wang, haopeng wang, he dai, chenyun huang, xinming clancy, edward a.
Deep neural networks (DNNs) and transfer learning (TL) have been used to improve surface electromyogram (sEMG)-based force estimation. However, prior studies focused mostly on applying TL within one joint, which limits dataset size and diversity. Herein, we investigated cross-joint TL between two upper-limb joints with four DNN architectures using ...
zhou, zhangxi yang, jianlin runciman, mark avery, james sun, zhijun mylonas, george
Tendon–sheath structures are commonly utilized to drive surgical robots due to their compact size, flexibility, and straightforward controllability. However, long-distance cable tension estimation poses a significant challenge due to its frictional characteristics affected by complicated factors. This paper proposes a miniature tension sensor array...
haraguchi, daisuke monden, rin
This paper proposes the application of force-projecting bilateral control to a master-follower teleoperation system with pneumatic drive on the follower side and evaluates its effectiveness. The proposed method directly projects the operating force on the master side to the driving force on the follower side, eliminating the need for both position ...
Gonzalez Saiz, G. (author)
Experimental aeroelasticity has been hindered by the intrusivity of measurement equipment and complexity of the experimental setups. Advancements in hardware development have been encouraging optical tracking techniques to replace cross correlation approaches in experimental aerodynamics. However, digital image correlation (DIC) is still the standa...
Teng, Zhicheng Xu, Guanghua Zhang, Xun Chen, Xiaobi Zhang, Sicong Huang, Hsien-Yung
Published in
Journal of Neural Engineering
Objective. The absence of intuitive control in present myoelectric interfaces makes it a challenge for users to communicate with assistive devices efficiently in real-world conditions. This study aims to tackle this difficulty by incorporating neurophysiological entities, namely muscle and force synergies, onto multi-finger force estimation to allo...
kružić, stanko musić, josip papić, vladan kamnik, roman
When a robotic manipulator interacts with its environment, the end-effector forces need to be measured to assess if a task has been completed successfully and for safety reasons. Traditionally, these forces are either measured directly by a 6-dimensional (6D) force–torque sensor (mounted on a robot’s wrist) or by estimation methods based on observe...
wang, zhuo liu, shenghong huang, bo luo, haowu min, feiyan
Joint stiffness of an elastic-joint robot can be changed according to joint stiffness requirements. A series elastic actuator (SEA) can reduce the contact stiffness between the body and the environment or human, which can further ensure interactive operation in a human–machine-compatible environment. However, the introduction of the SEA improves th...
Xu, Baoguo Zhang, Kun Yang, Xinhao Liu, Deping Hu, Cong Li, Huijun Song, Aiguo
Published in
Frontiers in Neuroscience
Electromyography (EMG) generated by human hand movements is usually used to decode different action types with high accuracy. However, the classifications of the gestures rarely consider the impact of force, and the estimation of the grasp force when performing natural grasping movements is so far overlooked. Decoding natural grasping movements and...
xie, yu mingkai chen;
A human can infer the magnitude of interaction force solely based on visual information because of prior knowledge in human–robot interaction (HRI). A method of reconstructing tactile information through cross-modal signal processing is proposed in this paper. In our method, visual information is added as an auxiliary source to tactile information....
ranaldi;, simone
The estimation of the sEMG–force relationship is an open problem in the scientific literature; current methods show different limitations and can achieve good performance only on limited scenarios, failing to identify a general solution to the optimization of this kind of analysis. In this work, this relationship has been estimated on two different...
