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Authors:Kunming Zheng, Qiuju Zhang Abstract: International Journal of Advanced Robotic Systems, Volume 20, Issue 3, May-June 2023. The upper limb exoskeleton rehabilitation robot can realize the partial functional compensation of upper limb and complete the various types of rehabilitation training for each joint of upper limb. However, the existing upper limb exoskeleton rehabilitation robots are lack of flexible reconfigurability, which are difficult to meet the diversified patient objects and rehabilitation needs, and have some problems, such as insufficient motion compliance, poor portability, and wearing comfort. To effectively solve the above problems and improve the effect of upper limb rehabilitation training, this project plans to carry out the following research: Firstly, analyze the structural characteristic and movement mechanism of upper limb, clarify the configuration theory of the modular flexible upper limb exoskeleton rehabilitation robot with reconfigurable, and design and optimize the mechanism form and structural parameters of the reconfigurable modular flexible upper limb exoskeleton rehabilitation robot. Secondly, based on the perspective of rigid–flexible coupling integration of bone–muscle–robot, the integrated equivalent mechanism model is constructed and the integrated dynamics model is established to plan compliance motion and develop intelligent compliance control strategy. Finally, the simulation experimental platform is built for simulation experimental demonstration of upper limb rehabilitation training. The implementation of this study will provide new idea and method for realizing the effect of flexible, compliance, light, and comfortable of upper limb rehabilitation training. Citation: International Journal of Advanced Robotic Systems PubDate: 2023-05-23T05:08:29Z DOI: 10.1177/17298806231175600 Issue No:Vol. 20, No. 3 (2023)
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Authors:Sebastian Gelfert Abstract: International Journal of Advanced Robotic Systems, Volume 20, Issue 3, May-June 2023. Search and rescue robots gained a significant attention in the past, as they assist firefighters during their rescue missions. The opportunity to move autonomously or remotely controlled with intelligent sensor technology, to detect victims in unknown fire smoke environments, introduces a growing technology in fire engineering. Since sensor systems are a component of mobile robots, there is a demand for intelligent robot vision, especially for human detection in fire smoke environments. In this article, an overview of sensor technologies and their algorithms for human detection in regular and smoky environments is presented. These sensor technologies are categorized into single sensor and multi-sensor systems. Novel sensor approaches are led by artificial intelligence, 3D mapping and multi-sensor fusion. The article provides a contribution for future research directions in algorithms and applications and supports decision-makers in fire engineering to get knowledge in trends, novel applications and challenges in this field of research. Citation: International Journal of Advanced Robotic Systems PubDate: 2023-05-19T04:53:39Z DOI: 10.1177/17298806231175238 Issue No:Vol. 20, No. 3 (2023)
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Authors:Mohammadamin Samadi Khoshkho, Zahra Samadikhoshkho, Michael G Lipsett Abstract: International Journal of Advanced Robotic Systems, Volume 20, Issue 3, May-June 2023. This article presents a novel learning-based optimal control approach for dynamic control of continuum robots. Working and interacting with a confined and unstructured environment, nonlinear coupling, and dynamic uncertainty are only some of the difficulties that make developing and implementing a continuum robot controller challenging. Due to the complexity of the control design process, a number of researchers have used simplified kinematics in the controller design. The nonlinear optimal control technique presented here is based on the state-dependent Riccati equation and developed with consideration of the dynamics of the continuum robot. To address the high computational demand of the state-dependent Riccati equation controller, the distilled neural technique is adopted to facilitate the real-time controller implementation. The efficiency of the control scheme with different neural networks is demonstrated using simulation results. Citation: International Journal of Advanced Robotic Systems PubDate: 2023-05-19T04:51:07Z DOI: 10.1177/17298806231174737 Issue No:Vol. 20, No. 3 (2023)
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Authors:Qiang Xing, Sheng Xu, Hao Wang, Jiajia Wang, Wei Zhao, Haili Xu Abstract: International Journal of Advanced Robotic Systems, Volume 20, Issue 3, May-June 2023. The existing Bug algorithms, which are the same as wall-following algorithms, offer good performance in solving local minimum problems caused by potential fields. However, because of the odometer drift that occurs in actual environments, the performance of the paths planned by these algorithms is significantly worse in actual environments than in simulated environments. To address this issue, this article proposes a new Bug algorithm. The proposed algorithm contains a potential field function that is based on the relative velocity, which enables the potential field method to be extended to dynamic scenarios. Using the cumulative changes in the internal and external angles and the reset point of the robot during the wall-following process, the condition for state switching has been redesigned. This improvement not only solves the problem of position estimation deviation caused by odometer noise but also enhances the decision-making ability of the robot. The simulation results demonstrate that the proposed algorithm is simpler and more efficient than existing wall-following algorithms and can realise path planning in an unknown dynamic environment. The experimental results for the Kobuki robot further validate the effectiveness of the proposed algorithm. Citation: International Journal of Advanced Robotic Systems PubDate: 2023-05-16T05:34:54Z DOI: 10.1177/17298806231169186 Issue No:Vol. 20, No. 3 (2023)
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Authors:Giovanni Capovilla, Evangelos Tagkalos, Caterina Froiio, Edin Hadzijusufovic, Felix Berlth, Peter Philipp Grimminger Abstract: International Journal of Advanced Robotic Systems, Volume 20, Issue 3, May-June 2023. The hinotori™ surgical robotic system, by Medicaroid (Medicaroid Corporation, Kobe, Japan), is a new robotic system for minimally invasive surgery. We aimed at evaluating its usability and accessibility in a preclinical setting. This was a preclinical feasibility study. Two groups of surgeons, one with three experienced robotic surgeons (group 1) and one with three robotic-surgery naive participants (group 2), performed the following tasks using the hinotori™ system in a simulated preclinical setting: console setup, docking, instrument exchange, undocking, and suturing. Each participant repeated each task three times. The time required for performing each repetition and the count of failed repetitions were the primary outcomes of the study. The subjectively perceived workload in performing the tasks, as measured by the NASA-TLX score, was the secondary outcome. The improvement of participants within the three repetitions as well as a comparison between the performances of group 1 and 2 were evaluated. The time required to perform each task decreased with repetitions for both groups, so did the subjective workload score. The time measures required to perform the tasks and the mental effort scores were comparable between the two groups for the console setup, docking, instrument exchange, and undocking tasks. The NASA-TLX score was also comparable between the two groups for the console setup and the emergency undocking tasks and decreased significantly within all tasks after the third repetition. The incidence of failed repetitions was higher in group 2 for the suturing task, however the difference was not statistically significant. The results confirmed the usability of the hinotori™ system in a preclinical setting for both highly trained surgeons and nonexperienced operators and its accessibility for both long-time users of other systems and first-time users. Citation: International Journal of Advanced Robotic Systems PubDate: 2023-05-11T05:28:15Z DOI: 10.1177/17298806231152704 Issue No:Vol. 20, No. 3 (2023)
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Authors:Jawad Bdour, Belal H Sababha Abstract: International Journal of Advanced Robotic Systems, Volume 20, Issue 3, May-June 2023. One of the most significant disadvantages of electric multirotor unmanned aerial vehicles is their short flight time compared to fuel-powered unmanned aerial vehicles. This is mainly due to the low energy density of electric batteries. Fuel has much more energy density when compared to batteries. Electric-powered motors in multirotor unmanned aerial vehicles cannot be replaced with fuel-based engines because the stability and control of multirotor unmanned aerial vehicles rely on the high response rates of electric motors. One of the possible solutions to overcome this problem of short endurance times is by using hybrid thrusting systems that combine the advantages of both fuel and electrical propulsion systems, where high maneuverability and long endurance flight time could be achieved. In this work, hybrid thrusting and power systems for multirotor unmanned aerial vehicles are studied. Targeted hybrid thrusting systems consist of combustion engines, electric motors, and their power sources. Then a hybrid thrusting system-based quadrotor unmanned aerial vehicle model is developed. The article presents the altitude and attitude control systems of the developed hybrid thrusting system-based unmanned aerial vehicle. The presented hybrid quadcopter model comprises four electric motors and one fuel engine. The fuel engine used in this work is a 4.07 cc internal combustion engine targeting 2–3 kg unmanned aerial vehicles with up to 5 kg maximum takeoff weight. The developed hybrid quadrotor unmanned aerial vehicle achieved a 139% improvement in flight time when compared with traditional electric-based quadrotor unmanned aerial vehicles. The article also reports on other flight time-related issues such as the optimal fuel mass to battery size ratio to maximize the endurance time of the quadrotor unmanned aerial vehicles. Citation: International Journal of Advanced Robotic Systems PubDate: 2023-05-10T05:38:23Z DOI: 10.1177/17298806231172335 Issue No:Vol. 20, No. 3 (2023)
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Authors:Chien-Hsiung Chen, Xiaoyu Jia Abstract: International Journal of Advanced Robotic Systems, Volume 20, Issue 3, May-June 2023. Exploring people’s attitudes toward the appearance design of social robots in a low-cost and efficient way, and enhancing the experience of human–robot interaction have always been topics of concern for robot developers and interaction designers. This study aimed to explore the influence of the baby schema effect on users’ perceptions of cuteness and trustworthiness pertinent to social robot faces through two experiments. Experiment 1 used 100 uniformly processed pictures of robot faces in the real world to help explore the linear relationship among the degree of baby face, cuteness, and trustworthiness, and received a total of 98 valid questionnaires via the Internet. Experiment 2 was a 5 × 3 within-subjects factorial design. The research variables were robot type (i.e. MAKI, RoboThespian, Flobi, Pepper, and iCat) and baby schema (low schema, uncontrolled, and high schema); their impact on users’ perceptions of cuteness and trustworthiness was investigated. A total of 175 valid questionnaires were collected via the Internet. The generated results are as follows: (1) The degree of baby face and perceived emotion of social robot faces had a positive impact on trustworthiness for most real-world robots. (2) This study obtained the correlation formula of baby face, cuteness, and trustworthiness from a quantitative point of view, thus providing a reference for research on the related credibility of communication robots. (3) In general, baby schema effect also existed in the cuteness evaluation of most real-world robots. Faces with high schema were considered cuter and more trustworthy than uncontrolled or low schema faces. (4) Robot type and baby schema had a significant interaction with cuteness and trustworthiness. (5) However, for certain types of robots, baby schema effect may also have a counter-effect, that is, an overly high baby schema may reduce users’ perceptions of the cuteness and trustworthiness of social robots. Citation: International Journal of Advanced Robotic Systems PubDate: 2023-05-03T05:44:06Z DOI: 10.1177/17298806231168486 Issue No:Vol. 20, No. 3 (2023)
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