IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics最新文献

{"title":"Enabling Autonomous Navigation within Urban Environments for Existing Powered Wheelchairs","authors":"Hao Chanh Nguyen, Ali Göktogan","doi":"10.1109/AIM52237.2022.9863296","DOIUrl":"https://doi.org/10.1109/AIM52237.2022.9863296","url":null,"abstract":"","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"1 1","pages":"421-426"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81722639","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":"Metrics and Methods for Evaluating Learning Outcomes and Learner Interactions in Robotics-Enabled STEM Education","authors":"S. Rahman","doi":"10.1109/AIM43001.2020.9158900","DOIUrl":"https://doi.org/10.1109/AIM43001.2020.9158900","url":null,"abstract":"This paper attempts to develop the metrics and methods for evaluating the learning outcomes and interactions of learners with robotic devices in robotics-enabled STEM education. For the learning outcomes, a survey was conducted with 20 middle school math and science teachers who received training on how to design, develop and implement roboticsenabled STEM lessons. Each teacher had also experience of implementing robot-enabled STEM lessons in actual classroom environment. The participating teachers responded the survey based on their training, classroom experience and observations, and self-brainstorming. The survey responses were then analyzed and the appropriate and comprehensive assessment metrics and methods for the learning outcomes of students were determined. The results showed that the expected learning outcomes were related not only to the educational gains, but also to the improvements in the behavioral, social, scientific, cognitive and intellectual aptitudes of students (learners). Validation and generalization procedures of the developed assessment metrics and methods were discussed. For the learner interactions, investigations were made when selected engineering students were learning fundamental mechanical engineering concepts using a specially designed robotic platform. Based on survey and observations, a set of criteria as well as their assessment methods were proposed that can be used to evaluate appropriate interactions between learners and learning tools (robotics devices) while learners learn with the learning tools. The proposed evaluation schemes can significantly justify the benefits and advantages of robot-enabled STEM education, benchmark the outcomes, ensure appropriate interactions between learners and learning devices, help improve preparations of instructors and teaching institutions, motivate education decision-makers to confer on robot-enabled STEM education and curricula development, and thus can promote the overall robot-enabled STEM education practices in K-16 education.","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"132 1","pages":"2103-2108"},"PeriodicalIF":0.0,"publicationDate":"2020-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74586502","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":"Admittance-Based Bio-Inspired Cognitive PID Control to Optimize Human-Robot Interaction in Power-Assisted Object Manipulation","authors":"S. Rahman","doi":"10.1109/AIM43001.2020.9158811","DOIUrl":"https://doi.org/10.1109/AIM43001.2020.9158811","url":null,"abstract":"A novel approach to PID control for optimizing human-robot interaction (HRI) in manipulating objects with a power assist robotic system (PARS) was presented. The PID control was developed in the form of the admittance control. To take bio-inspiration and fit the control with human cognition, a novel method of inclusion of weight perception in the dynamics and control of the system was proposed. Then, a comprehensive evaluation and optimization scheme was proposed to determine the optimum HRI and co-manipulation performance. A 1-DOF testbed PARS was developed to experimentally verify the proposed control in a pilot study. During the experiments, human subjects lifted objects with the system and the HRI and system characteristics were investigated and analyzed. The results showed that the proposed PID control aligned with human cognition through inclusion of weight perception in the dynamics and control was effective to optimize the HRI and co-manipulation performance. The results can be used to design human-centered control methods for PARSs to assist humans manipulating heavy objects in industries and at homes that can provide optimum HRI and manipulation performance.","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"11 1","pages":"679-684"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84170291","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 Method to Determine Human-Likeness in Social Motions of Anthropomorphic Robots","authors":"S. Rahman","doi":"10.1109/AIM43001.2020.9158797","DOIUrl":"https://doi.org/10.1109/AIM43001.2020.9158797","url":null,"abstract":"The hand waving motion of a human was considered as a representative social motion because a human can use such motions for social interaction and communication. Twenty healthy human subjects were recruited to participate in a study, where each subject separately showed the hand waving motion at three different conditions: (i) both hands waved, (ii) only left hand waved, and (iii) only right hand waved. The hand waving motion was captured by a motion capture system for each subject in each condition separately. Then, the kinematics (absolute linear displacements, velocities and accelerations) along different axes at three different joints such as wrist, elbow and shoulder were analyzed. Then, the hand waving motion was generated in two different anthropomorphic robotic platforms where the robots were enabled to show their hand waving motions at the same three conditions. The kinematic features for hand waving of the robots along different axes at three different joints were captured using the motion capture system and analyzed in the same way as it was done for the humans. Then, a dynamic similarity metric called the Froude number was proposed and used to determine human-likeness in the form of dynamic equivalence between human and robot motions. Human-likeness between human and robot motions were also assessed through a human subject study to crosscheck the results obtained through the use of the Froude number. An agreement was found in the results obtained through two different methods (Froude number, subjective study). The proposed approach can help determine human-likeness of motions generated by anthropomorphic robots that can bring balance in human-like appearance and human-like motions or actions of anthropomorphic robots and virtual characters, which can enhance their chance of being accepted by their human counterparts for coexistence and collaboration.","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"33 1","pages":"1471-1476"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74207042","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 Robot System for Brachytherapy","authors":"Zequn Li, Chang-le Li, Xuehe Zhang, Gangfeng Liu, Jie Zhao","doi":"10.1109/AIM.2019.8868377","DOIUrl":"https://doi.org/10.1109/AIM.2019.8868377","url":null,"abstract":"","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"221 1","pages":"25-29"},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76036159","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":"Spatial-Semantic Fusion Network for Semantic Segmentation in Real-time","authors":"Yu Fang, Xuehe Zhang, He Zhang, Gangfeng Liu, Chang-le Li, Jie Zhao","doi":"10.1109/AIM.2019.8868787","DOIUrl":"https://doi.org/10.1109/AIM.2019.8868787","url":null,"abstract":"","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"28 1","pages":"30-35"},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82553836","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":"Direction of Slip Detection for Adaptive Grasp Force Control with a Dexterous Robotic Hand.","authors":"Moaed A Abd,&nbsp;Iker J Gonzalez,&nbsp;Thomas C Colestock,&nbsp;Benjamin A Kent,&nbsp;Erik D Engeberg","doi":"10.1109/aim.2018.8452704","DOIUrl":"https://doi.org/10.1109/aim.2018.8452704","url":null,"abstract":"<p><p>A novel method of tactile communication among human-robot and robot-robot collaborative teams is developed for the purpose of adaptive grasp control of dexterous robotic hands. Neural networks are applied to the problem of classifying the direction objects slide against different tactile fingertip sensors in real-time. This ability to classify the direction that an object slides in a dexterous robotic hand was used for adaptive grasp synergy control to afford context dependent robotic reflexes in response to the direction of grasped object slip. Case studies with robot-robot and human-robot collaborative teams successfully demonstrated the feasibility; when object slip in the direction of gravity (towards the ground) was detected, the dexterous hand increased the grasp force to prevent dropping the object. When a human or robot applied an upward force to cause the grasped object to slip upward, the dexterous hand was programmed to release the object into the hand of the other team member. This method of adaptive grasp control using direction of slip detection can improve the efficiency of human-robot and robot-robot teams.</p>","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"2018 ","pages":"21-27"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/aim.2018.8452704","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"37630801","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}

{"title":"Armband with Soft Robotic Actuators and Vibrotactile Stimulators for Bimodal Haptic Feedback from a Dexterous Artificial Hand.","authors":"Moaed A Abd, Michael Bornstein, Emmanuelle Tognoli, Erik D Engeberg","doi":"10.1109/aim.2018.8452709","DOIUrl":"10.1109/aim.2018.8452709","url":null,"abstract":"<p><p>The haptic sense relies upon a plurality of receptors and pathways to produce a complex perceptual experience of contact, pressure, taps, vibrations and flutters. This complexity is yet to be reproduced in haptic feedback interfaces that are used by people controlling a dexterous robotic hand, be it for limb-absence or teleoperation. The goal of the present bimodal haptic armband is to convey both low-frequency pressure changes and high-frequency vibrations from a dexterous robotic hand to a human's upper arm, so as to guide his/her control of the artificial limb. To that end, we design and manufacture four novel soft robotic armbands combining inflatable air chambers and vibrotactile stimulators. We develop control systems for both pathways. We conduct a series of benchtop tests to determine the pneumatic and vibrotactile performance and select from competing designs and materials. We test two of the resulting bimodal haptic armband on human subjects and confirm their ability to use both aspects of this haptic information. Arguing that dexterous artificial hands are presently not used to their fullest capability by the dearth of haptic information in users, this work aims to achieve a more realistic tactile experience for a fluent, more natural usage of robotic artificial hands.</p>","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"2018 ","pages":"13-20"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7009917/pdf/nihms-1027453.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"37630800","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}

{"title":"Experimental investigation of the dynamic performances of a miniature soft Magneto-Rheological shock absorber","authors":"D. Grivon, Y. Civet, Z. Pataky, Y. Perriard","doi":"10.1109/AIM.2016.7576773","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576773","url":null,"abstract":"In the proposed work, the dynamic performances of a miniature soft Magneto-Rheological (MR) shock absorber are analyzed. The final application for which the damper has been designed and in which it will be embedded is a variable stiffness insole for patients with foot neuropathy and undergoing plantar ulcerations. Considering that the common design methodology used to dimension MR devices merely defines the maximum ratings of the sustainable efforts (i.e. maximum sustainable load for MR dampers, pressure drop for MR valves and braking torque for MR brakes or clutches), the relevance of their dynamics involved (respectively the impact velocity of the loading body for shock absorbers, the imposed flow rate and the rotating speed for MR valves and brakes) is often neglected in the dimensioning phase although it may assume a fundamental relevance. The understanding of the dynamic behavior of MR devices become even more important if these latter are part of a element or a more complex system in which all the elements differently affect its final behavior. With this respect, test sessions are conducted to experimentally evaluate the contribution that the different elements composing the damper in order have on the overall performances of the final systems.","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"62 1","pages":"240-245"},"PeriodicalIF":0.0,"publicationDate":"2016-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76847147","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":"Mechanical stiffness augmentation of a 3D printed soft prosthetic finger","authors":"R. Mutlu, S. K. Yildiz, G. Alici, M. Panhuis, Geoffrey M. Spinks","doi":"10.1109/AIM.2016.7576735","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576735","url":null,"abstract":"Soft robotics, as a multi-disciplinary research area, has recently gained a significant momentum due to offering unconventional characteristics relative to rigid robots such as a resilient, highly dexterous, compliant and safer interaction with humans and their physical environments. However, soft robots suffer from not being able to carry their own weight which mainly depends on the modulus of elasticity of the material used to fabricate them. In this paper, we report on a practical and easy-to-implement stiffness augmentation method to enhance stiffness of soft robotic components. We fabricated a soft robotic finger which is fully compliant with flexure hinges using Fused Deposition Modelling (FDM) technique and a stiffness augmenting unit made of thin poly(vinyl chloride)(PVC) sheets. The stiffness of the entire robotic finger was increased mechanically by linearly driving the stiffness augmenting unit. The experimental data presented show that stiffness of the finger was increased by 40 %. Depending on the material properties and thickness used for fabricating the stiffness augmenting unit, a higher rate of stiffness increase can be easily obtained.","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"5 1","pages":"7-12"},"PeriodicalIF":0.0,"publicationDate":"2016-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83940225","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}