Frontiers in Robotics and AI最新文献

{"title":"Model-based trajectory tracking of a compliant continuum robot","authors":"Solomon Pekris, Robert D. Williams, Thibaud Atkins, Ioannis Georgilas, Nicola Bailey","doi":"10.3389/frobt.2024.1358857","DOIUrl":"https://doi.org/10.3389/frobt.2024.1358857","url":null,"abstract":"Introduction: Compliant mechanisms, especially continuum robots, are becoming integral to advancements in minimally invasive surgery due to their ability to autonomously navigate natural pathways, significantly reducing collision severity. A major challenge lies in developing an effective control strategy to accurately reflect their behavior for enhanced operational precision.Methods: This study examines the trajectory tracking capabilities of a tendon-driven continuum robot at its tip. We introduce a novel feedforward control methodology that leverages a mathematical model based on Cosserat rod theory. To mitigate the computational challenges inherent in such models, we implement an implicit time discretization strategy. This approach simplifies the governing equations into space-domain ordinary differential equations, facilitating real-time computational efficiency. The control strategy is devised to enable the robot tip to follow a dynamically prescribed trajectory in two dimensions.Results: The efficacy of the proposed control method was validated through experimental tests on six different demand trajectories, with a motion capture system employed to assess positional accuracy. The findings indicate that the robot can track trajectories with an accuracy within 9.5%, showcasing consistent repeatability across different runs.Discussion: The results from this study mark a significant step towards establishing an efficient and precise control methodology for compliant continuum robots. The demonstrated accuracy and repeatability of the control approach significantly enhance the potential of these robots in minimally invasive surgical applications, paving the way for further research and development in this field.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"1 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140697788","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Outline of an evolutionary morphology generator towards the modular design of a biohybrid catheter","authors":"Michail-Antisthenis Tsompanas, Igor Balaz","doi":"10.3389/frobt.2024.1337722","DOIUrl":"https://doi.org/10.3389/frobt.2024.1337722","url":null,"abstract":"Biohybrid machines (BHMs) are an amalgam of actuators composed of living cells with synthetic materials. They are engineered in order to improve autonomy, adaptability and energy efficiency beyond what conventional robots can offer. However, designing these machines is no trivial task for humans, provided the field’s short history and, thus, the limited experience and expertise on designing and controlling similar entities, such as soft robots. To unveil the advantages of BHMs, we propose to overcome the hindrances of their design process by developing a modular modeling and simulation framework for the digital design of BHMs that incorporates Artificial Intelligence powered algorithms. Here, we present the initial workings of the first module in an exemplar framework, namely, an evolutionary morphology generator. As proof-of-principle for this project, we use the scenario of developing a biohybrid catheter as a medical device capable of arriving to hard-to-reach regions of the human body to release drugs. We study the automatically generated morphology of actuators that will enable the functionality of that catheter. The primary results presented here enforced the update of the methodology used, in order to better depict the problem under study, while also provided insights for the future versions of the software module.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"48 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140709905","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"The integration of GPS and visual navigation for autonomous navigation of an Ackerman steering mobile robot in cotton fields","authors":"Canicius J. Mwitta, Glen C. Rains","doi":"10.3389/frobt.2024.1359887","DOIUrl":"https://doi.org/10.3389/frobt.2024.1359887","url":null,"abstract":"Autonomous navigation in agricultural fields presents a unique challenge due to the unpredictable outdoor environment. Various approaches have been explored to tackle this task, each with its own set of challenges. These include GPS guidance, which faces availability issues and struggles to avoid obstacles, and vision guidance techniques, which are sensitive to changes in light, weeds, and crop growth. This study proposes a novel idea that combining GPS and visual navigation offers an optimal solution for autonomous navigation in agricultural fields. Three solutions for autonomous navigation in cotton fields were developed and evaluated. The first solution utilized a path tracking algorithm, Pure Pursuit, to follow GPS coordinates and guide a mobile robot. It achieved an average lateral deviation of 8.3 cm from the pre-recorded path. The second solution employed a deep learning model, specifically a fully convolutional neural network for semantic segmentation, to detect paths between cotton rows. The mobile rover then navigated using the Dynamic Window Approach (DWA) path planning algorithm, achieving an average lateral deviation of 4.8 cm from the desired path. Finally, the two solutions were integrated for a more practical approach. GPS served as a global planner to map the field, while the deep learning model and DWA acted as a local planner for navigation and real-time decision-making. This integrated solution enabled the robot to navigate between cotton rows with an average lateral distance error of 9.5 cm, offering a more practical method for autonomous navigation in cotton fields.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"42 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140710903","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Magnetic multilayer hydrogel oral microrobots for digestive tract treatment","authors":"Ziheng Xu, Zehao Wu, Zichen Xu, Qingsong Xu","doi":"10.3389/frobt.2024.1392297","DOIUrl":"https://doi.org/10.3389/frobt.2024.1392297","url":null,"abstract":"Oral administration is a convenient drug delivery method in our daily lives. However, it remains a challenge to achieve precise target delivery and ensure the efficacy of medications in extreme environments within the digestive system with complex environments. This paper proposes an oral multilayer magnetic hydrogel microrobot for targeted delivery and on-demand release driven by a gradient magnetic field. The inner hydrogel shells enclose designated drugs and magnetic microparticles. The outer hydrogel shells enclose the inner hydrogel shells, magnetic microparticles, and pH neutralizers. The drug release procedure is remotely implemented layer-by-layer. When the required gradient magnetic field is applied, the outer hydrogel shells are destroyed to release their inclusions. The enclosed pH neutralizers scour the surrounding environment to avoid damaging drugs by the pH environment. Subsequently, the inner hydrogel shells are destroyed to release the drugs. A set of experiments are conducted to demonstrate the wirelessly controllable target delivery and release in a Petri dish and biological tissues. The results demonstrated attractive advantages of the reported microrobot in microcargo delivery with almost no loss, remote controllable release, and drug protection by the pH neutralizers. It is a promising approach to advance next-generation precision oral therapies in the digestive system.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"16 48","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140712072","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Swing-phase detection of locomotive mode transitions for smooth multi-functional robotic lower-limb prosthesis control","authors":"Md Rejwanul Haque, Md Rafi Islam, Edward Sazonov, Xiangrong Shen","doi":"10.3389/frobt.2024.1267072","DOIUrl":"https://doi.org/10.3389/frobt.2024.1267072","url":null,"abstract":"Robotic lower-limb prostheses, with their actively powered joints, may significantly improve amputee users’ mobility and enable them to obtain healthy-like gait in various modes of locomotion in daily life. However, timely recognition of the amputee users’ locomotive mode and mode transition still remains a major challenge in robotic lower-limb prosthesis control. In the paper, the authors present a new multi-dimensional dynamic time warping (mDTW)-based intent recognizer to provide high-accuracy recognition of the locomotion mode/mode transition sufficiently early in the swing phase, such that the prosthesis’ joint-level motion controller can operate in the correct locomotive mode and assist the user to complete the desired (and often power-demanding) motion in the stance phase. To support the intent recognizer development, the authors conducted a multi-modal gait data collection study to obtain the related sensor signal data in various modes of locomotion. The collected data were then segmented into individual cycles, generating the templates used in the mDTW classifier. Considering the large number of sensor signals available, we conducted feature selection to identify the most useful sensor signals as the input to the mDTW classifier. We also augmented the standard mDTW algorithm with a voting mechanism to make full use of the data generated from the multiple subjects. To validate the proposed intent recognizer, we characterized its performance using the data cumulated at different percentages of progression into the gait cycle (starting from the beginning of the swing phase). It was shown that the mDTW classifier was able to recognize three locomotive mode/mode transitions (walking, walking to stair climbing, and walking to stair descending) with 99.08% accuracy at 30% progression into the gait cycle, well before the stance phase starts. With its high performance, low computational load, and easy personalization (through individual template generation), the proposed mDTW intent recognizer may become a highly useful building block of a prosthesis control system to facilitate the robotic prostheses’ real-world use among lower-limb amputees.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"26 25","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140711696","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A review of visual SLAM for robotics: evolution, properties, and future applications","authors":"Basheer Al-Tawil, Thorsten Hempel, Ahmed A. Abdelrahman, A. Al-Hamadi","doi":"10.3389/frobt.2024.1347985","DOIUrl":"https://doi.org/10.3389/frobt.2024.1347985","url":null,"abstract":"Visual simultaneous localization and mapping (V-SLAM) plays a crucial role in the field of robotic systems, especially for interactive and collaborative mobile robots. The growing reliance on robotics has increased complexity in task execution in real-world applications. Consequently, several types of V-SLAM methods have been revealed to facilitate and streamline the functions of robots. This work aims to showcase the latest V-SLAM methodologies, offering clear selection criteria for researchers and developers to choose the right approach for their robotic applications. It chronologically presents the evolution of SLAM methods, highlighting key principles and providing comparative analyses between them. The paper focuses on the integration of the robotic ecosystem with a robot operating system (ROS) as Middleware, explores essential V-SLAM benchmark datasets, and presents demonstrative figures for each method’s workflow.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"2 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140716473","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Evaluating tactile feedback in addition to kinesthetic feedback for haptic shape rendering: a pilot study","authors":"Alexandre L. Ratschat, Bob M. van Rooij, Johannes Luijten, Laura Marchal-Crespo","doi":"10.3389/frobt.2024.1298537","DOIUrl":"https://doi.org/10.3389/frobt.2024.1298537","url":null,"abstract":"In current virtual reality settings for motor skill training, only visual information is usually provided regarding the virtual objects the trainee interacts with. However, information gathered through cutaneous (tactile feedback) and muscle mechanoreceptors (kinesthetic feedback) regarding, e.g., object shape, is crucial to successfully interact with those objects. To provide this essential information, previous haptic interfaces have targeted to render either tactile or kinesthetic feedback while the effectiveness of multimodal tactile and kinesthetic feedback on the perception of the characteristics of virtual objects still remains largely unexplored. Here, we present the results from an experiment we conducted with sixteen participants to evaluate the effectiveness of multimodal tactile and kinesthetic feedback on shape perception. Using a within-subject design, participants were asked to reproduce virtual shapes after exploring them without visual feedback and with either congruent tactile and kinesthetic feedback or with only kinesthetic feedback. Tactile feedback was provided with a cable-driven platform mounted on the fingertip, while kinesthetic feedback was provided using a haptic glove. To measure the participants’ ability to perceive and reproduce the rendered shapes, we measured the time participants spent exploring and reproducing the shapes and the error between the rendered and reproduced shapes after exploration. Furthermore, we assessed the participants’ workload and motivation using well-established questionnaires. We found that concurrent tactile and kinesthetic feedback during shape exploration resulted in lower reproduction errors and longer reproduction times. The longer reproduction times for the combined condition may indicate that participants could learn the shapes better and, thus, were more careful when reproducing them. We did not find differences between conditions in the time spent exploring the shapes or the participants’ workload and motivation. The lack of differences in workload between conditions could be attributed to the reported minimal-to-intermediate workload levels, suggesting that there was little room to further reduce the workload. Our work highlights the potential advantages of multimodal congruent tactile and kinesthetic feedback when interacting with tangible virtual objects with applications in virtual simulators for hands-on training applications.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 2‐3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140720197","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Editorial: Educational robotics and competitions","authors":"Felipe N. Martins, José Lima, Andre Schneider de Oliveira, Paulo Costa, Amy Eguchi","doi":"10.3389/frobt.2024.1394849","DOIUrl":"https://doi.org/10.3389/frobt.2024.1394849","url":null,"abstract":"(AMRs). The paper describes an innovative approach to the indoor localization system for the competition based on the Extended Kalman Filter (EKF) and ArUco markers. The authors tested and compared different innovation methods for the obtained observations in the EKF, validating their approach in a real scenario using a factory floor with the official specifications provided by the competition organization.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"16 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140724298","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Clustering user preferences for personalized teleoperation control schemes via trajectory similarity analysis","authors":"Jennifer Molnar, Varun Agrawal, Sonia Chernova","doi":"10.3389/frobt.2024.1330812","DOIUrl":"https://doi.org/10.3389/frobt.2024.1330812","url":null,"abstract":"Successful operation of a teleoperated robot depends on a well-designed control scheme to translate human motion into robot motion; however, a single control scheme may not be suitable for all users. On the other hand, individual personalization of control schemes may be infeasible for designers to produce. In this paper, we present a method by which users may be classified into groups with mutually compatible control scheme preferences. Users are asked to demonstrate freehand motions to control a simulated robot in a virtual reality environment. Hand pose data is captured and compared with other users using SLAM trajectory similarity analysis techniques. The resulting pairwise trajectory error metrics are used to cluster participants based on their control motions, without foreknowledge of the number or types of control scheme preferences that may exist. The clusters identified for two different robots shows that a small number of clusters form stably for each case, each with its own control scheme paradigm. Survey data from participants validates that the clusters identified through this method correspond to the participants’ control scheme rationales, and also identify nuances in participant control scheme descriptions that may not be obvious to designers relying only on participant explanations of their preferences.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"21 24","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140721651","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Evaluation of force pain thresholds to ensure collision safety in worker-robot collaborative operations","authors":"Ganix Lasa, Giovanni Legnani, Hien Nguyen, Mondragon Assembly, Spain, D. Han, M. Y. Park, J. Choi, H. Shin, R. Behrens, S. Rhim","doi":"10.3389/frobt.2024.1374999","DOIUrl":"https://doi.org/10.3389/frobt.2024.1374999","url":null,"abstract":"With the growing demand for robots in the industrial field, robot-related technologies with various functions have been introduced. One notable development is the implementation of robots that operate in collaboration with human workers to share tasks, without the need of any physical barriers such as safety fences. The realization of such collaborative operations in practice necessitates the assurance of safety if humans and robots collide. Thus, it is important to establish criteria for such collision scenarios to ensure robot safety and prevent injuries. Collision safety must be ensured in both pinching (quasi-static contact) and impact (transient contact) situations. To this end, we measured the force pain thresholds associated with impacts and evaluated the biomechanical limitations. This measurements were obtained through clinical trials involving physical collisions between human subjects and a device designed for generating impacts, and the force pain thresholds associated with transient collisions between humans and robots were analyzed. Specifically, the force pain threshold was measured at two different locations on the bodies of 37 adults aged 19–32 years, using two impactors with different shapes. The force pain threshold was compared with the results of other relevant studies. The results can help identify biomechanical limitations in a precise and reliable manner to ensure the safety of robots in collaborative applications.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"77 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140729232","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}