Article
Engineering, Mechanical
Qingcong Wu, Ying Chen
Summary: This paper presents a soft elbow exoskeleton for the rehabilitation training of disabled patients. An adaptive cooperative control strategy is employed to promote active involvement and voluntary participation of patients, enhancing therapy outcome.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2023)
Article
Engineering, Biomedical
Ung Heo, Jirou Feng, Sangjoon J. Kim, Jung Kim
Summary: To prevent lower back pain in the industrial workplace, various powered back support exoskeletons have been developed. However, conventional kinematics-triggered assistance strategies induce latency, degrading assistance efficiency. Therefore, a surface electromyography-triggered assistance strategy was proposed and experimentally evaluated, showing improved assistance efficiency and particular benefits in heavy external load situations.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2022)
Article
Automation & Control Systems
Feiyun Xiao, Liang Gu, Wenzhang Ma, Yanhe Zhu, Zhen Zhang, Yong Wang
Summary: The wearable hand/wrist rehabilitation exoskeleton with limited number of sEMG sensors achieved real-time motion intention recognition, resulting in improved rehabilitation training for chronic stroke patients.
Article
Chemistry, Analytical
Hui-Bin Li, Xiao-Rong Guan, Zhong Li, Kai-Fan Zou, Long He
Summary: In this paper, a knee joint angle estimation model based on the novel method of multiple kernel relevance vector regression (MKRVR) is proposed to improve the viability of human-robot interactive perception and reduce the complexity of the estimation model. By comparing with least squares support vector regression (LSSVR), the results show that MKRVR performs better in knee joint angle estimation.
Article
Robotics
Wujing Cao, Chunjie Chen, Dashuai Wang, Xinyu Wu, Lingxing Chen, Tiantian Xu, Jingshuai Liu
Summary: A rigid-soft lower limb exoskeleton for loaded walking assistance was proposed and its motion flexibility, load transfer ability, and metabolic cost were investigated.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Biology
Zhichuan Tang, Hongnian Yu, Hongchun Yang, Lekai Zhang, Lufang Zhang
Summary: This study focuses on the issue of joint angle estimation performance in upper-limb exoskeleton control, proposing two effective methods to minimize the effect of limb velocity and acceleration. The results show that using multisensor fusion (sEMG sensors and gyroscope) achieves better estimation performance, helpful in real-time joint angle estimation for upper-limb exoskeleton control.
COMPUTERS IN BIOLOGY AND MEDICINE
(2022)
Article
Robotics
Jun-ichiro Furukawa, Shotaro Okajima, Qi An, Yuichi Nakamura, Jun Morimoto
Summary: This study focuses on estimating and assisting a limited number of selected movements using an EMG-based movement classification and a lightweight exoskeleton robot. The results show that the approach can effectively assist the user's movements.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Automation & Control Systems
Yanghui Zhu, Qingcong Wu, Bai Chen, Ziyue Zhao, Conghui Liang
Summary: This article presents a variable stiffness knee exoskeleton robot that can independently control stiffness and position. It also proposes a physical human-robot interaction (pHRI) control scheme based on joint torque estimation using the mechanical properties of the exoskeleton. The article further demonstrates the effectiveness of the torque estimation method and the pHRI control scheme through experiments.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2023)
Article
Engineering, Biomedical
Qingcong Wu, Zhijie Wang, Ying Chen
Summary: This article proposes a soft elbow rehabilitation exoskeleton for the multi-mode training of disabled patients. The control strategy, which combines adaptive cooperative admittance backstepping control, sEMG-based joint torque estimation, and neural network compensation, can induce the active participation of patients and ensure the safety and effectiveness of training. Experimental results demonstrate the superiority of the proposed control strategy in improving position control performance and meeting the training requirements of patients with different degrees of hemiplegia.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2023)
Article
Engineering, Biomedical
Seungmoon Song, Steven H. Collins
Summary: In this study, human-in-the-loop optimization was used to demonstrate that ankle exoskeleton assistance can lead to significant increases in self-selected walking speed. By optimizing torque for speed, participants walked 42% faster than in normal shoes, highlighting the potential benefits for individuals with reduced walking speed.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2021)
Article
Computer Science, Artificial Intelligence
Juan C. Maldonado-Mejia, Marcela Munera, Camilo A. R. Diaz, Helge Wurdemann, Mehran Moazen, Maria Jose Pontes, Marcelo Eduardo Vieira Segatto, Maxwell E. Monteiro, Carlos A. Cifuentes
Summary: The rise of soft robotics has led to the development of devices for assistance in activities of daily living. Textile-based pneumatic actuation has been introduced in hand exoskeletons, but their ability to maintain stable contact with a variety of objects commonly used in ADLs has yet to be fully evaluated.
FRONTIERS IN NEUROROBOTICS
(2023)
Article
Biotechnology & Applied Microbiology
Lei Zhang, Jingang Long, RongGang Zhao, Haoyang Cao, Kai Zhang
Summary: The study developed a backpropagation neural network model based on sEMG features and human movement angle to enhance the estimation of joint angles during continuous movement. The proposed model showed promising results in a tracking experiment with a one-DOF exoskeleton robot.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2022)
Article
Engineering, Electrical & Electronic
Longwen Chen, Xue Yan, Dean Hu
Summary: Wearable exoskeleton techniques are maturing and widely used. This study proposes a deep learning control strategy using IMUs for hip power-assisted swimming exoskeleton. The strategy includes two steps: motion recognition and hip joint angle estimation. Offline and online testing validate the accuracy and robustness of the strategy, showing stable and feasible results.
IEEE SENSORS JOURNAL
(2023)
Article
Biotechnology & Applied Microbiology
Jianfeng Ma, Decheng Sun, Xiao Chen
Summary: In this article, a hip-knee coupling exoskeleton with offset theory is designed to improve the athletic ability of the elderly. The novel design incorporates the offset principle for hip and knee joints, and a coupling mechanism is proposed to address the power assistance problem for the knee joint. Mathematical and human-machine interaction models are established to optimize the load environment and verify the scientificity of the exoskeleton design. It is theoretically shown that the exoskeleton can save at least 20% of the human body's energy.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2022)
Article
Robotics
Tobias Buetzer, Olivier Lambercy, Jumpei Arata, Roger Gassert
Summary: The RELab tenoexo is a fully wearable soft hand exoskeleton designed to assist users in daily grasping tasks, with high flexibility and adaptability, easy operation, high comfort, low weight, unintrusive size, and appealing appearance.
Article
Engineering, Biomedical
Ziyan Shao, Qingcong Wu, Bai Chen, Hongtao Wu
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE
(2019)
Article
Automation & Control Systems
Ziyan Shao, Qingcong Wu, Bai Chen, Hongtao Wu, Yuming Zhang
Article
Engineering, Mechanical
Ziyan Shao, Wanqiang Xi, Qingcong Wu
Summary: In order to assist in the rehabilitation of movement disorders, a lightweight, soft exosuit for elbow flexion and extension is developed based on muscle length relationship and the Hill-type muscle model. The prototype of the exosuit is capable and effective in helping the elbow joint.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2023)
Article
Automation & Control Systems
Runwei Guan, Shanliang Yao, Lulu Liu, Xiaohui Zhu, Ka Lok Man, Yong Yue, Jeremy Smith, Eng Gee, Yutao Yue
Summary: With the development of Unmanned Surface Vehicles (USVs), the perception of inland waterways has become significant. Traditional RGB cameras cannot work effectively in adverse weather and at night, which has led to the emergence of 4D millimeter-wave radar as a new perception sensor. However, the radar suffers from water-surface clutter and irregular shape of point cloud. To address these issues, this paper proposes a high-performance panoptic perception model called Mask-VRDet, which fuses features of vision and radar using graph neural network.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Adrien Le Reun, Kevin Subrin, Anthony Dubois, Sebastien Garnier
Summary: This study aims to evaluate the quality and health of aerospace parts using a high-dimensional robotic cell. By utilizing X-ray Computed Tomography devices, the interior of the parts can be reconstructed and anomalies can be detected. A methodology is proposed to assess both the raw process capability and the improved process capability, with three strategies developed to improve the robot behavior model and calibration.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Weiming Ba, Jung-Che Chang, Jing Liu, Xi Wang, Xin Dong, Dragos Axinte
Summary: This paper proposes a hybrid scheme for kinematic control of continuum robots, which avoids errors through tension supervision and accurate piecewise linear approximation. The effectiveness of the controller is verified on different continuum robotic systems.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Gabriele Abbate, Alessandro Giusti, Viktor Schmuck, Oya Celiktutan, Antonio Paolillo
Summary: In this study, a learning-based approach is proposed to predict the probability of human users interacting with a robot before the interaction begins. By considering the pose and motion of the user, the approach labels the robot's encounters with humans in a self-supervised manner. The method is validated and deployed in various scenarios, achieving high accuracy in predicting user intentions to interact with the robot.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Tiago Cortinhal, Eren Erdal Aksoy
Summary: This work presents a new depth-and semantics-aware conditional generative model, named TITAN-Next, for cross-domain image-to-image translation between LiDAR and camera sensors. The model is able to translate raw LiDAR point clouds to RGB-D camera images by solely relying on semantic scene segments, and it has practical applications in fields like autonomous vehicles.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Marios Krestenitis, Emmanuel K. Raptis, Athanasios Ch. Kapoutsis, Konstantinos Ioannidis, Elias B. Kosmatopoulos, Stefanos Vrochidis
Summary: This paper addresses the issue of informative path planning for a UAV used in precision agriculture. By using a non-uniform scanning approach, the time spent in areas with minimal value is reduced, while maintaining high precision in information-dense regions. A novel active sensing and deep learning-based coverage path planning approach is proposed, which adjusts the UAV's speed based on the quantity and confidence level of identified plant classes.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shota Kokubu, Pablo E. Tortos Vinocour, Wenwei Yu
Summary: In this study, a new modular soft actuator was proposed to improve the support performance of soft rehabilitation gloves (SRGs). Objective evaluations and clinical tests were conducted to demonstrate the effectiveness and functionality of the proposed actuator and SRG.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Jinliang Zhu, Yuanxi Sun, Jie Xiong, Yiyang Liu, Jia Zheng, Long Bai
Summary: This paper proposes an active prosthetic knee joint with a variable stiffness parallel elastic actuation mechanism. Numerical verifications and practical experiments demonstrate that the mechanism can reduce torque and power, thus reducing energy consumption and improving the endurance of the prosthetic knee joint.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Yong You, Jingtao Wu, Yunlong Meng, Dongye Sun, Datong Qin
Summary: A new power-cycling variable transmission (PCVT) is proposed and applied to construction vehicles to improve transmission efficiency. A shift correction strategy is developed based on identifying the changes in construction vehicles' mass and gradient. Simulation results show that the proposed method can correct shift points, improve operation efficiency, and ensure a safer operation process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shaorui Liu, Wei Tian, Jianxin Shen, Bo Li, Pengcheng Li
Summary: This paper proposes a two-objective optimization technique for multi-robot systems, addressing the issue of balancing productivity and machining performance in high-quality machining tasks.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pengchao Ding, Faben Zhu, Hongbiao Zhu, Gongcheng Wang, Hua Bai, Han Wang, Dongmei Wu, Zhijiang Du, Weidong Wang
Summary: We propose an autonomous approaching scheme for mobile robot traversing obstacle stairwells, which overcomes the restricted field of vision caused by obstacles. The scheme includes stair localization, structural parameter estimation, and optimization of the approaching process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pedro Azevedo, Vitor Santos
Summary: Accurate detection and tracking of vulnerable road users and traffic objects are vital tasks for autonomous driving and driving assistance systems. This paper proposes a solution for object detection and tracking in an autonomous driving scenario, comparing different object detectors and exploring the deployment on edge devices. The effectiveness of DeepStream technology and different object trackers is assessed using the KITTI tracking dataset.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Benjamin Beiter, Divya Srinivasan, Alexander Leonessa
Summary: Powered exoskeletons can significantly reduce physical workload and have great potential impact on future labor practices. To truly assist users in achieving task goals, a shared autonomy control framework is proposed to separate the control objectives of the human and exoskeleton. Positive Power control is introduced for the human-based controller, while 'acceptance' is used as a measure of matching the exoskeleton's control objective to the human's. Both control objectives are implemented in an optimization-based Whole-Body-Control structure. The results verify the effectiveness of the control framework and its potential for improving cooperative control for powered exoskeletons.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
