的室外激光雷达-惯性 SLAM

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-02-26 DOI: 10.1017/s0263574724000237

Yating Hu, Qigao Zhou, Zhejun Miao, Hang Yuan, Shuang Liu

引用次数: 0