Article
Engineering, Electrical & Electronic
Liang Zhao, Tie Yang, Yang Yang, Peng Yu
Summary: Teleoperation technology combines robot strength with human perception and cognition abilities, allowing robots to work in dangerous environments as avatars of operators. The quality of teleoperation is directly affected by the motion compatibility and intuitiveness of the human-machine interface. This research proposes a wearable, lightweight, and passive upper limb exoskeleton that prioritizes intuitiveness and human-machine compatibility. The research also discusses upper limb pose estimation and teleoperation mapping control methods based on the exoskeleton. Experimental results demonstrate that the upper limb exoskeleton enables users to achieve most areas of normal motion and the proposed mapping control methods perform well in teleoperation tasks using a 14-DOF anthropomorphic manipulator.
Article
Automation & Control Systems
Chang He, Xiao-Wei Xu, Xiong-Fei Zheng, Cai-Hua Xiong, Quan-Lin Li, Wen-Bin Chen, Bai-Yang Sun
Summary: This article presents a computational framework for generating anthropomorphic reaching movement with human motion characteristics, imitating the mechanism in the control and realization of human upper limb motions. By establishing a continuous task parametric model using Gaussian mixture regression method, the proposed method achieves smooth trajectory and natural obstacle avoidance in anthropomorphic motion generation.
IEEE TRANSACTIONS ON CYBERNETICS
(2022)
Article
Multidisciplinary Sciences
Jeremy Villatte, Laurence Taconnat, Christel Bidet-Ildei, Lucette Toussaint
Summary: This study found that the manual sensorimotor system plays an important role in the memory of graspable objects, and that upper limb immobilization design may affect the recognition speed of graspable objects, leading to faster recognition.
Article
Clinical Neurology
Ze-Jian Chen, Chang He, Jiang Xu, Chan-Juan Zheng, Jing Wu, Nan Xia, Qiang Hua, Wen-Guang Xia, Cai-Hua Xiong, Xiao-Lin Huang
Summary: This study aimed to compare conventional therapist-mediated training with exoskeleton-assisted anthropomorphic movement training for patients after stroke. The results showed that patients who received exoskeleton-assisted training had higher scores in the Fugl-Meyer Assessment for Upper Extremity at 4 weeks. Therefore, exoskeleton-assisted anthropomorphic movement training appears to be effective for stroke rehabilitation.
Article
Engineering, Electrical & Electronic
Martina Lapresa, Christian Tamantini, Francesco Scotto di Luzio, Marco Ferlazzo, Gianfranco Sorrenti, Flavio Corpina, Loredana Zollo
Summary: Kinematic analysis of human movement is crucial for medical and working scenarios. This study proposes a method using an anthropomorphic robot to assess the performance of M-IMUs in tracking specific ranges of human upper limb movements. The Root Mean Square Error is employed as the performance indicator. Experimental validation shows that a high percentage of trials exhibit low errors for the tested M-IMUs.
IEEE SENSORS JOURNAL
(2022)
Article
Rehabilitation
Ze-Jian Chen, Chang He, Feng Guo, Cai-Hua Xiong, Xiao-Lin Huang
Summary: The feasibility of exoskeleton-assisted anthropomorphic movement training (EAMT) was investigated in a pilot randomized controlled trial involving 20 participants with subacute stroke. EAMT therapy was found to be feasible, acceptable, and safe, with significant improvements in FMA-UE, MBI, and kinematic metrics in favor of the EAMT group. Fully powered randomized controlled trials are needed to confirm these results and explore the underlying mechanisms of EAMT therapy.
ARCHIVES OF PHYSICAL MEDICINE AND REHABILITATION
(2021)
Article
Endocrinology & Metabolism
Qianjin Qi, Kui Sun, Ying Rong, Zhaoping Li, Yixia Wu, Di Zhang, Shuaihua Song, Haoran Wang, Li Feng
Summary: This study investigated the association between segmental body composition and metabolic diseases, specifically hypertension, hypercholesterolemia, and diabetes, in U.S. adults. The results showed that increased upper limb lean body mass was associated with a lower risk of these metabolic diseases, while increased upper limb fat mass was associated with an increased risk. Significant differences were also found between genders.
FRONTIERS IN ENDOCRINOLOGY
(2022)
Article
Psychology, Multidisciplinary
Joohee Kim, Il Im
Summary: This study investigates the anthropomorphic response of users to artificial intelligence, finding that appearance, cognitive intelligence, and emotional intelligence affect users' perception and tendency to anthropomorphize.
COMPUTERS IN HUMAN BEHAVIOR
(2023)
Article
Robotics
Jianwei Sun, Yang Shen, Jacob Rosen
Summary: This study introduces a technique for reducing the number of sensors in exoskeleton control by utilizing a Kalman filter-based sensor fusion system. Experimental results demonstrate that using a subset of two sensors can achieve comparable physical interaction between the exoskeleton and the human operator as using three sensors, helping improve wearability and reduce costs.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Business
Ai-Hsuan Chiang, Silvana Trimi, Yu-Ju Lo
Summary: Deployment of robots in the service sector, accelerated by advanced digital technologies and the ongoing COVID-19 pandemic, has led to a wide application of service robots to enhance customer experience. This study investigates the impact of the anthropomorphism of robots on customers' perceived service quality and finds a significant positive relationship between anthropomorphism, intimacy, and service quality.
TECHNOLOGICAL FORECASTING AND SOCIAL CHANGE
(2022)
Article
Multidisciplinary Sciences
Chenglin Liu, Yuan Tian, Longfeng Zhou, Zhulin Tian, Gang Sun, Jun Yin, Zhixiong Zhou
Summary: The study found a moderate correlation between upper limb muscle strength and DP output power, with the shoulder extension strength at 60 degrees/s showing a higher correlation. Multiple regression analysis indicated that shoulder extension strength at 60 degrees/s explained 34% and 40% of the variance in the 30-s and 3-min tests respectively.
SCIENTIFIC REPORTS
(2022)
Article
Chemistry, Analytical
Tanvir Ahmed, Md Rasedul Islam, Brahim Brahmi, Mohammad Habibur Rahman
Summary: This article introduces an exoskeleton robot named SREx for upper limb rehabilitation therapy. The study implemented a model-free PID controller to maneuver the robot and evaluated its robustness and trajectory tracking performance through experiments.
Article
Engineering, Electrical & Electronic
Hanadi A. Jaber, Mofeed T. Rashid, Hisham Mahmood, Luigi Fortuna
Summary: This paper proposes a set of robust features to improve the performance of the myoelectric control system for upper limb prostheses. These features significantly increase the classification accuracy in online setups and are more resistant to noise compared to time-domain features. The results confirm the robustness of the features extracted from the high-density surface electromyography map.
IEEE SENSORS JOURNAL
(2022)
Article
Clinical Neurology
Dimitri Bredikhin, Olga Agranovich, Maxim Ulanov, Maria Koriakina, Anna N. Shestakova, Dzerassa Kadieva, Grigory Kopytin, Evgenia Ermolovich, Beatriz Bermudez-Margaretto, Yury Shtyrov, Iiro P. Jaaskelainen, Evgeny Blagovechtchenski
Summary: The study found altered processing of hand-related verbs in OBPP/amyoplasia children with hand-related disabilities, while there were no significant differences in processing leg-related verbs or pseudowords. The results contribute to the growing evidence supporting the theory of embodied cognition, which suggests that various domains of cognition are influenced by bodily interactions with the environment.
CLINICAL NEUROPHYSIOLOGY
(2023)
Review
Education & Educational Research
Bahar Memarian, Tenzin Doleck
Summary: This article reviews the relationship between embodied education and artificial intelligence, finding that the mind's participation is most significant. The research focuses more on the technical aspects of embodied AI in education, while paying less attention to other learner needs.
EDUCATION AND INFORMATION TECHNOLOGIES
(2023)
Article
Robotics
Hirofumi Shin, Shuhei Ikemoto, Koh Hosoda
Article
Multidisciplinary Sciences
Shinya Takamuku, Hiroaki Gomi
SCIENTIFIC REPORTS
(2019)
Article
Neurosciences
Shinya Takamuku, Haruhisa Ohta, Chieko Kanai, Antonia F. de C. Hamilton, Hiroaki Gomi
Summary: Previous studies found that individuals with autism rely less on vision for reaching in a force field, suggesting difficulties in extracting force information from visual motion signals. A recent study showed that autistic adults perform similarly to typical adults in inverse computation in perceptual tasks, indicating preserved ability in sensory perception and motor control. Through testing the use of inverse dynamics computation in a motor control context, it was found that autistic adults also exhibit preserved ability in this aspect.
EXPERIMENTAL BRAIN RESEARCH
(2021)
Article
Robotics
Tsung-Yuan Chen, Shunsuke Shigaki, Koh Hosoda
Summary: This study proposes a mechanical design for reducing the yaw moment and whole-body rotation of a bipedal walking robot without complicated control, showing a significant decrease in the peak of the yaw moment and the amplitude change of the torso yaw rotation with the geared foot.
Article
Engineering, Electrical & Electronic
Tatsuya Usui, Hiroki Ishizuka, Takumi Kawasetsu, Koh Hosoda, Sei Ikeda, Osamu Oshiro
Summary: The proposed soft capacitive tactile sensor utilizes the displacement of an air-water interface to detect applied forces, eliminating the need for stiff electrical elements and improving flexibility and durability. The sensor can detect both press and pull forces and has a quick response to external forces, showing high repeatability and low hysteresis.
SENSORS AND ACTUATORS A-PHYSICAL
(2021)
Article
Multidisciplinary Sciences
Shinya Takamuku, Hiroaki Gomi
Summary: This study found that the human visual system can maintain self-motion speed by adjusting stride length, regardless of changes in object depths in the scene. The results suggest the presence of a speedometer within the visuomotor system that calculates self-motion speed from vision cues.
Article
Neurosciences
Irena Arslanova, Shinya Takamuku, Hiroaki Gomi, Patrick Haggard
Summary: This study investigates the process of integrating multiple stimulus elements into an overall tactile percept during object interactions. The experiments reveal that the precision of multi-touch integration is higher in between-hand conditions compared to within-hand conditions, indicating a bimanual perceptual advantage. The sensitivity to the average direction of the tactile motion trajectories is influenced by the discrepancy between individual motion signals, but only for within-hand conditions. These findings provide insights into the factors that influence the perception of simultaneous tactile events.
JOURNAL OF NEUROPHYSIOLOGY
(2022)
Article
Chemistry, Analytical
Shunsuke Shigaki, Mayu Yamada, Daisuke Kurabayashi, Koh Hosoda
Summary: We developed a novel algorithm inspired by the male silk moth, which enables a robot to locate odor sources indoors and outdoors. By measuring the female localization behavior of the silk moth using a virtual reality system, we identified two types of search behavior based on the direction of odor and wind detection. The robust moth-inspired algorithm was implemented on a ground-running robot and showed better localization performance compared to conventional moth-inspired algorithms in varying environmental complexities.
Article
Robotics
Ryu Takahashi, Yanlin Wang, Junqi Wang, Yelin Jiang, Koh Hosoda
Summary: Musculoskeletal robots have great potential for future robot design, but the possibility of muscle output delays poses a challenge. The reflex system, observed in animals, is seen as an efficient mechanism to overcome this challenge. The Ia and Ib reflex pathways, originating from muscle sensory receptors, contribute to the responsiveness and convergence of the feedback system. In this study, a basic reflex system for a robot arm driven by pneumatic artificial muscles (PAMs) was proposed and its effectiveness was investigated through two experiments, demonstrating its ability to reduce disturbances.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Engineering, Electrical & Electronic
Hirono Ohashi, Takuto Yasuda, Takumi Kawasetsu, Koh Hosoda
Summary: This study aims to classify tactile information by changing the arrangement of conductive materials. A soft tactile sensor composed of a silicone rubber body with two channels filled with a conductive material is developed. Resistance changes in the two channels are used to determine the contact position, and pressure information is obtained through a model based on the estimated value of the contact position.
IEEE SENSORS LETTERS
(2023)
Article
Engineering, Electrical & Electronic
Shunsuke Shigaki, Yuki Yoshimura, Daisuke Kurabayashi, Koh Hosoda
Summary: In this study, we addressed the problem of 3-D chemical plume tracking using a palm-sized quadcopter and designed an algorithm for odor sensor placement. The results showed that placing the sensors on the upper and front surfaces of the quadcopter, combined with a 3-D surge-casting algorithm, improves the tracking performance. By conducting experiments, we demonstrated that even in environments with changing wind directions, the proposed approach outperforms the conventional 3-D-CPT algorithm.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2022)
Article
Materials Science, Multidisciplinary
Yuta Hara, Kazunari Yoshida, Ajit Khosla, Masaru Kawakami, Koh Hosoda, Hidemitsu Furukawa
ECS JOURNAL OF SOLID STATE SCIENCE AND TECHNOLOGY
(2020)
Proceedings Paper
Computer Science, Artificial Intelligence
Hiroki Kawashima, Umakshi Sajnani, Masahiro Shimizu, Koh Hosoda
BIOMIMETIC AND BIOHYBRID SYSTEMS
(2018)
Proceedings Paper
Computer Science, Artificial Intelligence
Yu Duan, Shuhei Ikemoto, Koh Hosoda
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
(2018)
Article
Engineering, Electrical & Electronic
Shunsuke Shigaki, Hirono Ohashi, Takeshi Sakurai, Masahiro Shimizu, Koh Hosoda, Daisuke Kurabayashi
IEEE SENSORS LETTERS
(2020)
Article
Robotics
Aime Charles Alfred Dione, Shoichi Hasegawa
Summary: This study proposes a new method to solve the kinematic hyper redundancy problem in posture control of a robotic arm with redundant degrees of freedom. By controlling strategic points along the arm, the method guides the overall motion of the arm towards the target posture. The method is capable of safely and accurately tracking target postures that are significantly different from the initial posture.
Article
Robotics
Peirang Li, Naoya Ueda, Chi Zhu
Summary: This study focuses on the traditional attendant-propelled power-assist wheelchairs (APAWs) and identifies the discomfort caused by changes in handle velocity when passing through a slope. To address this issue, a velocity compensation method is proposed and validated through simulations and experiments.
Article
Robotics
Juan Padron, Kenta Tatsuda, Kiyoshi Ohishi, Yuki Yokokura, Toshimasa Miyazaki
Summary: This paper proposes a method that takes into account real-time posture-dependent inertial variation to achieve exact dynamic compensation and independent control of each axis for industrial robots. By discretizing the state equations of the posture-variant two-inertia system model, the whole control system can be easily redeisgned at each control cycle to address the issues caused by posture changes.
