Pub Date : 2024-04-01DOI: 10.1109/THMS.2024.3380295
{"title":"IEEE Systems, Man, and Cybernetics Society Information","authors":"","doi":"10.1109/THMS.2024.3380295","DOIUrl":"https://doi.org/10.1109/THMS.2024.3380295","url":null,"abstract":"","PeriodicalId":48916,"journal":{"name":"IEEE Transactions on Human-Machine Systems","volume":null,"pages":null},"PeriodicalIF":3.6,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10486939","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140340092","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-01DOI: 10.1109/THMS.2024.3380297
{"title":"IEEE Transactions on Human-Machine Systems Information for Authors","authors":"","doi":"10.1109/THMS.2024.3380297","DOIUrl":"https://doi.org/10.1109/THMS.2024.3380297","url":null,"abstract":"","PeriodicalId":48916,"journal":{"name":"IEEE Transactions on Human-Machine Systems","volume":null,"pages":null},"PeriodicalIF":3.6,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10486938","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140340110","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Visually impaired people (VIPs) encounter various challenges in their daily lives, and there is a need for portable, user-friendly device for real-time assistance to give them guidance regarding their surroundings. This article presents an artificial-intelligence-based innovative wearable assistive device—artificial intelligence (AI)-SenseVision—to analyze visual and sensory information about the objects and obstacles present in the scene to perceive the surrounding environment. The device is a complete amalgamation of sensor and computer-vision-based technologies that generate auditory information with the name of identified objects or audio warnings for detected obstacles. The performance of the trained deep-learning model is rigorously tested in complex and real-life scenarios using various statistical parameters for experimental validation. Moreover, the trained deep-learning models have been integrated into a low-cost single-board processor to make a standalone cost-effective device. All data processing is done within an optimized single hardware setup, and the user can easily access different modes, such as indoor and outdoor mode, while also enabling object counting in observed scenes. The proposed system has low-cost sensors, multiple operational modes, easy integration, and small volume, making this assistive device helpful for VIPs for independent navigation and collision prevention.
{"title":"AI-SenseVision: A Low-Cost Artificial-Intelligence-Based Robust and Real-Time Assistance for Visually Impaired People","authors":"Rakesh Chandra Joshi;Nitin Singh;Anuj Kumar Sharma;Radim Burget;Malay Kishore Dutta","doi":"10.1109/THMS.2024.3375655","DOIUrl":"10.1109/THMS.2024.3375655","url":null,"abstract":"Visually impaired people (VIPs) encounter various challenges in their daily lives, and there is a need for portable, user-friendly device for real-time assistance to give them guidance regarding their surroundings. This article presents an artificial-intelligence-based innovative wearable assistive device—artificial intelligence (AI)-SenseVision—to analyze visual and sensory information about the objects and obstacles present in the scene to perceive the surrounding environment. The device is a complete amalgamation of sensor and computer-vision-based technologies that generate auditory information with the name of identified objects or audio warnings for detected obstacles. The performance of the trained deep-learning model is rigorously tested in complex and real-life scenarios using various statistical parameters for experimental validation. Moreover, the trained deep-learning models have been integrated into a low-cost single-board processor to make a standalone cost-effective device. All data processing is done within an optimized single hardware setup, and the user can easily access different modes, such as indoor and outdoor mode, while also enabling object counting in observed scenes. The proposed system has low-cost sensors, multiple operational modes, easy integration, and small volume, making this assistive device helpful for VIPs for independent navigation and collision prevention.","PeriodicalId":48916,"journal":{"name":"IEEE Transactions on Human-Machine Systems","volume":null,"pages":null},"PeriodicalIF":3.6,"publicationDate":"2024-03-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140571772","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 : 2024-03-23DOI: 10.1109/THMS.2024.3401259
{"title":"IEEE Systems, Man, and Cybernetics Society Information","authors":"","doi":"10.1109/THMS.2024.3401259","DOIUrl":"https://doi.org/10.1109/THMS.2024.3401259","url":null,"abstract":"","PeriodicalId":48916,"journal":{"name":"IEEE Transactions on Human-Machine Systems","volume":null,"pages":null},"PeriodicalIF":3.6,"publicationDate":"2024-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10537800","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141091144","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-23DOI: 10.1109/THMS.2024.3401265
{"title":"IEEE Transactions on Human-Machine Systems Information for Authors","authors":"","doi":"10.1109/THMS.2024.3401265","DOIUrl":"https://doi.org/10.1109/THMS.2024.3401265","url":null,"abstract":"","PeriodicalId":48916,"journal":{"name":"IEEE Transactions on Human-Machine Systems","volume":null,"pages":null},"PeriodicalIF":3.6,"publicationDate":"2024-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10537802","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141091141","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-23DOI: 10.1109/THMS.2024.3401263
{"title":"IEEE Systems, Man, and Cybernetics Society Information","authors":"","doi":"10.1109/THMS.2024.3401263","DOIUrl":"https://doi.org/10.1109/THMS.2024.3401263","url":null,"abstract":"","PeriodicalId":48916,"journal":{"name":"IEEE Transactions on Human-Machine Systems","volume":null,"pages":null},"PeriodicalIF":3.6,"publicationDate":"2024-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10537799","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141091142","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-23DOI: 10.1109/THMS.2024.3401261
{"title":"Share Your Preprint Research with the World!","authors":"","doi":"10.1109/THMS.2024.3401261","DOIUrl":"https://doi.org/10.1109/THMS.2024.3401261","url":null,"abstract":"","PeriodicalId":48916,"journal":{"name":"IEEE Transactions on Human-Machine Systems","volume":null,"pages":null},"PeriodicalIF":3.6,"publicationDate":"2024-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10537803","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141091095","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-22DOI: 10.1109/THMS.2024.3368358
Robbin Veldhuis;Max Mulder;M. M. van Paassen
Understanding human perception of haptic feedback is critical when designing and regulating these interfaces. In recent years, experiments have been conducted to determine the just-noticeable difference (JND) in mass–spring–damper dynamics, using a hydraulic admittance display in the form of a side-stick. These experiments have resulted in a model of JNDs when interacting with linear second-order dynamics. In real-world applications, however, control force dynamics also commonly include nonlinearities, such as friction. This research extends the current understanding of JNDs in linear systems by including the nonlinear case, where friction is also present. Experiments were conducted to determine JNDs in friction when combined with second-order system dynamics. Results indicate that friction JND can be independent of linear system dynamics as long as its value compared to the linear system's impedance is sufficiently large. As a consequence, friction JND follows Weber's law, also when it is combined with mass–spring–damper dynamics, unless the level of friction approaches the detection threshold, which in turn can be influenced by the linear system dynamics. Based on the findings presented, it is possible to conduct targeted experiments to confirm and add to these initial results.
{"title":"Thresholds for Perceiving Changes in Friction When Combined With Linear System Dynamics","authors":"Robbin Veldhuis;Max Mulder;M. M. van Paassen","doi":"10.1109/THMS.2024.3368358","DOIUrl":"10.1109/THMS.2024.3368358","url":null,"abstract":"Understanding human perception of haptic feedback is critical when designing and regulating these interfaces. In recent years, experiments have been conducted to determine the just-noticeable difference (JND) in mass–spring–damper dynamics, using a hydraulic admittance display in the form of a side-stick. These experiments have resulted in a model of JNDs when interacting with linear second-order dynamics. In real-world applications, however, control force dynamics also commonly include nonlinearities, such as friction. This research extends the current understanding of JNDs in linear systems by including the nonlinear case, where friction is also present. Experiments were conducted to determine JNDs in friction when combined with second-order system dynamics. Results indicate that friction JND can be independent of linear system dynamics as long as its value compared to the linear system's impedance is sufficiently large. As a consequence, friction JND follows Weber's law, also when it is combined with mass–spring–damper dynamics, unless the level of friction approaches the detection threshold, which in turn can be influenced by the linear system dynamics. Based on the findings presented, it is possible to conduct targeted experiments to confirm and add to these initial results.","PeriodicalId":48916,"journal":{"name":"IEEE Transactions on Human-Machine Systems","volume":null,"pages":null},"PeriodicalIF":3.6,"publicationDate":"2024-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140204010","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 article investigates the singularity-free finite-time adaptive optimal control problem for coordinated robots, where the position and velocity are constrained within the asymmetric yet time-varying ranges. Different from the existing results concerning constrained control, the imposed feasibility conditions are relaxed by skillfully integrating a nonlinear state-dependent function into the backstepping design procedure. Therein, the typical feature of the designed finite-time controller lies in the application of the modified smooth switching function, rendering the designed controller powerful enough to eliminate singularity problem. Notably, with the aid of the constructed optimal cost function and neural network-based critic architecture, the optimal control law is established under the backstepping design framework. It is theoretically verified that the designed controller is of satisfied optimization and finite-time tracking ability, and desired constrained objective in the meanwhile. The validity of the resulting control algorithm is eventually substantiated via two robotic manipulators.
{"title":"Singularity-Free Finite-Time Adaptive Optimal Control for Constrained Coordinated Uncertain Robots","authors":"Shenquan Wang;Wen Yang;Yulian Jiang;Mohammed Chadli;Yanzheng Zhu","doi":"10.1109/THMS.2024.3397351","DOIUrl":"10.1109/THMS.2024.3397351","url":null,"abstract":"This article investigates the singularity-free finite-time adaptive optimal control problem for coordinated robots, where the position and velocity are constrained within the asymmetric yet time-varying ranges. Different from the existing results concerning constrained control, the imposed feasibility conditions are relaxed by skillfully integrating a nonlinear state-dependent function into the backstepping design procedure. Therein, the typical feature of the designed finite-time controller lies in the application of the modified smooth switching function, rendering the designed controller powerful enough to eliminate singularity problem. Notably, with the aid of the constructed optimal cost function and neural network-based critic architecture, the optimal control law is established under the backstepping design framework. It is theoretically verified that the designed controller is of satisfied optimization and finite-time tracking ability, and desired constrained objective in the meanwhile. The validity of the resulting control algorithm is eventually substantiated via two robotic manipulators.","PeriodicalId":48916,"journal":{"name":"IEEE Transactions on Human-Machine Systems","volume":null,"pages":null},"PeriodicalIF":3.5,"publicationDate":"2024-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141150172","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 : 2024-03-21DOI: 10.1109/THMS.2024.3393014
Hao Yu;Alyson Nelson;Mustafa Suphi Erden
Spasticity is a common neuromuscular abnormality following upper motor neuron lesions. Conventionally, spasticity is assessed through manual clinical scales, which have limitations due to the subjectivity involved. The development of rehabilitation robotics introduced new solutions to this problem, producing novel robot-assisted spasticity assessment approaches. In this article, we present the current state and challenges of robot-assisted hand spasticity assessment (RAHSA) based on a review of instrumented clinical scales, biomechanical and neurophysiological measures, and medical imaging methods for upper extremity spasticity assessment between January 2000 and February 2023. The characteristics of hand anatomy and spasticity symptoms make it challenging to develop RAHSA approaches and corresponding robotic systems. Although the combination of hand robots and instrumented assessment methods has evoked studies on RAHSA, more research is needed on the new assessment approaches fusing neurological and nonneurological measures and novel robotic systems specifically designed for hand spasticity assessment.
{"title":"A Review of Robot-Assisted Hand Spasticity Assessment","authors":"Hao Yu;Alyson Nelson;Mustafa Suphi Erden","doi":"10.1109/THMS.2024.3393014","DOIUrl":"10.1109/THMS.2024.3393014","url":null,"abstract":"Spasticity is a common neuromuscular abnormality following upper motor neuron lesions. Conventionally, spasticity is assessed through manual clinical scales, which have limitations due to the subjectivity involved. The development of rehabilitation robotics introduced new solutions to this problem, producing novel robot-assisted spasticity assessment approaches. In this article, we present the current state and challenges of robot-assisted hand spasticity assessment (RAHSA) based on a review of instrumented clinical scales, biomechanical and neurophysiological measures, and medical imaging methods for upper extremity spasticity assessment between January 2000 and February 2023. The characteristics of hand anatomy and spasticity symptoms make it challenging to develop RAHSA approaches and corresponding robotic systems. Although the combination of hand robots and instrumented assessment methods has evoked studies on RAHSA, more research is needed on the new assessment approaches fusing neurological and nonneurological measures and novel robotic systems specifically designed for hand spasticity assessment.","PeriodicalId":48916,"journal":{"name":"IEEE Transactions on Human-Machine Systems","volume":null,"pages":null},"PeriodicalIF":3.5,"publicationDate":"2024-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141150143","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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