IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation最新文献

Gait Event Detection with Proprioceptive Force Sensing in a Powered Knee-Ankle Prosthesis: Validation over Walking Speeds and Slopes. 动力膝踝关节假体步态事件的本体感觉力检测：在步行速度和坡度上的验证。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2023-05-01 Epub Date: 2023-07-04 DOI: 10.1109/icra48891.2023.10161102

Emily G Keller, Curt A Laubscher, Robert D Gregg

{"title":"Gait Event Detection with Proprioceptive Force Sensing in a Powered Knee-Ankle Prosthesis: Validation over Walking Speeds and Slopes.","authors":"Emily G Keller, Curt A Laubscher, Robert D Gregg","doi":"10.1109/icra48891.2023.10161102","DOIUrl":"10.1109/icra48891.2023.10161102","url":null,"abstract":"Many powered prosthetic devices use load cells to detect ground interaction forces and gait events. These sensors introduce additional weight and cost in the device. Recent proprioceptive actuators enable an algebraic relationship between actuator torques and ground contact forces. This paper presents a proprioceptive force sensing paradigm which estimates ground reaction forces as a solution to detect gait events without a load cell. A floating body dynamic model is obtained with constraints at the center of pressure representing foot-ground interaction. Constraint forces are derived to estimate ground reaction forces and subsequently timing of gait events. A treadmill experiment is conducted with a powered knee-ankle prosthesis used by an able-bodied subject walking at various speeds and slopes. Results show accurate gait event timing, with pooled data showing heel strike detection lagging by only 6.7 ± 7.2 ms and toe off detection leading by 30.4 ± 11.0 ms compared to values obtained from the load cell. These results establish proof of concept for predicting gait events without a load cell in powered prostheses with proprioceptive actuators.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10414786/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10006237","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

ColibriDoc: An Eye-in-Hand Autonomous Trocar Docking System. ColibriDoc:眼-手自动套管针对接系统。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2022-05-01 Epub Date: 2022-07-12 DOI: 10.1109/icra46639.2022.9811364

Shervin Dehghani, Michael Sommersperger, Junjie Yang, Mehrdad Salehi, Benjamin Busam, Kai Huang, Peter Gehlbach, Iulian Iordachita, Nassir Navab, M Ali Nasseri

{"title":"ColibriDoc: An Eye-in-Hand Autonomous Trocar Docking System.","authors":"Shervin Dehghani, Michael Sommersperger, Junjie Yang, Mehrdad Salehi, Benjamin Busam, Kai Huang, Peter Gehlbach, Iulian Iordachita, Nassir Navab, M Ali Nasseri","doi":"10.1109/icra46639.2022.9811364","DOIUrl":"https://doi.org/10.1109/icra46639.2022.9811364","url":null,"abstract":"Retinal surgery is a complex medical procedure that requires exceptional expertise and dexterity. For this purpose, several robotic platforms are currently under development to enable or improve the outcome of microsurgical tasks. Since the control of such robots is often designed for navigation inside the eye in proximity to the retina, successful trocar docking and insertion of the instrument into the eye represents an additional cognitive effort, and is therefore one of the open challenges in robotic retinal surgery. For this purpose, we present a platform for autonomous trocar docking that combines computer vision and a robotic setup. Inspired by the Cuban Colibri (hummingbird) aligning its beak to a flower using only vision, we mount a camera onto the endeffector of a robotic system. By estimating the position and pose of the trocar, the robot is able to autonomously align and navigate the instrument towards the Trocar Entry Point (TEP) and finally perform the insertion. Our experiments show that the proposed method is able to accurately estimate the position and pose of the trocar and achieve repeatable autonomous docking. The aim of this work is to reduce the complexity of the robotic setup prior to the surgical task and therefore, increase the intuitiveness of the system integration into clinical workflow.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9484558/pdf/nihms-1836539.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"40372293","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Stair Ascent Phase-Variable Control of a Powered Knee-Ankle Prosthesis. 动力膝关节-踝关节假体楼梯上升的相位可变控制。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2022-05-01 DOI: 10.1109/icra46639.2022.9811578

Ross J Cortino, Edgar Bolívar-Nieto, T Kevin Best, Robert D Gregg

{"title":"Stair Ascent Phase-Variable Control of a Powered Knee-Ankle Prosthesis.","authors":"Ross J Cortino, Edgar Bolívar-Nieto, T Kevin Best, Robert D Gregg","doi":"10.1109/icra46639.2022.9811578","DOIUrl":"https://doi.org/10.1109/icra46639.2022.9811578","url":null,"abstract":"Passive prostheses cannot provide the net positive work required at the knee and ankle for step-over stair ascent. Powered prostheses can provide this net positive work, but user synchronization of joint motion and power input are critical to enabling natural stair ascent gaits. In this work, we build on previous phase variable-based control methods for walking and propose a stair ascent controller driven by the motion of the user's residual thigh. We use reference kinematics from an able-bodied dataset to produce knee and ankle joint trajectories parameterized by gait phase. We redefine the gait cycle to begin at the point of maximum hip flexion instead of heel strike to improve the phase estimate. Able-bodied bypass adapter experiments demonstrate that the phase variable controller replicates normative able-bodied kinematic trajectories with a root mean squared error of 12.66° and 2.64° for the knee and ankle, respectively. The knee and ankle joints provided on average 0.39 J/kg and 0.21 J/kg per stride, compared to the normative averages of 0.34 J/kg and 0.21 J/kg, respectively. Thus, this controller allows powered knee-ankle prostheses to perform net positive mechanical work to assist stair ascent.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9432737/pdf/nihms-1785127.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9771788","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 9

SAGE: SLAM with Appearance and Geometry Prior for Endoscopy. SAGE: SLAM与外观和几何形状的内窥镜检查。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2022-05-01 DOI: 10.1109/icra46639.2022.9812257

Xingtong Liu, Zhaoshuo Li, Masaru Ishii, Gregory D Hager, Russell H Taylor, Mathias Unberath

{"title":"SAGE: SLAM with Appearance and Geometry Prior for Endoscopy.","authors":"Xingtong Liu, Zhaoshuo Li, Masaru Ishii, Gregory D Hager, Russell H Taylor, Mathias Unberath","doi":"10.1109/icra46639.2022.9812257","DOIUrl":"https://doi.org/10.1109/icra46639.2022.9812257","url":null,"abstract":"In endoscopy, many applications (e.g., surgical navigation) would benefit from a real-time method that can simultaneously track the endoscope and reconstruct the dense 3D geometry of the observed anatomy from a monocular endoscopic video. To this end, we develop a Simultaneous Localization and Mapping system by combining the learning-based appearance and optimizable geometry priors and factor graph optimization. The appearance and geometry priors are explicitly learned in an end-to-end differentiable training pipeline to master the task of pair-wise image alignment, one of the core components of the SLAM system. In our experiments, the proposed SLAM system is shown to robustly handle the challenges of texture scarceness and illumination variation that are commonly seen in endoscopy. The system generalizes well to unseen endoscopes and subjects and performs favorably compared with a state-of-the-art feature-based SLAM system. The code repository is available at https://github.com/lppllppl920/SAGE-SLAM.git.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10018746/pdf/nihms-1873358.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9156195","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 13

Adaptive Semi-Supervised Intent Inferral to Control a Powered Hand Orthosis for Stroke. 自适应半监督意图区间控制卒中助力手矫形器。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2022-05-01 DOI: 10.1109/icra46639.2022.9811932

Jingxi Xu, Cassie Meeker, Ava Chen, Lauren Winterbottom, Michaela Fraser, Sangwoo Park, Lynne M Weber, Mitchell Miya, Dawn Nilsen, Joel Stein, Matei Ciocarlie

{"title":"Adaptive Semi-Supervised Intent Inferral to Control a Powered Hand Orthosis for Stroke.","authors":"Jingxi Xu, Cassie Meeker, Ava Chen, Lauren Winterbottom, Michaela Fraser, Sangwoo Park, Lynne M Weber, Mitchell Miya, Dawn Nilsen, Joel Stein, Matei Ciocarlie","doi":"10.1109/icra46639.2022.9811932","DOIUrl":"https://doi.org/10.1109/icra46639.2022.9811932","url":null,"abstract":"In order to provide therapy in a functional context, controls for wearable robotic orthoses need to be robust and intuitive. We have previously introduced an intuitive, user-driven, EMG-based method to operate a robotic hand orthosis, but the process of training a control that is robust to concept drift (changes in the input signal) places a substantial burden on the user. In this paper, we explore semi-supervised learning as a paradigm for controlling a powered hand orthosis for stroke subjects. To the best of our knowledge, this is the first use of semi-supervised learning for an orthotic application. Specifically, we propose a disagreement-based semi-supervision algorithm for handling intrasession concept drift based on multimodal ipsilateral sensing. We evaluate the performance of our algorithm on data collected from five stroke subjects. Our results show that the proposed algorithm helps the device adapt to intrasession drift using unlabeled data and reduces the training burden placed on the user. We also validate the feasibility of our proposed algorithm with a functional task; in these experiments, two subjects successfully completed multiple instances of a pick-and-handover task.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10181849/pdf/nihms-1847263.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9470406","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Resolution-Optimal Motion Planning for Steerable Needles. 可操纵针的分辨率最优运动规划。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2022-05-01 DOI: 10.1109/icra46639.2022.9811850

Mengyu Fu, Kiril Solovey, Oren Salzman, Ron Alterovitz

{"title":"Resolution-Optimal Motion Planning for Steerable Needles.","authors":"Mengyu Fu, Kiril Solovey, Oren Salzman, Ron Alterovitz","doi":"10.1109/icra46639.2022.9811850","DOIUrl":"https://doi.org/10.1109/icra46639.2022.9811850","url":null,"abstract":"Medical steerable needles can follow 3D curvilinear trajectories inside body tissue, enabling them to move around critical anatomical structures and precisely reach clinically significant targets in a minimally invasive way. Automating needle steering, with motion planning as a key component, has the potential to maximize the accuracy, precision, speed, and safety of steerable needle procedures. In this paper, we introduce the first resolution-optimal motion planner for steerable needles that offers excellent practical performance in terms of runtime while simultaneously providing strong theoretical guarantees on completeness and the global optimality of the motion plan in finite time. Compared to state-of-the-art steerable needle motion planners, simulation experiments on realistic scenarios of lung biopsy demonstrate that our proposed planner is faster in generating higher-quality plans while incorporating clinically relevant cost functions. This indicates that the theoretical guarantees of the proposed planner have a practical impact on the motion plan quality, which is valuable for computing motion plans that minimize patient trauma.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9629985/pdf/nihms-1845718.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9769183","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Towards Efficient 3D Human Motion Prediction using Deformable Transformer-based Adversarial Network 基于变形变压器对抗网络的高效三维人体运动预测

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2022-01-01 DOI: 10.1109/ICRA46639.2022.9812325

Hua Yu, Xuanzhe Fan, Yaqing Hou, Yi Liu, Cai Kang, D. Zhou, Qiang Zhang

引用次数: 0

Wireless stepper motor control and optimization based on robust control theory 基于鲁棒控制理论的无线步进电机控制与优化

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2021-06-01 DOI: 10.11591/IJRA.V10I2.PP144-148

Waleed Al-Azzawi

引用次数: 1

Detection of duplicate and non-face images in the eRecruitment applications using machine learning techniques 使用机器学习技术检测电子招聘应用程序中的重复和非人脸图像

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2021-06-01 DOI: 10.11591/IJRA.V10I2.PP114-122

K. Manjunath, Yogeen S. Honnavar, Rakesh Pritmani, K. Sethuraman

{"title":"Detection of duplicate and non-face images in the eRecruitment applications using machine learning techniques","authors":"K. Manjunath, Yogeen S. Honnavar, Rakesh Pritmani, K. Sethuraman","doi":"10.11591/IJRA.V10I2.PP114-122","DOIUrl":"https://doi.org/10.11591/IJRA.V10I2.PP114-122","url":null,"abstract":"The objective of this work is to develop methodologies to detect, and report the noncompliant images with respect to indian space research organisation (ISRO) recruitment requirements. The recruitment software hosted at U. R. rao satellite centre (URSC) is responsible for handling recruitment activities of ISRO. Large number of online applications are received for each post advertised. In many cases, it is observed that the candidates are uploading either wrong or non-compliant images of the required documents. By non-compliant images, we mean images which do not have faces or there is not enough clarity in the faces present in the images uploaded. In this work, we attempt to address two specific problems namely: 1) To recognise image uploaded to recruitment portal contains a human face or not. This is addressed using a face detection algorithm. 2) To check whether images uploaded by two or more applications are same or not. This is achieved by using machine learning (ML) algorithms to generate similarity score between two images, and then identify the duplicate images. Screening of valid applications becomes very challenging as the verification of such images using a manual process is very time consuming and requires large human efforts. Hence, we propose novel ML techniques to determine duplicate and non-face images in the applications received by the recruitment portal.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41968423","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}

引用次数: 0

Switched time delay control based on neural network for fault detection and compensation in robot 基于神经网络的切换时延控制在机器人故障检测与补偿中的应用

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2021-06-01 DOI: 10.11591/IJRA.V10I2.PP91-103

Maincer Dihya, M. Moufid, Boudjedir Chemseddine, Bounabi Moussaab

{"title":"Switched time delay control based on neural network for fault detection and compensation in robot","authors":"Maincer Dihya, M. Moufid, Boudjedir Chemseddine, Bounabi Moussaab","doi":"10.11591/IJRA.V10I2.PP91-103","DOIUrl":"https://doi.org/10.11591/IJRA.V10I2.PP91-103","url":null,"abstract":"Fault detection in robotic manipulators is necessary for their monitoring and represents an effective support to use them as independent systems. This present study investigates an enhanced method for representation of the faultless system behavior in a robot manipulator based on a multi-layer perceptron (MLP) neural network learning model which produces the same behavior as the real dynamic manipulator. The study was based on generation of residue by contrasting the actual output of the manipulator with those of the neural network; Then, a time delay control (TDC) is applied to compensate the fault, in which a typical sliding mode command is used to delete the time delay estimate produced by the belated signal in order to obtain strong performances. The results of the simulations performed on a model of the SCARA arm manipulator, showed a good trajectory tracking and fast convergence speed in the presence of faults on the sensors. In addition, the command is completely model independent, for both TDC and MLP neural network, which represents a major advantage of the proposed command.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46031245","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}

引用次数: 0