IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics最新文献

英文中文

Enabling Autonomous Navigation within Urban Environments for Existing Powered Wheelchairs 为现有电动轮椅在城市环境中实现自主导航

IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Pub Date : 2022-01-01 DOI: 10.1109/AIM52237.2022.9863296

Hao Chanh Nguyen, Ali Göktogan

引用次数: 0

Metrics and Methods for Evaluating Learning Outcomes and Learner Interactions in Robotics-Enabled STEM Education 在机器人支持的STEM教育中评估学习成果和学习者互动的指标和方法

IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Pub Date : 2020-07-06 DOI: 10.1109/AIM43001.2020.9158900

S. Rahman

This paper attempts to develop the metrics and methods for evaluating the learning outcomes and interactions of learners with robotic devices in robotics-enabled STEM education. For the learning outcomes, a survey was conducted with 20 middle school math and science teachers who received training on how to design, develop and implement roboticsenabled STEM lessons. Each teacher had also experience of implementing robot-enabled STEM lessons in actual classroom environment. The participating teachers responded the survey based on their training, classroom experience and observations, and self-brainstorming. The survey responses were then analyzed and the appropriate and comprehensive assessment metrics and methods for the learning outcomes of students were determined. The results showed that the expected learning outcomes were related not only to the educational gains, but also to the improvements in the behavioral, social, scientific, cognitive and intellectual aptitudes of students (learners). Validation and generalization procedures of the developed assessment metrics and methods were discussed. For the learner interactions, investigations were made when selected engineering students were learning fundamental mechanical engineering concepts using a specially designed robotic platform. Based on survey and observations, a set of criteria as well as their assessment methods were proposed that can be used to evaluate appropriate interactions between learners and learning tools (robotics devices) while learners learn with the learning tools. The proposed evaluation schemes can significantly justify the benefits and advantages of robot-enabled STEM education, benchmark the outcomes, ensure appropriate interactions between learners and learning devices, help improve preparations of instructors and teaching institutions, motivate education decision-makers to confer on robot-enabled STEM education and curricula development, and thus can promote the overall robot-enabled STEM education practices in K-16 education.

本文试图开发用于评估机器人STEM教育中学习者与机器人设备的学习成果和互动的指标和方法。对于学习成果，对20名中学数学和科学教师进行了一项调查，他们接受了如何设计、开发和实施机器人支持的STEM课程的培训。每位老师都有在实际课堂环境中实施机器人STEM课程的经验。参与调查的教师根据他们的培训、课堂经验和观察以及自我头脑风暴来回答调查。然后对调查结果进行分析，确定适合学生学习成果的综合评估指标和方法。结果表明，期望学习成果不仅与教育收益有关，还与学生(学习者)在行为、社会、科学、认知和智力等方面的能力提高有关。讨论了开发的评估指标和方法的验证和推广程序。对于学习者的互动，当选定的工程学生使用专门设计的机器人平台学习基本机械工程概念时，进行了调查。基于调查和观察，提出了一套标准及其评估方法，可用于评估学习者与学习工具(机器人设备)之间的适当互动，同时学习者使用学习工具进行学习。所提出的评估方案可以显著地证明机器人STEM教育的好处和优势，对结果进行基准测试，确保学习者和学习设备之间的适当互动，有助于改善教师和教学机构的准备工作，激励教育决策者对机器人STEM教育和课程开发进行授权，从而可以促进K-16教育中机器人STEM教育的整体实践。

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引用次数: 2

Admittance-Based Bio-Inspired Cognitive PID Control to Optimize Human-Robot Interaction in Power-Assisted Object Manipulation 基于导纳的仿生认知PID控制优化动力辅助物体操作中人机交互

IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Pub Date : 2020-07-01 DOI: 10.1109/AIM43001.2020.9158811

S. Rahman

A novel approach to PID control for optimizing human-robot interaction (HRI) in manipulating objects with a power assist robotic system (PARS) was presented. The PID control was developed in the form of the admittance control. To take bio-inspiration and fit the control with human cognition, a novel method of inclusion of weight perception in the dynamics and control of the system was proposed. Then, a comprehensive evaluation and optimization scheme was proposed to determine the optimum HRI and co-manipulation performance. A 1-DOF testbed PARS was developed to experimentally verify the proposed control in a pilot study. During the experiments, human subjects lifted objects with the system and the HRI and system characteristics were investigated and analyzed. The results showed that the proposed PID control aligned with human cognition through inclusion of weight perception in the dynamics and control was effective to optimize the HRI and co-manipulation performance. The results can be used to design human-centered control methods for PARSs to assist humans manipulating heavy objects in industries and at homes that can provide optimum HRI and manipulation performance.

提出了一种新的PID控制方法，以优化动力辅助机器人系统(PARS)的人机交互(HRI)。PID控制以导纳控制的形式发展起来。为了从生物角度出发，使控制与人类认知相适应，提出了一种将体重感知纳入系统动力学和控制的新方法。然后，提出了一种综合评价和优化方案，以确定最佳的HRI和协同操作性能。开发了一个1-DOF试验台，在中试研究中实验验证了所提出的控制方法。在实验过程中，实验对象用该系统举起物体，并对HRI和系统特性进行了调查和分析。结果表明，通过在动力学和控制中加入权重感知，所提出的符合人类认知的PID控制可以有效地优化HRI和协同操作性能。研究结果可用于为pars设计以人为中心的控制方法，以帮助人类在工业和家庭中操纵重物，从而提供最佳的HRI和操作性能。

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引用次数: 1

A Method to Determine Human-Likeness in Social Motions of Anthropomorphic Robots 拟人机器人社交动作中人类相似度的确定方法

IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Pub Date : 2020-07-01 DOI: 10.1109/AIM43001.2020.9158797

S. Rahman

The hand waving motion of a human was considered as a representative social motion because a human can use such motions for social interaction and communication. Twenty healthy human subjects were recruited to participate in a study, where each subject separately showed the hand waving motion at three different conditions: (i) both hands waved, (ii) only left hand waved, and (iii) only right hand waved. The hand waving motion was captured by a motion capture system for each subject in each condition separately. Then, the kinematics (absolute linear displacements, velocities and accelerations) along different axes at three different joints such as wrist, elbow and shoulder were analyzed. Then, the hand waving motion was generated in two different anthropomorphic robotic platforms where the robots were enabled to show their hand waving motions at the same three conditions. The kinematic features for hand waving of the robots along different axes at three different joints were captured using the motion capture system and analyzed in the same way as it was done for the humans. Then, a dynamic similarity metric called the Froude number was proposed and used to determine human-likeness in the form of dynamic equivalence between human and robot motions. Human-likeness between human and robot motions were also assessed through a human subject study to crosscheck the results obtained through the use of the Froude number. An agreement was found in the results obtained through two different methods (Froude number, subjective study). The proposed approach can help determine human-likeness of motions generated by anthropomorphic robots that can bring balance in human-like appearance and human-like motions or actions of anthropomorphic robots and virtual characters, which can enhance their chance of being accepted by their human counterparts for coexistence and collaboration.

人类的挥手动作被认为是一种具有代表性的社会动作，因为人类可以使用这种动作进行社会互动和交流。招募了20名健康的人类受试者参加一项研究，每个受试者分别在三种不同的条件下挥手:(i)双手挥手，(ii)只左手挥手，(iii)只右手挥手。动作捕捉系统分别捕捉每个受试者在每种情况下的挥手动作。然后，分析了腕部、肘部和肩部三个不同关节沿不同轴向的运动学(绝对线性位移、速度和加速度)。然后，在两个不同的拟人机器人平台上生成手势，让机器人在相同的三种条件下展示手势。利用运动捕捉系统捕获了机器人在三个不同关节处沿不同轴向摆动的运动学特征，并以与人类相同的方式进行了分析。然后，提出了一种称为弗劳德数的动态相似度度量，并以人与机器人运动之间的动态等效的形式来确定人的相似度。人类和机器人运动之间的人类相似性也通过人类受试者研究进行评估，以交叉检查通过使用弗劳德数获得的结果。通过两种不同的方法(弗劳德数，主观研究)得到的结果一致。提出的方法可以帮助确定拟人机器人产生的动作与人的相似度，使拟人机器人和虚拟角色的人形外观和人形动作或动作达到平衡，从而提高拟人机器人和虚拟角色被人类对手接受共存和协作的机会。

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引用次数: 0

The Robot System for Brachytherapy 近距离放射治疗机器人系统

IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Pub Date : 2019-01-01 DOI: 10.1109/AIM.2019.8868377

Zequn Li, Chang-le Li, Xuehe Zhang, Gangfeng Liu, Jie Zhao

引用次数: 0

Spatial-Semantic Fusion Network for Semantic Segmentation in Real-time 面向实时语义分割的空间语义融合网络

IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Pub Date : 2019-01-01 DOI: 10.1109/AIM.2019.8868787

Yu Fang, Xuehe Zhang, He Zhang, Gangfeng Liu, Chang-le Li, Jie Zhao

引用次数: 0

Direction of Slip Detection for Adaptive Grasp Force Control with a Dexterous Robotic Hand. 灵巧机械手自适应抓取力控制的滑移检测方向。

IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Pub Date : 2018-07-01 Epub Date: 2018-09-03 DOI: 10.1109/aim.2018.8452704

Moaed A Abd, Iker J Gonzalez, Thomas C Colestock, Benjamin A Kent, Erik D Engeberg

A novel method of tactile communication among human-robot and robot-robot collaborative teams is developed for the purpose of adaptive grasp control of dexterous robotic hands. Neural networks are applied to the problem of classifying the direction objects slide against different tactile fingertip sensors in real-time. This ability to classify the direction that an object slides in a dexterous robotic hand was used for adaptive grasp synergy control to afford context dependent robotic reflexes in response to the direction of grasped object slip. Case studies with robot-robot and human-robot collaborative teams successfully demonstrated the feasibility; when object slip in the direction of gravity (towards the ground) was detected, the dexterous hand increased the grasp force to prevent dropping the object. When a human or robot applied an upward force to cause the grasped object to slip upward, the dexterous hand was programmed to release the object into the hand of the other team member. This method of adaptive grasp control using direction of slip detection can improve the efficiency of human-robot and robot-robot teams.

针对灵巧机械手的自适应抓握控制，提出了一种新的人-机器人和机器人-机器人协作团队之间的触觉交流方法。将神经网络应用于不同触觉指尖传感器对物体滑动方向的实时分类问题。这种对物体滑动方向进行分类的能力被用于自适应抓取协同控制，以提供机器人对抓取物体滑动方向的上下文依赖反射。机器人-机器人和人-机器人协作团队的案例研究成功地证明了该方法的可行性;当检测到物体在重力方向(朝向地面)滑动时，灵巧的手增加抓握力以防止物体掉落。当一个人或机器人施加一个向上的力，使抓住的物体向上滑动时，灵巧的手被编程释放到另一个团队成员的手中。这种利用滑移方向检测的自适应抓取控制方法可以提高人-机器人和机器人-机器人团队的工作效率。

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引用次数: 16

Armband with Soft Robotic Actuators and Vibrotactile Stimulators for Bimodal Haptic Feedback from a Dexterous Artificial Hand. 带有软机器人致动器和振动触觉刺激器的臂带，可从灵巧的人造手获得双模触觉反馈。

IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Pub Date : 2018-07-01 Epub Date: 2018-09-03 DOI: 10.1109/aim.2018.8452709

Moaed A Abd, Michael Bornstein, Emmanuelle Tognoli, Erik D Engeberg

The haptic sense relies upon a plurality of receptors and pathways to produce a complex perceptual experience of contact, pressure, taps, vibrations and flutters. This complexity is yet to be reproduced in haptic feedback interfaces that are used by people controlling a dexterous robotic hand, be it for limb-absence or teleoperation. The goal of the present bimodal haptic armband is to convey both low-frequency pressure changes and high-frequency vibrations from a dexterous robotic hand to a human's upper arm, so as to guide his/her control of the artificial limb. To that end, we design and manufacture four novel soft robotic armbands combining inflatable air chambers and vibrotactile stimulators. We develop control systems for both pathways. We conduct a series of benchtop tests to determine the pneumatic and vibrotactile performance and select from competing designs and materials. We test two of the resulting bimodal haptic armband on human subjects and confirm their ability to use both aspects of this haptic information. Arguing that dexterous artificial hands are presently not used to their fullest capability by the dearth of haptic information in users, this work aims to achieve a more realistic tactile experience for a fluent, more natural usage of robotic artificial hands.

触觉依靠多个感受器和通路来产生接触、压力、敲击、振动和飘动等复杂的感知体验。这种复杂性还有待于在触觉反馈界面中再现，以便人们控制灵巧的机器人手，无论是肢体缺失还是远程操作。本双模触觉臂带的目标是将灵巧机械手的低频压力变化和高频振动传递到人的上臂，从而引导人对假肢的控制。为此，我们设计并制造了四种结合了充气气室和振动触觉刺激器的新型软机器人臂带。我们为这两种途径开发了控制系统。我们进行了一系列台式测试，以确定气动和振动性能，并从竞争设计和材料中进行选择。我们在人类受试者身上测试了两个由此产生的双模触觉臂带，并确认他们能够同时使用这两方面的触觉信息。我们认为，由于用户缺乏触觉信息，灵巧的人工手目前还不能充分发挥其能力，因此这项工作旨在实现更逼真的触觉体验，使机器人人工手的使用更流畅、更自然。

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引用次数: 0

Experimental investigation of the dynamic performances of a miniature soft Magneto-Rheological shock absorber 微型软磁流变减振器动态性能的实验研究

IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576773

D. Grivon, Y. Civet, Z. Pataky, Y. Perriard

In the proposed work, the dynamic performances of a miniature soft Magneto-Rheological (MR) shock absorber are analyzed. The final application for which the damper has been designed and in which it will be embedded is a variable stiffness insole for patients with foot neuropathy and undergoing plantar ulcerations. Considering that the common design methodology used to dimension MR devices merely defines the maximum ratings of the sustainable efforts (i.e. maximum sustainable load for MR dampers, pressure drop for MR valves and braking torque for MR brakes or clutches), the relevance of their dynamics involved (respectively the impact velocity of the loading body for shock absorbers, the imposed flow rate and the rotating speed for MR valves and brakes) is often neglected in the dimensioning phase although it may assume a fundamental relevance. The understanding of the dynamic behavior of MR devices become even more important if these latter are part of a element or a more complex system in which all the elements differently affect its final behavior. With this respect, test sessions are conducted to experimentally evaluate the contribution that the different elements composing the damper in order have on the overall performances of the final systems.

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引用次数: 0

Mechanical stiffness augmentation of a 3D printed soft prosthetic finger 3D打印柔软假肢手指的机械刚度增强

IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576735

R. Mutlu, S. K. Yildiz, G. Alici, M. Panhuis, Geoffrey M. Spinks

Soft robotics, as a multi-disciplinary research area, has recently gained a significant momentum due to offering unconventional characteristics relative to rigid robots such as a resilient, highly dexterous, compliant and safer interaction with humans and their physical environments. However, soft robots suffer from not being able to carry their own weight which mainly depends on the modulus of elasticity of the material used to fabricate them. In this paper, we report on a practical and easy-to-implement stiffness augmentation method to enhance stiffness of soft robotic components. We fabricated a soft robotic finger which is fully compliant with flexure hinges using Fused Deposition Modelling (FDM) technique and a stiffness augmenting unit made of thin poly(vinyl chloride)(PVC) sheets. The stiffness of the entire robotic finger was increased mechanically by linearly driving the stiffness augmenting unit. The experimental data presented show that stiffness of the finger was increased by 40 %. Depending on the material properties and thickness used for fabricating the stiffness augmenting unit, a higher rate of stiffness increase can be easily obtained.

软机器人作为一个多学科的研究领域，由于提供了相对于刚性机器人的非常规特征，如弹性，高度灵巧，顺应性和更安全的与人类及其物理环境的交互，最近获得了显著的动力。然而，软体机器人无法承受自身的重量，这主要取决于制造它们的材料的弹性模量。本文报道了一种实用且易于实现的增强柔性机器人部件刚度的方法。我们使用熔融沉积建模(FDM)技术和由薄聚氯乙烯(PVC)片制成的刚度增强单元制造了一个柔软的机器人手指，它完全符合柔性铰链。通过线性驱动增刚度单元，机械地提高了整个机械手指的刚度。实验数据表明，手指的刚度提高了40%。根据材料性能和厚度的不同，可以很容易地获得更高的刚度增加率。

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引用次数: 16

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