This research aims to design controllers based on the hedge-algebras (HA) theory to control differential robots that track reference trajectories. First, the HA-based controller (denoted as HA controller) is synthesized by selecting a suitable qualitative control rule base for the investigated model as a rule-based optimization problem. Then, the optimal HA-based controller (denoted as oHA controller) is established based on the problem of simultaneously optimizing the rule base, the reference interval of variables, and the fuzzy parameters of the variables. Optimization problems aim to minimize the distance between the robot and the reference trajectory. The optimization problems in this study use the Balancing composite motion optimization (BCMO) algorithm. A controller based on fuzzy set theory (denoted as FC controller) with the same parameters as the HA controller is also included for comparison. The simulation results show that the HA and oHA controllers demonstrate many advantages over the FC controller regarding reference trajectory tracking ability, calculation time, and control robustness. The main contribution of this work consists of (i) The development of a novel HA, oHA approaches to control a mobile robot to follow reference trajectories accurately; (ii) Providing optimal global-based BCMO in terms of minimal tracking error with computational efficiency; (iii) The investigation of one control rule base for HA and oHA controllers, which is effective for many different reference orbits; (iv) The development of a robust controller that adapts to the robot’s geometric parameters changes; (v) The proposed controllers have superior performance results compared to controllers based on fuzzy set theory in terms of position error between the robot and the reference trajectory, control action calculation time, and robust ability to change robot parameters.
本研究旨在设计基于对冲矩阵(HA)理论的控制器,以控制跟踪参考轨迹的差分机器人。首先,通过为所研究的模型选择合适的定性控制规则库,合成基于 HA 的控制器(简称 HA 控制器),这是一个基于规则的优化问题。然后,基于同时优化规则库、变量参考区间和变量模糊参数的问题,建立基于 HA 的最优控制器(简称为 oHA 控制器)。优化问题旨在最小化机器人与参考轨迹之间的距离。本研究中的优化问题采用了平衡复合运动优化(BCMO)算法。为了进行比较,还加入了一个基于模糊集理论的控制器(称为 FC 控制器),其参数与 HA 控制器相同。仿真结果表明,HA 和 oHA 控制器在参考轨迹跟踪能力、计算时间和控制鲁棒性方面比 FC 控制器更具优势。这项工作的主要贡献包括:(i) 开发了一种新型的 HA 和 oHA 方法来控制移动机器人精确地跟踪参考轨迹;(ii) 提供了基于全局的最佳 BCMO,使跟踪误差最小,计算效率最高;(iii) 研究了 HA 和 oHA 控制器的一个控制规则库,它对许多不同的参考轨道都有效;(v) 与基于模糊集理论的控制器相比,所提出的控制器在机器人与参考轨迹之间的位置误差、控制动作计算时间以及机器人参数变化的鲁棒性能力等方面具有更优越的性能。
{"title":"Trajectory tracking of mobile robots using hedge-agebras-based controllers","authors":"Tien-Duy Nguyen, Sy-Tai Nguyen, Thi Thoa Mac, Hai-Le Bui","doi":"10.1007/s11370-024-00529-2","DOIUrl":"https://doi.org/10.1007/s11370-024-00529-2","url":null,"abstract":"<p>This research aims to design controllers based on the hedge-algebras (HA) theory to control differential robots that track reference trajectories. First, the HA-based controller (denoted as HA controller) is synthesized by selecting a suitable qualitative control rule base for the investigated model as a rule-based optimization problem. Then, the optimal HA-based controller (denoted as oHA controller) is established based on the problem of simultaneously optimizing the rule base, the reference interval of variables, and the fuzzy parameters of the variables. Optimization problems aim to minimize the distance between the robot and the reference trajectory. The optimization problems in this study use the Balancing composite motion optimization (BCMO) algorithm. A controller based on fuzzy set theory (denoted as FC controller) with the same parameters as the HA controller is also included for comparison. The simulation results show that the HA and oHA controllers demonstrate many advantages over the FC controller regarding reference trajectory tracking ability, calculation time, and control robustness. The main contribution of this work consists of (i) The development of a novel HA, oHA approaches to control a mobile robot to follow reference trajectories accurately; (ii) Providing optimal global-based BCMO in terms of minimal tracking error with computational efficiency; (iii) The investigation of one control rule base for HA and oHA controllers, which is effective for many different reference orbits; (iv) The development of a robust controller that adapts to the robot’s geometric parameters changes; (v) The proposed controllers have superior performance results compared to controllers based on fuzzy set theory in terms of position error between the robot and the reference trajectory, control action calculation time, and robust ability to change robot parameters.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2024-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140635333","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-22DOI: 10.1007/s11370-024-00536-3
Yu Xu, Yang Li, Yubo Tai, Xiaohan Lu, Yaodong Jia, Yifan Wang
Aiming at the shortcomings of traditional A* algorithm in 3D global path planning such as inefficiency and large computation, an A* optimization algorithm based on adaptive expansion convolution is proposed to realize UAV path planning. First, based on the idea of expansion convolution, the traditional A* algorithm is optimized to improve the search efficiency by improving the search step length and reducing the number of nodes needed to select the extended nodes in path planning; adding a weight factor to the cost function to select the appropriate weight of the cost function by keeping the principle of optimal path length while accelerating the planning speed to improve the planning speed of the algorithm; finally, using path pruning to further optimize the paths and reduce the problems of path redundancy. The simulation analysis results show that compared with the traditional A* algorithm, the improved algorithm in this paper reduces the number of extended nodes and shortens the planning time.
{"title":"A* algorithm based on adaptive expansion convolution for unmanned aerial vehicle path planning","authors":"Yu Xu, Yang Li, Yubo Tai, Xiaohan Lu, Yaodong Jia, Yifan Wang","doi":"10.1007/s11370-024-00536-3","DOIUrl":"https://doi.org/10.1007/s11370-024-00536-3","url":null,"abstract":"<p>Aiming at the shortcomings of traditional A* algorithm in 3D global path planning such as inefficiency and large computation, an A* optimization algorithm based on adaptive expansion convolution is proposed to realize UAV path planning. First, based on the idea of expansion convolution, the traditional A* algorithm is optimized to improve the search efficiency by improving the search step length and reducing the number of nodes needed to select the extended nodes in path planning; adding a weight factor to the cost function to select the appropriate weight of the cost function by keeping the principle of optimal path length while accelerating the planning speed to improve the planning speed of the algorithm; finally, using path pruning to further optimize the paths and reduce the problems of path redundancy. The simulation analysis results show that compared with the traditional A* algorithm, the improved algorithm in this paper reduces the number of extended nodes and shortens the planning time.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2024-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140635366","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-22DOI: 10.1007/s11370-024-00521-w
José Carlos Pulido, Raquel Fuentetaja, Enrique García, Melania García, Vanesa Abuín, José Carlos González, Ana Iglesias, Fernando Fernández
The use of social assistive robots for interactive stimulation has strong potential in neurorehabilitation therapies. It is of particular interest in the case of pediatric patients to promote children’s motivation and adherence, specially when those robots are able of guide gamified activities, as it is the case of NAOTherapist. NAOTherapist is a Social Assistive Robotics (SAR) platform for hands-off rehabilitation based on upper-limb activities, that was originally designed for pediatric patients with Cerebral Palsy (CP) or Obstetric Braxial Plexus Palsy (OBPP). Formerly, it endowed the therapists with tools to perform rehabilitation exercises. This paper proposes the gamification of NAOTherapist in order to incorporate additional characteristics which allow its intensive use in new rehabilitation procedures, such as the Hand-Arm Bimanual Intensive Therapy (HABIT). This intensive therapy setting involves daily activities in several consecutive days, which require a strong engagement of the patients with the therapeutic methods and the acceptation of the NAOTherapist as a rehabilitation system. The gamified system shows very accurate results considering the different aspects defined in the USUS methodology; namely Usability, Social acceptance, User experience and Societal impact.
在神经康复治疗中,使用社交辅助机器人进行互动刺激具有很大的潜力。对于儿科患者,特别是能够指导游戏化活动的机器人(如 NAOTherapist)来说,提高儿童的积极性和依从性尤为重要。NAOTherapist是一个基于上肢活动的社会辅助机器人(SAR)平台,最初是为脑瘫(CP)或产科臂丛神经麻痹(OBPP)的儿科患者设计的。以前,它为治疗师提供了进行康复训练的工具。本文建议对NAOTherapist进行游戏化改造,使其具备更多特性,以便在新的康复程序(如手臂比目强化疗法(HABIT))中深入使用。这种强化治疗包括连续数天的日常活动,要求患者积极参与治疗方法,并接受 NAOTherapist 作为一种康复系统。考虑到 USUS 方法中定义的不同方面,即可用性、社会接受度、用户体验和社会影响,游戏化系统显示出非常准确的结果。
{"title":"A gamified social robotics platform for intensive therapies in neurorehabilitation","authors":"José Carlos Pulido, Raquel Fuentetaja, Enrique García, Melania García, Vanesa Abuín, José Carlos González, Ana Iglesias, Fernando Fernández","doi":"10.1007/s11370-024-00521-w","DOIUrl":"https://doi.org/10.1007/s11370-024-00521-w","url":null,"abstract":"<p>The use of social assistive robots for interactive stimulation has strong potential in neurorehabilitation therapies. It is of particular interest in the case of pediatric patients to promote children’s motivation and adherence, specially when those robots are able of guide gamified activities, as it is the case of NAOTherapist. NAOTherapist is a Social Assistive Robotics (SAR) platform for hands-off rehabilitation based on upper-limb activities, that was originally designed for pediatric patients with Cerebral Palsy (CP) or Obstetric Braxial Plexus Palsy (OBPP). Formerly, it endowed the therapists with tools to perform rehabilitation exercises. This paper proposes the gamification of NAOTherapist in order to incorporate additional characteristics which allow its intensive use in new rehabilitation procedures, such as the Hand-Arm Bimanual Intensive Therapy (HABIT). This intensive therapy setting involves daily activities in several consecutive days, which require a strong engagement of the patients with the therapeutic methods and the acceptation of the NAOTherapist as a rehabilitation system. The gamified system shows very accurate results considering the different aspects defined in the USUS methodology; namely Usability, Social acceptance, User experience and Societal impact.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2024-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140635140","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-18DOI: 10.1007/s11370-024-00538-1
Chae Gyu Lim, Youngsu Cha
This paper introduces an ultrasonic transducer with a concave curved structure. The transducer is based on a concave piezoelectric film on a silicone support with an air cavity. Specifically, an air cavity exists between the piezoelectric film and the support in the shape of a curved cuboid, providing space for the film to vibrate. We build a theoretical model of a concave piezoelectric transducer. To validate the model, we demonstrate a concave piezoelectric transducer and measure the ultrasound pressure field using an acoustic imaging camera. Two types of experiments are conducted by supplying a sinusoidal input voltage with a frequency sweep and a voltage sweep. The experimental results share similarity with the theoretical results. In addition, we conduct a parametric study to analyze the characteristics of the transducer. Interestingly, we find that the radius of curvature and axial length primarily contribute to ultrasound pressure.
{"title":"Acoustic analysis of ultrasonic air-borne transducer with concave structure","authors":"Chae Gyu Lim, Youngsu Cha","doi":"10.1007/s11370-024-00538-1","DOIUrl":"https://doi.org/10.1007/s11370-024-00538-1","url":null,"abstract":"<p>This paper introduces an ultrasonic transducer with a concave curved structure. The transducer is based on a concave piezoelectric film on a silicone support with an air cavity. Specifically, an air cavity exists between the piezoelectric film and the support in the shape of a curved cuboid, providing space for the film to vibrate. We build a theoretical model of a concave piezoelectric transducer. To validate the model, we demonstrate a concave piezoelectric transducer and measure the ultrasound pressure field using an acoustic imaging camera. Two types of experiments are conducted by supplying a sinusoidal input voltage with a frequency sweep and a voltage sweep. The experimental results share similarity with the theoretical results. In addition, we conduct a parametric study to analyze the characteristics of the transducer. Interestingly, we find that the radius of curvature and axial length primarily contribute to ultrasound pressure.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2024-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140627531","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-16DOI: 10.1007/s11370-024-00535-4
Dongbin Kim, Paul Y. Oh
Drones have performed various tasks, such as surveillance, photography, agriculture, and package delivery. However, these tasks typically involve drones simply observing or capturing information from their surroundings without physically interacting with them. Aerial manipulation shifts this paradigm and implements drones with robotic arms that allow interaction with the environment rather than simply touching it. For example, in construction, aerial manipulation in conjunction with human interaction could allow operators to perform several tasks, such as hosing decks, drilling into surfaces, and sealing cracks via a drone. For over a decade, researchers have been working on aerial manipulation for industrial applications. These works are valuable to aerial manipulation but have not been widespread in the public domain yet. This is because most of the works are conducted in controlled indoor environments (e.g., motion capture systems), and the knowledge gap exists between researchers and the wider public who are interested in deploying aerial manipulation for practical tasks. To fill this gap, our recent work integrated the worker’s experience into aerial manipulation using haptic technology. The net effect is that such a human-in-the-loop system could enable workers to leverage their experience to complete manipulation tasks while remotely controlling a mobile manipulating drone on the task site. The system increased the feasibility and adaptiveness of aerial manipulation. The remaining challenges are completing tasks beyond the operator’s line-of-sight and lack of dexterity. To address the challenges, we present a human-embodied drone interface in this article. The interface consists of immersive virtual/augmented reality and haptic technologies. Such an interface allows the drones to embody and transport the operator’s senses, actions, and presence to a remote location in real-time. Therefore, the operator can both physically interact with the environment and socially interact with actual workers on the worksite. Two different human-embodied interfaces are developed and tested with several tasks suggested by the United States Department-of-Transportation: pick-and-place, drilling, peg-in-hole, and key insert/rotation. The conclusion describes the advantages and challenges of the interface with future works.
{"title":"Human-embodied drone interface for aerial manipulation: advantages and challenges","authors":"Dongbin Kim, Paul Y. Oh","doi":"10.1007/s11370-024-00535-4","DOIUrl":"https://doi.org/10.1007/s11370-024-00535-4","url":null,"abstract":"<p>Drones have performed various tasks, such as surveillance, photography, agriculture, and package delivery. However, these tasks typically involve drones simply observing or capturing information from their surroundings without physically interacting with them. Aerial manipulation shifts this paradigm and implements drones with robotic arms that allow interaction with the environment rather than simply touching it. For example, in construction, aerial manipulation in conjunction with human interaction could allow operators to perform several tasks, such as hosing decks, drilling into surfaces, and sealing cracks via a drone. For over a decade, researchers have been working on aerial manipulation for industrial applications. These works are valuable to aerial manipulation but have not been widespread in the public domain yet. This is because most of the works are conducted in controlled indoor environments (e.g., motion capture systems), and the knowledge gap exists between researchers and the wider public who are interested in deploying aerial manipulation for practical tasks. To fill this gap, our recent work integrated the worker’s experience into aerial manipulation using haptic technology. The net effect is that such a human-in-the-loop system could enable workers to leverage their experience to complete manipulation tasks while remotely controlling a mobile manipulating drone on the task site. The system increased the feasibility and adaptiveness of aerial manipulation. The remaining challenges are completing tasks beyond the operator’s line-of-sight and lack of dexterity. To address the challenges, we present a human-embodied drone interface in this article. The interface consists of immersive virtual/augmented reality and haptic technologies. Such an interface allows the drones to embody and transport the operator’s senses, actions, and presence to a remote location in real-time. Therefore, the operator can both physically interact with the environment and socially interact with actual workers on the worksite. Two different human-embodied interfaces are developed and tested with several tasks suggested by the United States Department-of-Transportation: pick-and-place, drilling, peg-in-hole, and key insert/rotation. The conclusion describes the advantages and challenges of the interface with future works.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2024-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140611969","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-13DOI: 10.1007/s11370-024-00524-7
Yuqi Xia, Yanyan Huang, Huchen Qin, Yuang Shi
To achieve the autonomy of mobile robots, effective localization is an essential process. Among localization algorithms, the Adaptive Monte Carlo Localization (AMCL) algorithm is most commonly used in many indoor environments. However, when the initial position is unknown, the efficiency and success rate of localization based on the AMCL algorithm decrease with the increasing area of the map. In this paper, an improved MCL algorithm named off-line feature matching and improved particle swarm optimization for Monte Carlo Localization (OFM-IPSO MCL) is proposed. Feature matching is adopted to reduce the online computational burden. Compared with the AMCL algorithm, OFM-IPSO MCL shows better results in the problems of positioning without initial pose and kidnapping robot by using a small number of particles. For positioning without an initial pose, the OFM-IPSO algorithm uses the feature extraction and feature matching methods to find the possible positions of the robot. In the problem of kidnapping robot, a method for determining if the robot has been "kidnapped" is proposed, which determines whether the robot has lost its pose. The validity and efficiency of the OFM-IPSO MCL algorithm are demonstrated by the Robotic Operating System (ROS). Extensive results and comparisons are also provided in this paper.
{"title":"Monte Carlo localization based on off-line feature matching and improved particle swarm optimization for mobile robots","authors":"Yuqi Xia, Yanyan Huang, Huchen Qin, Yuang Shi","doi":"10.1007/s11370-024-00524-7","DOIUrl":"https://doi.org/10.1007/s11370-024-00524-7","url":null,"abstract":"<p>To achieve the autonomy of mobile robots, effective localization is an essential process. Among localization algorithms, the Adaptive Monte Carlo Localization (AMCL) algorithm is most commonly used in many indoor environments. However, when the initial position is unknown, the efficiency and success rate of localization based on the AMCL algorithm decrease with the increasing area of the map. In this paper, an improved MCL algorithm named off-line feature matching and improved particle swarm optimization for Monte Carlo Localization (OFM-IPSO MCL) is proposed. Feature matching is adopted to reduce the online computational burden. Compared with the AMCL algorithm, OFM-IPSO MCL shows better results in the problems of positioning without initial pose and kidnapping robot by using a small number of particles. For positioning without an initial pose, the OFM-IPSO algorithm uses the feature extraction and feature matching methods to find the possible positions of the robot. In the problem of kidnapping robot, a method for determining if the robot has been \"kidnapped\" is proposed, which determines whether the robot has lost its pose. The validity and efficiency of the OFM-IPSO MCL algorithm are demonstrated by the Robotic Operating System (ROS). Extensive results and comparisons are also provided in this paper.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2024-04-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140600594","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents an efficient cascade calibration method with an improved Levenberg–Marquardt and sine–cosine hybrid algorithm to enhance the absolute positioning accuracy of robotic grinding systems. To expedite convergence in the Levenberg–Marquardt algorithm, a dynamic adaptive weight mechanism is introduced, enhancing global and local search capabilities. Furthermore, a novel learning rate, combining exponential and cosine functions, addresses local optima in the algorithm. The improved Levenberg–Marquardt algorithm is employed to obtain suboptimal values for robot kinematic parameter deviations. Subsequently, these values are used as central points for generating a candidate solution set in the sine–cosine algorithm, resulting in more accurate kinematic parameter deviation identification. This innovative dual-search optimization approach combines the two algorithms. Experimental results confirm the substantial improvements in absolute positioning accuracy and surface machining precision achieved by the proposed model, with the calibration method’s effectiveness verified through experimentation.
{"title":"A novel cascade calibration method for robotic grinding system","authors":"Jian Liu, Yonghong Deng, Yulin Liu, Dong Li, Linlin Chen, Zhenzen Hu, Peiyang Wei, Zhibin Li","doi":"10.1007/s11370-024-00534-5","DOIUrl":"https://doi.org/10.1007/s11370-024-00534-5","url":null,"abstract":"<p>This paper presents an efficient cascade calibration method with an improved Levenberg–Marquardt and sine–cosine hybrid algorithm to enhance the absolute positioning accuracy of robotic grinding systems. To expedite convergence in the Levenberg–Marquardt algorithm, a dynamic adaptive weight mechanism is introduced, enhancing global and local search capabilities. Furthermore, a novel learning rate, combining exponential and cosine functions, addresses local optima in the algorithm. The improved Levenberg–Marquardt algorithm is employed to obtain suboptimal values for robot kinematic parameter deviations. Subsequently, these values are used as central points for generating a candidate solution set in the sine–cosine algorithm, resulting in more accurate kinematic parameter deviation identification. This innovative dual-search optimization approach combines the two algorithms. Experimental results confirm the substantial improvements in absolute positioning accuracy and surface machining precision achieved by the proposed model, with the calibration method’s effectiveness verified through experimentation.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2024-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140600595","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-10DOI: 10.1007/s11370-024-00531-8
Joowan Kim, Wonje Choi, Jaeheung Park
Lumbar stabilization exercises are commonly employed in the rehabilitation of patients with low back pain. However, many patients discontinue these exercises, generally calisthenics using various postures or tools, due to the difficulty of providing an appropriate exercise load intensity. This challenge results in an inability to apply the desired strength to the target lumbar muscles and sometimes leads to an excessive load on unintended areas during calisthenics. Consequently, a method that enables patients to exercise continuously and progressively recover is required, specifically one that can target the lumbar muscles with a desired load. To address this issue, we propose a rehabilitation assistive device that quantitatively controls the lumbar spine load. In isometric lumbar stabilization exercises, our method involves precise compensation for gravity. The device, equipped with a series elastic actuator, is positioned beneath the patient in a lying posture. It applies an assistive force in the direction opposite to gravity, enabling precise control of the load on the lumbar region and reducing the vertical load on the spine. To validate the effectiveness of our proposed method, we conducted experiments with 20 healthy subjects across three exercises and analyzed the electromyography signal using nonparametric statistical methods. Our objective was to determine whether the load on the target lumbar muscles could be precisely and gradually controlled. The statistical results indicate that exercises performed using the proposed device produce statistically significant load changes in the target lumbar muscles.
{"title":"Selective load control of lumbar muscles in robot-assisted isometric lumbar stabilization exercise","authors":"Joowan Kim, Wonje Choi, Jaeheung Park","doi":"10.1007/s11370-024-00531-8","DOIUrl":"https://doi.org/10.1007/s11370-024-00531-8","url":null,"abstract":"<p>Lumbar stabilization exercises are commonly employed in the rehabilitation of patients with low back pain. However, many patients discontinue these exercises, generally calisthenics using various postures or tools, due to the difficulty of providing an appropriate exercise load intensity. This challenge results in an inability to apply the desired strength to the target lumbar muscles and sometimes leads to an excessive load on unintended areas during calisthenics. Consequently, a method that enables patients to exercise continuously and progressively recover is required, specifically one that can target the lumbar muscles with a desired load. To address this issue, we propose a rehabilitation assistive device that quantitatively controls the lumbar spine load. In isometric lumbar stabilization exercises, our method involves precise compensation for gravity. The device, equipped with a series elastic actuator, is positioned beneath the patient in a lying posture. It applies an assistive force in the direction opposite to gravity, enabling precise control of the load on the lumbar region and reducing the vertical load on the spine. To validate the effectiveness of our proposed method, we conducted experiments with 20 healthy subjects across three exercises and analyzed the electromyography signal using nonparametric statistical methods. Our objective was to determine whether the load on the target lumbar muscles could be precisely and gradually controlled. The statistical results indicate that exercises performed using the proposed device produce statistically significant load changes in the target lumbar muscles.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140601313","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-09DOI: 10.1007/s11370-024-00533-6
Lu Chen, Yue Wang, Rong Xiong
Redundant robots are gaining popularity for their agility in service tasks, but they struggle with managing multiple tasks in dynamic and unstructured environments. Research is currently centered around adjusting task priorities to facilitate the robot’s adaptability to different situational demands. This paper addresses the challenge of automated task prioritization in multi-task handling and presents a solution for robots to effectively execute demanding tasks, even when faced with limited redundancy and multiple constraints. We introduce the concept of secondary merged tasks and formulate task merging as a matrix design problem. An iterative updating algorithm based on real-time task status is proposed to enable automatic prioritization and dynamic adjustment of tasks. This methodology ensures appropriate execution of all tasks at the right time. We analyze the convergence of weight transfer between redundancies and task dependencies, ensuring stable task execution. Simulation experiments and real-world experiments using 9-DOF mobile manipulator and 6-DOF fixed manipulator are conducted to validate the proposed method. This research provides a feasible approach for task prioritization in multi-task handling and holds potential applications.
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Pub Date : 2024-04-06DOI: 10.1007/s11370-024-00516-7
Abstract
Gripping objects firmly and quickly is an important function of the human hand for everyday life. Prosthetic devices face significant challenges in replicating these capabilities, particularly in achieving a delicate balance between swift grasping and substantial grip strength while adhering to weight and form-factor constraints. To address these challenges, this study introduces a novel posture-dependent variable transmission (PDVT) that mimics the human hand’s behavior by employing a spiral-shaped spool. The PDVT’s spiral-shaped spool replicates the human hand’s quick and gentle pre-contact movements followed by a stronger force application after contact with the object. Additionally, a compressive series elastic spring enhances tendon tension across a wide range of finger postures. The manufacturing method of PDVT, utilizing both 3D printing and metal processing, enables the creation of complex spiral shapes. The PDVT demonstrates improvements in both speed and grip strength compared to conventional rigid spool mechanisms. The PDVT has the potential to be applied to various robotic grasping systems.
{"title":"Posture-dependent variable transmission mechanism for prosthetic hand inspired by human grasping characteristics","authors":"","doi":"10.1007/s11370-024-00516-7","DOIUrl":"https://doi.org/10.1007/s11370-024-00516-7","url":null,"abstract":"<h3>Abstract</h3> <p>Gripping objects firmly and quickly is an important function of the human hand for everyday life. Prosthetic devices face significant challenges in replicating these capabilities, particularly in achieving a delicate balance between swift grasping and substantial grip strength while adhering to weight and form-factor constraints. To address these challenges, this study introduces a novel posture-dependent variable transmission (PDVT) that mimics the human hand’s behavior by employing a spiral-shaped spool. The PDVT’s spiral-shaped spool replicates the human hand’s quick and gentle pre-contact movements followed by a stronger force application after contact with the object. Additionally, a compressive series elastic spring enhances tendon tension across a wide range of finger postures. The manufacturing method of PDVT, utilizing both 3D printing and metal processing, enables the creation of complex spiral shapes. The PDVT demonstrates improvements in both speed and grip strength compared to conventional rigid spool mechanisms. The PDVT has the potential to be applied to various robotic grasping systems.</p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2024-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140600597","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}