Biomimetics最新文献

MS-CLSTM: Myoelectric Manipulator Gesture Recognition Based on Multi-Scale Feature Fusion CNN-LSTM Network.

IF 3.4 3区医学

Biomimetics Pub Date : 2024-12-23 DOI: 10.3390/biomimetics9120784

Ziyi Wang, Wenjing Huang, Zikang Qi, Shuolei Yin

{"title":"MS-CLSTM: Myoelectric Manipulator Gesture Recognition Based on Multi-Scale Feature Fusion CNN-LSTM Network.","authors":"Ziyi Wang, Wenjing Huang, Zikang Qi, Shuolei Yin","doi":"10.3390/biomimetics9120784","DOIUrl":"10.3390/biomimetics9120784","url":null,"abstract":"Surface electromyography (sEMG) signals reflect the local electrical activity of muscle fibers and the synergistic action of the overall muscle group, making them useful for gesture control of myoelectric manipulators. In recent years, deep learning methods have increasingly been applied to sEMG gesture recognition due to their powerful automatic feature extraction capabilities. sEMG signals contain rich local details and global patterns, but single-scale convolutional networks are limited in their ability to capture both comprehensively, which restricts model performance. This paper proposes a deep learning model based on multi-scale feature fusion-MS-CLSTM (MS Block-ResCBAM-Bi-LSTM). The MS Block extracts local details, global patterns, and inter-channel correlations in sEMG signals using convolutional kernels of different scales. The ResCBAM, which integrates CBAM and Simple-ResNet, enhances attention to key gesture information while alleviating overfitting issues common in small-sample datasets. Experimental results demonstrate that the MS-CLSTM model achieves recognition accuracies of 86.66% and 83.27% on the Ninapro DB2 and DB4 datasets, respectively, and the accuracy can reach 89% in real-time myoelectric manipulator gesture prediction experiments. The proposed model exhibits superior performance in sEMG gesture recognition tasks, offering an effective solution for applications in prosthetic hand control, robotic control, and other human-computer interaction fields.","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"9 12","pages":""},"PeriodicalIF":3.4,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11727569/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142891821","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Edge Artificial Intelligence Device in Real-Time Endoscopy for Classification of Gastric Neoplasms: Development and Validation Study.

IF 3.4 3区医学

Biomimetics Pub Date : 2024-12-22 DOI: 10.3390/biomimetics9120783

Eun Jeong Gong, Chang Seok Bang, Jae Jun Lee

{"title":"Edge Artificial Intelligence Device in Real-Time Endoscopy for Classification of Gastric Neoplasms: Development and Validation Study.","authors":"Eun Jeong Gong, Chang Seok Bang, Jae Jun Lee","doi":"10.3390/biomimetics9120783","DOIUrl":"10.3390/biomimetics9120783","url":null,"abstract":"Objective: We previously developed artificial intelligence (AI) diagnosis algorithms for predicting the six classes of stomach lesions. However, this required significant computational resources. The incorporation of AI into medical devices has evolved from centralized models to decentralized edge computing devices. In this study, a deep learning endoscopic image classification model was created to automatically categorize all phases of gastric carcinogenesis using an edge computing device.Design: A total of 15,910 endoscopic images were collected retrospectively and randomly assigned to train, validation, and internal-test datasets in an 8:1:1 ratio. The major outcomes were as follows: 1. lesion classification accuracy in six categories: normal/atrophy/intestinal metaplasia/dysplasia/early/advanced gastric cancer; and 2. the prospective evaluation of classification accuracy in real-world procedures.Results: The internal-test lesion-classification accuracy was 93.8% (95% confidence interval: 93.4-94.2%); precision was 88.6%, recall was 88.3%, and F1 score was 88.4%. For the prospective performance test, the established model attained an accuracy of 93.3% (91.5-95.1%). The established model's lesion classification inference speed was 2-3 ms on GPU and 5-6 ms on CPU. The expert endoscopists reported no delays in lesion classification or any interference from the deep learning model throughout their exams.Conclusions: We established a deep learning endoscopic image classification model to automatically classify all stages of gastric carcinogenesis using an edge computing device.","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"9 12","pages":""},"PeriodicalIF":3.4,"publicationDate":"2024-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11672907/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142891785","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive Disturbance Rejection Motion Control of Direct-Drive Systems with Adjustable Damping Ratio Based on Zeta-Backstepping.

IF 3.4 3区医学

Biomimetics Pub Date : 2024-12-21 DOI: 10.3390/biomimetics9120780

Zhongjin Zhang, Zhitai Liu, Weiyang Lin, Wei Cheng

{"title":"Adaptive Disturbance Rejection Motion Control of Direct-Drive Systems with Adjustable Damping Ratio Based on Zeta-Backstepping.","authors":"Zhongjin Zhang, Zhitai Liu, Weiyang Lin, Wei Cheng","doi":"10.3390/biomimetics9120780","DOIUrl":"10.3390/biomimetics9120780","url":null,"abstract":"Direct-drive servo systems are extensively applied in biomimetic robotics and other bionic applications, but their performance is susceptible to uncertainties and disturbances. This paper proposes an adaptive disturbance rejection Zeta-backstepping control scheme with adjustable damping ratios to enhance system robustness and precision. An iron-core permanent magnet linear synchronous motor (PMLSM) was employed as the experimental platform for the development of a dynamic model that incorporates compensation for friction and cogging forces. To address model parameter uncertainties, an indirect parameter adaptation strategy based on a recursive least squares algorithm was introduced. It updates parameters based on the system state instead of output error, ensuring robust parameter convergence. An integral sliding mode observer (ISMO) was constructed to estimate and compensate for residual uncertainties, achieving finite-time state estimation. The proposed Zeta-backstepping controller enables adjustable damping ratios through parameterized control laws, offering flexibility in achieving desired dynamic performance. System stability and bounded tracking performance were validated via a second-order Lyapunov function analysis. Experimental results on a real PMLSM platform demonstrated that, while achieving adjustable damping ratio dynamic characteristics, there is a significant improvement in tracking accuracy and disturbance suppression. This underscores the scheme's potential for advancing precision control in biomimetic robotics and other direct-drive system applications.","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"9 12","pages":""},"PeriodicalIF":3.4,"publicationDate":"2024-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11727389/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142891858","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The Influence of Physiological Blood Clot on Osteoblastic Cell Response to a Chitosan-Based 3D Scaffold-A Pilot Investigation.

IF 3.4 3区医学

Biomimetics Pub Date : 2024-12-21 DOI: 10.3390/biomimetics9120782

Natacha Malu Miranda da Costa, Hilary Ignes Palma Caetano, Larissa Miranda Aguiar, Ludovica Parisi, Benedetta Ghezzi, Lisa Elviri, Leonardo Raphael Zuardi, Paulo Tambasco de Oliveira, Daniela Bazan Palioto

{"title":"The Influence of Physiological Blood Clot on Osteoblastic Cell Response to a Chitosan-Based 3D Scaffold-A Pilot Investigation.","authors":"Natacha Malu Miranda da Costa, Hilary Ignes Palma Caetano, Larissa Miranda Aguiar, Ludovica Parisi, Benedetta Ghezzi, Lisa Elviri, Leonardo Raphael Zuardi, Paulo Tambasco de Oliveira, Daniela Bazan Palioto","doi":"10.3390/biomimetics9120782","DOIUrl":"10.3390/biomimetics9120782","url":null,"abstract":"Background: The use of ex vivo assays associated with biomaterials may allow the short-term visualization of a specific cell type response inserted in a local microenvironment. Blood is the first component to come into contact with biomaterials, providing blood clot formation, being substantial in new tissue formation. Thus, this research investigated the physiological blood clot (PhC) patterns formed in 3D scaffolds (SCAs), based on chitosan and 20% beta-tricalcium phosphate and its effect on osteogenesis. Initially, SCA were inserted for 16 h in rats calvaria defects, and, after that, osteoblasts cells (OSB; UMR-106 lineage) were seeded on the substrate formed. The groups tested were SCA + OSB and SCA + PhC + OSB. Cell viability was checked by MTT and mineralized matrix formation in OSB using alizarin red (ARS). The alkaline phosphatase (ALP) and bone sialoprotein (BSP) expression in OSB was investigated by indirect immunofluorescence (IF). The OSB and PhC morphology was verified by scanning electron microscopy (SEM).Results: The SCA + PhC + OSB group showed greater cell viability (p = 0.0169). After 10 days, there was more mineralized matrix deposition (p = 0.0365) and high ALP immunostaining (p = 0.0021) in the SCA + OSB group. In contrast, BSP was more expressed in OSB seeded on SCA with PhC (p = 0.0033).Conclusions: These findings show the feasibility of using PhC in ex vivo assays. Additionally, its inclusion in the experiments resulted in a change in OSB behavior when compared to in vitro assays. This \"closer to nature\" environment can completely change the scenario of a study.","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"9 12","pages":""},"PeriodicalIF":3.4,"publicationDate":"2024-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11727562/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142891884","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Trajectory Tracking Control for Robotic Manipulator Based on Soft Actor-Critic and Generative Adversarial Imitation Learning.

IF 3.4 3区医学

Biomimetics Pub Date : 2024-12-21 DOI: 10.3390/biomimetics9120779

Jintao Hu, Fujie Wang, Xing Li, Yi Qin, Fang Guo, Ming Jiang

{"title":"Trajectory Tracking Control for Robotic Manipulator Based on Soft Actor-Critic and Generative Adversarial Imitation Learning.","authors":"Jintao Hu, Fujie Wang, Xing Li, Yi Qin, Fang Guo, Ming Jiang","doi":"10.3390/biomimetics9120779","DOIUrl":"10.3390/biomimetics9120779","url":null,"abstract":"In this paper, a deep reinforcement learning (DRL) approach based on generative adversarial imitation learning (GAIL) and long short-term memory (LSTM) is proposed to resolve tracking control problems for robotic manipulators with saturation constraints and random disturbances, without learning the dynamic and kinematic model of the manipulator. Specifically, it limits the torque and joint angle to a certain range. Firstly, in order to cope with the instability problem during training and obtain a stability policy, soft actor-critic (SAC) and LSTM are combined. The changing trends of joint position over time are more comprehensively captured and understood by employing an LSTM architecture designed for robotic manipulator systems, thereby reducing instability during the training of robotic manipulators for tracking control tasks. Secondly, the obtained policy by SAC-LSTM is used as expert data for GAIL to learn a better control policy. This SAC-LSTM-GAIL (SL-GAIL) algorithm does not need to spend time exploring unknown environments and directly learns the control strategy from stable expert data. Finally, it is demonstrated by the simulation results that the end effector of the robot tracking task is effectively accomplished by the proposed SL-GAIL algorithm, and more superior stability is exhibited in a test environment with interference compared with other algorithms.","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"9 12","pages":""},"PeriodicalIF":3.4,"publicationDate":"2024-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11727619/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142891587","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Biomimetic Linkage Mechanism Robust Control for Variable Stator Vanes in Aero-Engine.

IF 3.4 3区医学

Biomimetics Pub Date : 2024-12-21 DOI: 10.3390/biomimetics9120778

Qinqin Sun, Zhangyang Lu, Xingyu Gui, Ye-Hwa Chen

{"title":"Biomimetic Linkage Mechanism Robust Control for Variable Stator Vanes in Aero-Engine.","authors":"Qinqin Sun, Zhangyang Lu, Xingyu Gui, Ye-Hwa Chen","doi":"10.3390/biomimetics9120778","DOIUrl":"10.3390/biomimetics9120778","url":null,"abstract":"This work addresses the position tracking control design of the stator vane driven by electro-hydrostatic actuators facing uncertain aerodynamic disturbances. Rapidly changing aerodynamic conditions impose complex disturbance torques on the guide vanes. Consequently, a challenging task is to enhance control precision in complex uncertain environments. Inspired by the principles of mammalian muscle movement, a novel robust control strategy based on the backstepping method has been proposed. Using backstepping, virtual rotational speed and virtual pressure difference force are designed, which decompose the high-order position closed-loop control problem into three lower-order parts, eliminating the need for matching conditions. Subsequently, robust controllers were designed, and stability proofs and performance analyses of the controllers were provided. This control strategy was tested through numerical hydraulic simulation. The results show that compared to other control methods, this approach significantly improves tracking accuracy and robustness. Therefore, it is believed that this method has the potential to become a new generation solution for such problems.","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"9 12","pages":""},"PeriodicalIF":3.4,"publicationDate":"2024-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11727165/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142891654","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Insight into the Use of Brewers' Spent Grain as a Low-Carbon Aggregate in Building Materials.

IF 3.4 3区医学

Biomimetics Pub Date : 2024-12-21 DOI: 10.3390/biomimetics9120781

Badreddine El Haddaji, Mohammed-Hichem Benzaama, Marc Quiertant, Yassine El Mendili

{"title":"Insight into the Use of Brewers' Spent Grain as a Low-Carbon Aggregate in Building Materials.","authors":"Badreddine El Haddaji, Mohammed-Hichem Benzaama, Marc Quiertant, Yassine El Mendili","doi":"10.3390/biomimetics9120781","DOIUrl":"10.3390/biomimetics9120781","url":null,"abstract":"This study investigates the use of Brewers' Spent Grains (BSGs) as a sustainable biocomposite building materials, using cornstarch as a biopolymer binder. BSG aggregates are compared with hemp shives, a conventional aggregate known for its thermal properties. Starch is employed as a natural binder in three different formulations to further reduce the carbon footprint of the building material. Considering aggregates, the first formulation contains only BSGs, the second consists of half BSGs and half hemp shives, and the third uses only hemp shives. In addition, morphological analysis using Scanning Electron Microscopy (SEM) is conducted to examine the microstructure and porosity of the raw BSG and hemp shives. Hygrothermal properties are measured using Heat Flow Meter (HFM) and Dynamic Vapor Sorption (DVS) techniques, while mechanical properties are also assessed. Results indicate that the thermal conductivity of the BSG formulation (0.131 W/(m·K)) is double that of the hemp shives formulation (0.067 W/(m·K)), whereas the mixed BSG/hemp shives formulation exhibits a thermal conductivity of 0.106 W/(m·K). However, DVS measurements reveal better hygrothermal properties for the BSG formulation compared to the hemp shives formulation. Lastly, mechanical properties are found to be nearly equivalent across the three formulations. These findings suggest that BSG waste has potential as a viable material for use in construction. Further work on formulation optimization and durability is necessary to fully realize the potential of this waste in promoting a circular economy within the building materials industry.","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"9 12","pages":""},"PeriodicalIF":3.4,"publicationDate":"2024-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11727592/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142891810","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Kinematics and Flow Field Analysis of Allomyrina dichotoma Flight.

IF 3.4 3区医学

Biomimetics Pub Date : 2024-12-20 DOI: 10.3390/biomimetics9120777

Huan Shen, Kai Cao, Chao Liu, Zhiyuan Mao, Qian Li, Qingfei Han, Yi Sun, Zhikang Yang, Youzhi Xu, Shutao Wu, Jiajun Xu, Aihong Ji

{"title":"Kinematics and Flow Field Analysis of Allomyrina dichotoma Flight.","authors":"Huan Shen, Kai Cao, Chao Liu, Zhiyuan Mao, Qian Li, Qingfei Han, Yi Sun, Zhikang Yang, Youzhi Xu, Shutao Wu, Jiajun Xu, Aihong Ji","doi":"10.3390/biomimetics9120777","DOIUrl":"10.3390/biomimetics9120777","url":null,"abstract":"In recent years, bioinspired insect flight has become a prominent research area, with a particular focus on beetle-inspired aerial vehicles. Studying the unique flight mechanisms and structural characteristics of beetles has significant implications for the optimization of biomimetic flying devices. Among beetles, Allomyrina dichotoma (rhinoceros beetle) exhibits a distinct wing deployment-flight-retraction sequence, whereby the interaction between the hindwings and protective elytra contributes to lift generation and maintenance. This study investigates A. dichotoma's wing deployment, flight, and retraction behaviors through motion analysis, uncovering the critical role of the elytra in wing folding. We capture the kinematic parameters throughout the entire flight process and develop an accurate kinematic model of A. dichotoma flight. Using smoke visualization, we analyze the flow field generated during flight, revealing the formation of enhanced leading-edge vortices and attached vortices during both upstroke and downstroke phases. These findings uncover the high-lift mechanism underlying A. dichotoma's flight dynamics, offering valuable insights for optimizing beetle-inspired micro aerial vehicles.","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"9 12","pages":""},"PeriodicalIF":3.4,"publicationDate":"2024-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11727282/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142891813","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Worm-like Soft Robot Based on Adhesion-Controlled Electrohydraulic Actuators.

IF 3.4 3区医学

Biomimetics Pub Date : 2024-12-20 DOI: 10.3390/biomimetics9120776

Yangzhuo Wu, Zhe Sun, Yu Xiang, Jieliang Zhao

{"title":"A Worm-like Soft Robot Based on Adhesion-Controlled Electrohydraulic Actuators.","authors":"Yangzhuo Wu, Zhe Sun, Yu Xiang, Jieliang Zhao","doi":"10.3390/biomimetics9120776","DOIUrl":"10.3390/biomimetics9120776","url":null,"abstract":"Worms are organisms characterized by simple structures, low energy consumption, and stable movement. Inspired by these characteristics, worm-like soft robots demonstrate exceptional adaptability to unstructured environments, attracting considerable interest in the field of biomimetic engineering. The primary challenge currently involves improving the motion performance of worm-like robots from the perspectives of actuation and anchoring. In this study, a single segment worm-like soft robot driven by electrohydraulic actuators is proposed. The robot consists of a soft actuation module and two symmetrical anchoring modules. The actuation modules enable multi-degree-of-freedom motion of the robot using symmetric dual-electrode electrohydraulic actuators, while the anchoring modules provide active friction control through bistable electrohydraulic actuators. A hierarchical microstructure design is used for the biomimetic adhesive surface, enabling rapid, reversible, and stable attachment to and detachment from different surfaces, thereby improving the robot's surface anchoring performance. Experimental results show that the designed robot can perform peristaltic and bending motions similar to a worm. It achieves rapid bidirectional propulsion on both dry and wet surfaces, with a maximum speed of 10.36 mm/s (over 6 velocity/length ratio (min-1)).","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"9 12","pages":""},"PeriodicalIF":3.4,"publicationDate":"2024-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11727201/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142891857","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Research on Multimodal Control Method for Prosthetic Hands Based on Visuo-Tactile and Arm Motion Measurement.

IF 3.4 3区医学

Biomimetics Pub Date : 2024-12-19 DOI: 10.3390/biomimetics9120775

Jianwei Cui, Bingyan Yan

{"title":"Research on Multimodal Control Method for Prosthetic Hands Based on Visuo-Tactile and Arm Motion Measurement.","authors":"Jianwei Cui, Bingyan Yan","doi":"10.3390/biomimetics9120775","DOIUrl":"10.3390/biomimetics9120775","url":null,"abstract":"The realization of hand function reengineering using a manipulator is a research hotspot in the field of robotics. In this paper, we propose a multimodal perception and control method for a robotic hand to assist the disabled. The movement of the human hand can be divided into two parts: the coordination of the posture of the fingers, and the coordination of the timing of grasping and releasing objects. Therefore, we first used a pinhole camera to construct a visual device suitable for finger mounting, and preclassified the shape of the object based on YOLOv8; then, a filtering process using multi-frame synthesized point cloud data from miniature 2D Lidar, and DBSCAN algorithm clustering objects and the DTW algorithm, was proposed to further identify the cross-sectional shape and size of the grasped part of the object and realize control of the robot's grasping gesture; finally, a multimodal perception and control method for prosthetic hands was proposed. To control the grasping attitude, a fusion algorithm based on information of upper limb motion state, hand position, and lesser toe haptics was proposed to realize control of the robotic grasping process with a human in the ring. The device designed in this paper does not contact the human skin, does not produce discomfort, and the completion rate of the grasping process experiment reached 91.63%, which indicates that the proposed control method has feasibility and applicability.","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"9 12","pages":""},"PeriodicalIF":3.4,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11673542/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142891869","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0