Intelligent Robotics and Applications: 15th International Conference, ICIRA 2022, Harbin, China, August 1–3, 2022, Proceedings, Part III (Lecture Notes in Artificial Intelligence)

Preface
Organization
Contents – Part III
Wearable Sensing and Robot Control
Wearable Ultrasound Interface for Prosthetic Hand Manipulation
1 Introduction
2 Overview of Integrated Ultrasound System
2.1 Ultrasound Transducers Module
2.2 Signal Processing Module
2.3 Prosthetic Hand Module
3 Experiment Evaluation
3.1 Experimental Protocol
3.2 Data Processing Procedures
3.3 Feature Classification and Validation
4 Data Analysis
5 Discussion and Conclusion
5.1 Discussion
5.2 Conclusion
References
3D Printed Soft Robotic Hand Combining Post-Stroke Rehabilitation and Stiffness Evaluation
1 Introduction
2 Ring-reinforced Soft-Elastic Composite Actuator (R-SECA)
2.1 Actuator Design for the Soft Robotic Hand
2.2 Performance of the Ring-reinforced Soft-Elastic Composite Actuator
2.3 Finger Joint Stiffness Estimation Method and Device with R-SECA
3 3D Printed Soft Robotic Hand System
4 Pilot Test on Stroke Survivors
5 Conclusion
References
Wearable Sensing Based Virtual Reality Rehabilitation Scheme for Upper Limb Training
1 Introduction
2 Design of VR-Based Rehabilitation System
2.1 Wearable Sensing Device
2.2 Rehabilitation Games Design
3 Decision-Making for Rehabilitation Training
3.1 Selection of Upper Limb Motion Feedback Parameters
3.2 Cuckoo Search-Fuzzy Based Decision-Making Scheme
4 Experiments and Results Discussion
4.1 Inclusion and Exclusion Criteria
4.2 Experimental Protocol
4.3 Results Discussion
5 Conclusion
References
Gait Analysis and Phase Recognition Based on Array Fiber Optic Sensing Insole
1 Introduction
2 Array Fiber Optic Sensing Insole
2.1 Fiber Bragg Grating Sensing
2.2 Insole Design and Fabrication
2.3 Sensor Pressure Calibration
3 Experiments
3.1 Gait Monitoring
3.2 Gait Phase Recognition
4 Conclusion
References
Gait Phase Detection Based on Time Sequence Adapting to Various Walking Posture and Frequency
1 Introduction
2 Experiment
2.1 Volunteer Setup
2.2 Wearable System
2.3 Data Acquisition
2.4 Data Labeling
3 CFCT Model Structure
3.1 Construct Inputs and Outputs
3.2 Model Layers
3.3 Model Training
4 Result
4.1 Current Moment’s Gait Phase Prediction
4.2 Historical and Future Phase Prediction
5 Conclusion
References
In Situ Calibration of a Six-Axis FBG Force/Moment Sensor for Surgical Robot
1 Introduction
2 Design and Fabrication of the Sensor
2.1 Structure Design
2.2 Sensing Principle
2.3 Sensor Fabrication
3 In Situ Calibration and Result
3.1 Setup and Principle
3.2 Experiment and Result
4 Robot-Assisted Bone Drilling Experiment
5 Conclusion
References
Wearable Robotics to Characterize, Retrain, and Restore Human Movements
Effects of Brain-Computer Interface and Classical Motor Imagery for Upper Limb Impairment After Stroke: A Case Report
1 Introduction
2 Methodology
2.1 Patients
2.2 Intervention
2.3 Functional Magnetic Resonance Imaging
3 Results
3.1 Clinical Outcome
3.2 fMRI
4 Discussion
5 Conclusion
References
A Synchronous Acquisition System of Ultrasound, sEMG and IMU for Human Motion Prediction
1 Introduction
2 Three Mode Information Synchronous Acquisition System
2.1 Acquisition Function Module
2.2 Synchronous Acquisition Scheme
2.3 Host Computer Acquisition System
3 Upper Limb Movement Experiment
3.1 Experimental Protocols
3.2 Feature Extraction and Feature Fusion
3.3 Classification
4 Results
5 Conclusion
References
Gait Time Parameter Analysis-Based Rehabilitation Evaluation System of Lower Limb Motion Function
1 Introduction
2 Design of Multi-index Rehabilitation Evaluation Model
3 Gait Data Acquisition and Characteristic Parameter Calculation
3.1 Gait Data Selection
3.2 Gait Information Collection
3.3 Calculation of Gait Characteristic Parameters
4 Evaluation Model of Motion Function Rehabilitation
4.1 Evaluation Index of Motion Function Rehabilitation
4.2 Multi-index-Based Evaluation Model of Motion Function Rehabilitation
5 Development of Rehabilitation Evaluation System
5.1 Rehabilitation Evaluation System Architecture
5.2 Software Development
5.3 System Function Verification
6 Conclusion
References
A Portable Fully Coupled Parallel Continuum Manipulator for Nursing Robot: Mechanical Design and Modeling
1 Introduction
2 Structural Design of Continuum Manipulator
3 The Kinematics of Parallel Mechanism
3.1 The Forward Kinematic Analysis of Parallel Mechanism
3.2 The Inverse Kinematic Analysis of Parallel Mechanism
4 Static Analysis of the Continuum Robotic Arm
5 Conclusion
References
A Perturbation Platform and Exoskeleton Simulator for Studying Balance Control of Hip Exoskeleton: Design and Preliminary Validation
1 Introduction
2 Methods
2.1 Perturbation Platform Design
2.2 Hip Exoskeleton Simulator Design
2.3 Control Scheme
3 Experimental Characterization
3.1 Transparency Characterization
3.2 Actuator Performance During Walking
3.3 Perturbation Tests
3.4 Balance Assistance Tests
4 Conclusion
References
Disturbance Observer Compensation Based on Sliding-Mode Approach for Solving Compliant Actuator Tracking Control Problems
1 Introduction
2 Dynamics Modeling and Control Scheme
2.1 Compliant Actuator Dynamics Model
2.2 Compliant Actuator Control Scheme
3 Sliding Mode Control Based on Disturbance Observer
3.1 Design and Prove the Stability of Disturbance Observer
3.2 Design Sliding Mode Controller and Proof System Stability
4 Numerical Results
5 Conclusions
References
Impedance Control of Upper Limb Rehabilitation Robot Based on Series Elastic Actuator
1 Introduction
2 Dynamic and Kinematic Modeling of an Upper Limb Rehabilitation Robot
2.1 Kinematics Analysis
2.2 Dynamic Analysis
3 Design of Impedance Controller
4 Simulation Results
4.1 Trajectory Tracking of an Upper Limb Rehabilitation Robot
4.2 Contact Force and Joint Torque of Upper Limb Rehabilitation Robot
5 Conclusion
References
Flexible Lightweight Graphene-Based Electrodes and Angle Sensor for Human Motion Detection
1 Introduction
2 Methods
2.1 Flexible Graphene Electrode for sEMG Sensing
2.2 Flexible Graphene Grid for Angle Sensing
3 Experiments
3.1 Flexible Graphene Electrode for sEMG Sensing
3.2 Flexible Graphene Grid for Angle Sensing
4 Results and Discussion
4.1 Flexible Graphene Electrode for sEMG Sensing
4.2 Flexible Graphene Grid for Angle Sensing
5 Conclusion
References
The Study of Ankle Assisted Exoskeleton
1 Introduction
2 Ankle Assisted Exoskeleton Design
2.1 Structural Design of Ankle Assisted Exoskeleton
2.2 Structural Analysis of Ankle Assisted Exoskeleton
3 Study on Control Strategy of Ankle Assisted Exoskeleton
3.1 Design of Gait Recognition System
3.2 Research on Control Strategy
4 Prototype Experiment of Ankle Assisted Exoskeleton
4.1 Ankle Exoskeleton Range of Motion Experiment
4.2 Angle Following Experiment of Ankle Exoskeleton
4.3 Assessment of the Effectiveness of Ankle Exoskeleton Assistance
5 Conclusion
References
Motor Learning-Based Real-Time Control for Dexterous Manipulation of Prosthetic Hands
1 Introduction
1.1 Background and Related Work
2 Materials and Methods
2.1 EMG Data Acquisition
2.2 Experimental Protocol
2.3 Data Pre-processing and Feature Extraction
3 Results
3.1 Offline Learning
3.2 Real-Time Control Performance
4 Discussion
5 Conclusions
References
Robotic Environment Perception
A Method for Object Recognition and Robot Grasping Detection in Multi-object Scenes
1 Introduction
2 Related Works
3 Proposed Method
3.1 Object Recognition
3.2 Grasp Detection
4 Experiments
4.1 Object Recognition Experiments
4.2 Grasp Detection Experiments
4.3 Simulation Experiments
5 Conclusions
References
Reinforcement Learning for Mobile Robot Obstacle Avoidance with Deep Deterministic Policy Gradient
1 Introduction
2 Relevance Theory
2.1 Reinforcement Learning
2.2 Deep Deterministic Policy Gradient Agents
3 Improved Reinforcement Learning Based on DDPG
4 Experimental Result
4.1 Experimental Environment
4.2 Train Agent
5 Conclusion
References
An Improved Beetle Antennae Search Optimization Based Particle Filtering Algorithm for SLAM
1 Introduction
2 BAS-PF Strategy
2.1 Principle and Improvement of BAS Algorithm
2.2 Optimization Strategy Design of Particle Filter
3 Application of BAS-PF in Gmapping-SLAM
4 Simulation Result and Analysis
4.1 Simulation of Improved BAS-PF
4.2 Gmapping-SLAM Application Simulation Based on Improved BAS-PF
5 Conclusion
References
Simulation Study of Wireless Coverage in Straight Long Corridors on Container Ship Deck
1 Introduction
2 Ray Reflection Model
3 Model Correction
4 Modeling and Simulation Analysis
4.1 Container Ship Straight Long Corridor Modeling
4.2 Simulation Conditions
4.3 Model Correction
4.4 Fitting and Analysis of Simulation Results
5 Conclusion
References
Research on Path Planning Based on the Fusion Algorithm of Adaptive Ant Colony Optimization and Artificial Potential Field Method
1 Introduction
2 Related Works
2.1 Ant Colony Optimization
2.2 Artificial Potential Field
3 Algorithm Improvement
3.1 ACCO
3.2 IAPF
3.3 Fusion Algorithm
4 Simulation Experiment and Analysis
4.1 The AACO Algorithm Simulation Experiment
4.2 The IAPF Fusion Algorithm Simulation Experiment
5 Conclusion
References
A State-of-the-Art Review on SLAM
1 Introduction
2 Implementation of SLAM System
2.1 The Structure of SLAM System
2.2 LiDAR SLAM System
2.3 Visual SLAM System
3 Current Mainstream SLAM
3.1 Multi-sensor Fusion
3.2 Using Semantic Information
3.3 Dynamic Environment
4 The Future of SLAM
4.1 Implicit Map Representation
4.2 Event Camera
4.3 Active SLAM
5 The Application of SLAM
5.1 Autonomous Vehicles
5.2 UAV
5.3 AR
6 Conclusion
References
Swarm Robotic Technology and System in Space and Underwater
Synthesis of One DOF Single-Loop Mechanisms with Prismatic Pairs Based on the Atlas Method
1 Introduction
2 Introduction of the One DOF SLM with Prismatic Pairs and the Atlas Method
3 Synthesis Method of the One DOF SLMs with Prismatic Pairs
4 Analysis and Classification of the Constraints
5 Synthesis of Non-overconstrained SLMs with Prismatic Pairs
6 Synthesis of Overconstrained SLMs with Prismatic Pairs
6.1 Synthesis of 1F Overconstrained SLMs with Prismatic Pairs
6.2 Synthesis of Other Constraint Type Overconstrained SLMs with Prismatic Pairs
7 Conclusion
Nomenclature
References
Research on the Hydrodynamic Calculation of Variable Structure Underwater Vehicle Based on CFD
1 Introduction
2 Hydrodynamic Modeling for the VS-UV
2.1 Overview of the VS-UV
2.2 Kinematics Modeling
2.3 Dynamic Modeling
3 Simulation
4 Comparison of Results
4.1 Comparison of Hydrodynamic Resistance in Forward Motion
4.2 Simulation Results Analysis of Navigation Mode
4.3 Comparison of Operation Mode Simulation Results
4.4 Discussion
5 Conclusions
References
SOINS: A Real-Time Underwater Sonar-Inertial System for Pipeline 3D Reconstruction
1 Introduction
2 Omnidirectional Sonar Data Preprocess
2.1 Sonar Measurement Likelihood Estimate
2.2 Clustering-Based Process Module
3 Real-Time State Estimator
3.1 Sonar-Inertial System Description
3.2 System State Estimator
4 Experiment
4.1 Experiment Underwater
4.2 Evaluation
5 Conclusion and Future Work
References
Subsea Pipeline Inspection Based on Contrast Enhancement Module
1 Introduction
2 Methodology
2.1 Image Enhancement
2.2 Pipeline Division
3 Experiments and Analysis
4 Conclusion
References
Numerical Investigation on Turbulence Models and the Hydrodynamics of a UVMS
1 Introduction
2 Computational Fluid Dynamics
2.1 FVM and Turbulence Models
2.2 Comparison of Turbulence Models
3 Hydrodynamic Performance Investigation of the UVMS
3.1 Equations of Motion
3.2 3D Model Generalization of the UVMS
3.3 Towing Test Simulation of the UVMS
4 Conclusions
References
Design of Enveloping Underwater Soft Gripper Based on the Bionic Structure
1 Introduction
2 Structural Design and Finite Element Method
2.1 Structural Design
2.2 Finite Element Method
3 Soft Finger Production and OptiTrack Calibration Experiment
3.1 Soft Finger Production
3.2 OptiTrack Calibration Experiment
4 Grabbing Experiment
5 Conclusion
References
Research on Formation Obstacle Avoidance Algorithm of Multiple AUVs Based on Interfered Fluid Dynamical System
1 Introduction
2 Preliminaries
2.1 Modeling the AUVs Dynamics
2.2 Algebraic Graph Theory
3 Obstacle Avoidance Design
3.1 Environment Modeling
3.2 Obstacle Avoidance Based on IFDS
4 Obstacle Avoidance Design
5 Simulation Results Analysis
6 Conclusion
References
Research on Thermage Robot System Based on Constant Force Control
1 Introduction
2 Overall Conceptual Design
2.1 Technical Proposal
2.2 Hardware Design
2.3 Software Design
3 System Algorithm
3.1 Hand-Eye Calibration
3.2 Visual Recognition and Localization
3.3 Constant Force Control Algorithm
4 Experiments
5 Conclusion
References
An Active Obstacle Avoidance Method
1 Introduction
2 Proposed Method Based on ORCA
2.1 Establishing the Velocity Set
2.2 Choose the New Velocity
2.3 Combined with Kalman Filter
3 Simulations Between ORCA and Proposed Method
3.1 Setup
3.2 Scenes
3.3 Effectiveness
4 Conclusion
References
Medical Robot
Design of Wireless Force Sensing Module of Vascular Interventional Robot
1 Introduction
2 Force Sensing Module’s Structural Design
2.1 Force Sensing Module’s Structural Arrangement
2.2 Elastic Body Structural Design
2.3 Finite Element Analysis
3 Hardware Circuit Design
3.1 Measurement Unit
3.2 Signal Acquisition Unit
4 Calibration and Experiments
4.1 Calibration Experimental Platform
4.2 Data Acquisition and Analysis
5 Conclusions
References
Deep Motion Flow Estimation for Monocular Endoscope
1 Introduction
2 Method
2.1 Supervised SURF Flow Label
2.2 Key Points Encoder
2.3 Loss Function
2.4 3D Motion Transfer Algorithm
3 Experiments and Results
3.1 Dataset and Implementation Details
3.2 Feature Extracting Results
3.3 Motion Trajectory Generating Results
4 Conclusion
References
Constant Force Control Method of Grinding Device
1 Introduction
1.1 A Subsection Sample
2 Mechanism Model of the Grinding Device
2.1 Grinding Tool Dynamics Model
2.2 Cylinder Model
3 Control of the Output Force of the Grinding Device
3.1 Control Framework Based on a Nonlinear Differential Gain PID Controllers
3.2 Controller Parameter Selection Based on the Particle Swarm Optimization Algorithm
4 Simulation Experiments
4.1 Simulation Configuration and Methods
5 Conclusion
References
Shape Reconstruction Method for Continuum Robot Using FBG Sensors
1 Introduction
2 Shape Sensing Methods
2.1 Strain Measurement and Curvature Computations
2.2 Shape Reconstruction Model
3 Simulation Study
4 Experiment
5 Conclusion
References
Safety Motion Control and End Force Estimation Based on Angle Information in Robotic Flexible Endoscopy
1 Introduction
2 Methods
2.1 Working Principle of the Proposed Joint with End Force Estimation
2.2 Parameters Determination and System Integration
2.3 Control Strategy of the Proposed Mechanism
3 Experiments and Results
3.1 Static Torque Calibration Experiments
3.2 Tracking Response Performance Investigation
3.3 Application Research of the Joint on the Bending Movement for the Endoscope
4 Conclusion
References
Design and Modeling of a Lightweight Concentric Tube Robot for Nasopharyngeal Surgery
1 Introduction
2 Structure of the Lightweight Concentric Tube Robot
3 Kinematics Model Considering Coupling
3.1 Decoupling of Concentric Tube Robot
3.2 Kinematics Model
4 Simulation and Experiments
4.1 The Relationships Between Stiffness and Coupling
4.2 Simulation of Inverse Kinematics
5 Conclusion and Discussion
References
Research on Puncture Status Perception of Venipuncture Robot Based on Electrical Impedance
1 Introduction
2 Materials and Method
2.1 Bioelectrical Impedance Analysis
2.2 Design of Electrical Impedance Needle
2.3 Experimental Equipment
2.4 Experimental Phantom
3 Experiments
3.1 The Process of the Experiments
3.2 Results and Discussion
4 Conclusion
References
An IMU and EMG-Based Simultaneous and Proportional Control Strategy of 3-DOF Wrist and Hand Movements
1 Introduction
2 Method
2.1 Subject
2.2 Experimental Paradigm
2.3 Data Collection
2.4 Data Processing
2.5 Data Analysis
2.6 Evaluation Metrics and Methods
3 Result
4 Discussion
5 Conclusion
References
Application of Feedforward-Cascade Control in an External Pulling Robot for Nerve Restoration
1 Introduction
2 Structure of the External Pulling Robot
3 Mathematical Model
3.1 Cascade Control of Drive System
3.2 Feedforward Compensation of Tendon Sheath System
4 Simulation and Experimental Verification
5 Conclusion and Discussion
References
Intelligent Co-operation in Mobile Robots for Learning, Optimization, Planning, and Control
Crawling Trajectory Generation of Humanoid Robot Based on CPG and Control
1 Introduction
2 Humanoid Robot Model
3 Design of CPG Network
4 Crawling Control
4.1 Crawling Posture Control
4.2 Compliance Control
5 Simulation and Experiment
6 Conclusion and Future Work
References
A System Integration Method of Product Data Management Based on UG/NX Secondary Development
1 Introductions
2 Key Development Techniques
2.1 System Integration Process
2.2 UG/NX Secondary Development Technology
2.3 Middleware Development
2.4 Information Specification of Integrated System
3 Key Management Process Design and Function Implementation Method
3.1 File Management
3.2 Check-In and Check-Out of Files
3.3 Extraction and Export of Information
4 Main Function Modules of System
4.1 UG/NX Function Module
4.2 Middleware
5 Conclusions
References
Research on Feature Matching Based on Improved RANSAC Algorithm
1 Introduction
2 RANSAC Algorithm
3 Improved RANSAC Algorithm
4 Experiment and Result Analysis
5 Conclusion
References
Global Optimal Trajectory Planning of Mobile Robot Grinding for High-Speed Railway Body
1 Introduction
2 Trajectory Planning of Robotic Machining System
2.1 Adjustment of Robot Joint Configuration
2.2 Trajectory Planning of Robotic Grinding Process
2.3 Robotic Trajectory Planning for High-Speed Railway Body
3 Experimental Setup and Verification
4 Conclusion
References
Design of Control Software for a Reconfigurable Industrial Robot Training Platform
1 Introduction
2 Theoretical Background
2.1 Overview
2.2 Description of Each Step
2.3 Conclusion from Theoretical Analysis
3 The Overall Design of the Training Platform
4 Design of Control Software for Subsystem of Lower Computer
4.1 Main Program Structure Design
4.2 Communication Task Design
4.3 Motor Task Design
4.4 Patrol Task Design
5 Design of Control Software for Subsystem of Upper Computer
5.1 The Overall Design of the Control Software of Upper Computer
5.2 Task Module Design
5.3 Communication Module Design
5.4 Self-checking Module Design
6 Design of Control Software for Subsystem of Robotic Arm
7 Conclusion
References
Observer-Based H-Consensus Control of Multi-agent Systems Under WTOD Protocol
1 Introduction
2 Problem Formulation
2.1 System Model
2.2 Controller Design
3 Main Results
4 An Illustrative Example
5 Conclusions
References
Applications of Kalman Filtering in Time Series Prediction
1 Introduction
2 Detailed Description of KFDAs
2.1 Principle of Kalman Filtering
2.2 Explanation on Extended Kalman Filter
2.3 Statement of Unscented Kalman Filter
2.4 Analysis on Cubature Kalman Filter
3 KFDAs for Wind Speed and Finance Series Prediction
4 Comparison of KFDAs and NN in Time Series Prediction
5 Conclusions
References
Non-fragile Consensus Control for MASs with Dynamical Bias
1 Introduction
2 Problem Formulation
3 Main Results
4 Numerical Example
5 Conclusion
References
ResNet-BiGRU-Attention Based Facial Expression Analysis Model for a Humanoid Robot
1 Introduction
2 Related Work
3 Method
3.1 Convolutional Neural Networks
3.2 Bidirectional Gating Recurrent Neural Networks
3.3 Attention Mechanism
3.4 ResNet-BiGRU-Attention Model
4 Experiment
4.1 An Introduction to Datasets
4.2 Experimental Methods
5 Results and Discussion
6 Human Computer Interaction Test
7 Conclusion
References
Overtaking Trajectory Planning Based on Model Predictive Control
1 Introduction
2 Introduction of Model Predictive Control
3 Vehicle Kinematic Model
4 Overtaking Problem Algorithm Design
5 Experiments
5.1 Scenario
5.2 Simulation Results
6 Conclusion
References
H Switching Adaptive Tracking Control for Manipulator with Average Dwell Time
1 Introduction
2 Basic Knowledge Preparation
2.1 Establishment of Switching Model
3 The Controller Design
3.1 High Gain Observer
3.2 Switched Adaptive Controller
4 Simulation
5 Conclusion
References
An Inspection Planning Method for Steam Generators with Triangular-Distributed Tubes
1 Introduction
2 System Design and Model Establishing
2.1 System Design
2.2 Environment and Robot Model
3 Method
3.1 Task Planning
3.2 Path Planning
4 Experiment
5 Conclusion
References
Memory-Based STOMP for Local Path Planning
1 Introduction
2 Basic STOMP
3 STOMP for Local Planning
3.1 Memory-Based STOMP
3.2 Control for Tracking Path
4 Simulation
5 Conclusion
References
Research and Verification of Robot Master-Slave Control Algorithm for Nuclear Power Maintenance Scenarios
1 Introduction
2 Experimental Validation System and Workflow
2.1 Validation System Workflow
3 Master-Slave Control Algorithm
3.1 Master-Slave Algorithm Architecture
3.2 Incremental Master-Slave Control Algorithm Based on Position-Orientation Separation Method
3.3 Security Mechanisms
3.4 Variable Mapping Scales
4 Experiments and Results
5 Conclusion
References
Research on Force Perception of Robot End-Effector Based on Dynamics Model
1 Intorduction
2 Robot Dynamics Model
2.1 Introduction to Robot Structure
2.2 Dynamic Model
3 Dynamic Simulation of Virtual Prototype Model
3.1 Construction of Virtual Prototype Model
3.2 Dynamic Model Validation Simulation
3.3 Multi Condition Dynamic Simulation of Movement Process
4 End Contact Force Estimation Strategy and Simulation Verification
5 Conclusion
References
Tactile Robotics
Perceptual Properties of Fingertips Under Electrotactile Stimulation
1 Introduction
2 Methods
2.1 Subjects and Stimulation System
2.2 Measurement of DT and PT
2.3 Measurement of JND
2.4 Intensity and Quality Evaluation
2.5 Multi-level Discrimination
2.6 Experimental Procedure
2.7 Statistical Analysis
3 Results
3.1 DT and PT
3.2 JND
3.3 Intensity and Quality
3.4 Multi-level Discrimination
4 Conclusion
References
A Brief Review Focused on Tactile Sensing for Stable Robot Grasping Manipulation
1 Introduction
2 Grasp with Slip Detection
2.1 Slip Detection with Tactile Sensor
2.2 Slip Detection with Vision-Based Tactile Sensing
2.3 Slip Detection Combined Tactile and Visual Information
3 Grasp Stability Assessment
3.1 Grasp Stability Assessment Based on Analytical Methods
3.2 Grasp Stability Assessment Based on Learning
3.3 Grasp Outcome Prediction
4 Grasp Adjustment and Re-grasp
5 Discussion
6 Conclusion
References
A Soft Neuromorphic Approach for Contact Spatial Shape Sensing Based on Vision-Based Tactile Sensor
1 Introduction
2 Materials and Methods
2.1 Custom Vision-Based Tactile Sensor
2.2 Experimental Setup and Protocol
2.3 Data Acquisition and Noise Filter
2.4 Neuron Model
2.5 Spike Trains Decoding Method
3 Results and Discussion
3.1 Spiking Encoding of Shapes
3.2 Classification of Different Shapes
3.3 Discussion
4 Conclusion
References
Contact Information Prediction Based on Multi-force Training for Tactile Sensor Array with Elastomer Cover
1 Introduction
2 Method
2.1 Contact Analysis
2.2 Calibration Strategy
3 Calibration Experiments
3.1 Database Collection
3.2 Experimental Results
3.3 Calibration Improvement
4 Conclusion
References
Hand Rehabilitation Modes Combining Exoskeleton-Assisted Training with Tactile Feedback for Hemiplegia Patients: A Preliminary Study
1 Introduction
2 Method
2.1 Analysis of Hand Characteristics in Different Rehabilitation Stages
2.2 Design of the Rehabilitation Training System
2.3 Rehabilitation Training Modes
3 Experimental Analysis and Results
3.1 Performance of the Contact Force Feedback Actuator
3.2 Verification of the Mirror Therapy Mode
3.3 Verification of Gesture Recognition Accuracy
4 Conclusion and Future Work
References
Co-manipulation System with Enhanced Human-Machine Perception
Behavior Tree Based Dynamic Task Planning Method for Robotic Live-Line Maintenance
1 Introduction
2 Problem Statement
2.1 Robot System
2.2 Live-Line Maintenance
2.3 Uncertainty in Operations
3 Behaviour Tree for Live-Line Maintenance Task
3.1 Principle of BT
3.2 Execute Tasks with Nodes
3.3 Task BT
4 Task Planning Based on BT
4.1 State-Based Planning Processes
4.2 State Planning for Stochastic Processes
5 Handling Unexpected Incidents
5.1 Robot Execution Failure
5.2 Process Control Problems
5.3 Tool Failure
6 Experiments and Field Work
7 Conclusion
References
Design of Multi-unit Passive Exoskeleton for Running
1 Introduction
2 Model and Installation Area
3 Optimization
4 Experiment
5 Conclusion
References
Force Tracking Impedance Control Based on Contour Following Algorithm
1 Introduction
2 System Modeling and Control
2.1 Interaction Model and IAD Estimation
2.2 Modification of Impedance Control and Force Tracking
3 Experiments and Discussion
3.1 Force Tracking Quality Testing
4 Conclusion
References
Guidance Method for UAV to Occupy Attack Position at Close Range
1 Introduction
2 UAV Kinematic Model
2.1 Definition and Transformation Method of Coordinate System
2.2 Kinematics Equation of UAV Center of Mass
2.3 UAV Motion Equation
3 UAV Attack Positions Occupy the Guide Optimization Indicator Solution
3.1 Design of Optimization Indicators for Attack Positions Occupation Guidance
3.2 UAV Flight Performance Constraint Operator
3.3 Constrained Gradient Algorithm Based on Optimal Control
4 Simulation and Analysis
4.1 UAV’s Attack Mission Air Combat Simulation Experiment
4.2 UAV’s Avoid Mission Air Combat Simulation Experiment
5 Conclusion
References
The Variation Characteristic of EMG Signal Under Varying Active Torque: A Preliminary Study
1 Introduction
2 Experiment
2.1 Objects
2.2 Experimental Equipment
2.3 Preparation
2.4 Target Muscle Selection
2.5 Variable Settings
2.6 Experiment Procedure
3 Data Analysis
3.1 Pre-processing
3.2 The Differential
3.3 Linear Fitting
4 Conclusion
References
A VPRNN Model with Fixed-Time Convergence for Time-Varying Nonlinear Equation
1 Introduction
2 Problem Formulation
2.1 Varying-Parameter RNN Model
2.2 Fixed-Parameter RNN Model
3 Fixed-Time Convergence of the VPRNN Model
4 Numerical Experiments
5 Robot Manipulator Application
6 Conclusion
References
Surface Electromyography-Based Assessment of Muscle Contribution in Squatting Movements
1 Introduction
2 Materials and Methods
2.1 Selection of Acquisition Equipment
2.2 Test Process Design
3 Theory and Calculation
3.1 Data Pre-processing
3.2 Data Post-processing
4 Results and Discussions
5 Conclusion
References
Energy Gradient Descent Method for Actuation of a Direct-Drive Spherical Robotic Wrist
1 Introduction
2 Energy Gradient Descent Method for Spherical Motor
3 Results and Discussions
3.1 Simulation Results
3.2 Experimental Results
4 Conclusion
References
Compliant Mechanisms and Robotic Applications
Design and Modeling of a Novel Compliant Ankle Mechanism with Flexible Slider-Crank Limbs
1 Introduction
2 Mechanism Description
3 Kinetostatic Modeling
3.1 Forward Kinetostatic Model
3.2 Inverse Kinetostatic Model
4 Stiffness Modeling
5 Conclusion
References
Adaptive Compliance Control of Flexible Link Manipulator in Unknown Environment
1 Introduction
2 Dynamic of FLM
3 Control Design
3.1 Output Redefined Model
3.2 Two-Time Scale Adaptive Robust Control Design
3.3 Stability of the Controller
3.4 Impedance Control Design
4 Simulation Results
5 Conclusion
References
A Novel Discrete Variable Stiffness Gripper Based on the Fin Ray Effect
1 Introduction
2 Concept of the Design
3 FEA Simulation and Experimental Validation
3.1 Construction of the Prototype
3.2 Determination of Material Properties
3.3 FEA Simulation
3.4 Experimental Validation
4 Results
5 Conclusions
References
Author Index