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Augmented Virtual Stiffness Rendering of a Cable-driven SEA for Human-Robot Interaction

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 714-723页

作者： ningbo yu Wulin Zou Wen Tan Zhuo Yang IEEE Institute of Robotics and Automatic Information Systems Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University Haihe Education Park

Human-robot interaction(HRI) is fundamental for human-centered robotics, and has been attracting intensive research for more than a decade. The series elastic actuator(SEA) provides inherent compliance, safety and further benefits for HRI, but the introduced elastic element also brings control difficulties. In this paper, we address the stiffness rendering problem for a cable-driven SEA system, to achieve either low stiffness for good transparency or high stiffness bigger than the physical spring constant, and to assess the rendering accuracy with quantified metrics. By taking a velocity-sourced model of the motor, a cascaded velocity-torque-impedance control structure is established. To achieve high fidelity torque control, the 2-DOF(degree of freedom) stabilizing control method together with a compensator has been used to handle the competing requirements on tracking performance, noise and disturbance rejection,and energy optimization in the cable-driven SEA system. The conventional passivity requirement for HRI usually leads to a conservative design of the impedance controller, and the rendered stiffness cannot go higher than the physical spring constant. By adding a phase-lead compensator into the impedance controller,the stiffness rendering capability was augmented with guaranteed relaxed passivity. Extensive simulations and experiments have been performed, and the virtual stiffness has been rendered in the extended range of 0.1 to 2.0 times of the physical spring constant with guaranteed relaxed passivity for physical humanrobot interaction below 5 Hz. Quantified metrics also verified good rendering accuracy.

关键词： Cable actuation impedance control physical human-robot interaction relaxed passivity series elastic actuator stabilizing 2-DOF(degree of freedom) controllers

SARNet:Speaker-Attentive ResNet for Quantification of Dysarthria Severity

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SARNet:Speaker-Attentive ResNet for Quantification of Dysart...

Design and Development of A Knee Surgery Planning System

第43届中国控制会议

作者： Huan Yin Xinyuan Zhang Yang yu ningbo yu College of Artificial Intelligence Nankai University Department of Rehabilitation Medicine Tianjin Huanhu Hospital Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

Analyzing differences in audio data of individuals with articulation disorders from the perspective of human speech and employing objective methods for automated dysarthria evaluation can significantly aid doctors in early patient screening and diagnosis. This proactive approach enables timely intervention and treatment during the initial stages of the condition. This paper presents a speech recognition network(named Speaker-Attentive Res Net(SARNet)) that aggregates and propagates features from different hierarchical levels using an attention-based statistical pooling module, built upon the ResNet architecture. This network aims to extract subtle features specific to individual speakers. The proposed method is evaluated using the TORGO dysarthric speech database, employing eight different acoustic features as well as features aggregated from these eight. Comparative experiments with two other models, Time-Delay Neural Network(TDNN) and Panns-CNN10(Large-Scale Pretrained Audio Neural Networks), demonstrate that due to the superior ability of MFCC(Mel-scaleFrequency Cepstral Coefficients) to emulate human auditory features, the proposed approach achieves a classification accuracy of 98%-99% in measuring speech intelligibility in healthy people, patients, and the severity of patient's articulation disorders.

关键词： Dysarthria Quantification Speaker-Attentive ResNet

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Design and Development of A Knee Surgery Planning System

Quantified assessment of deep brain stimulation on Parkinson’s patients with task fNIRS measurements and functional connectivity analysis:a pilot study

第32届中国控制与决策会议

作者： Li Gao Kelei Ding Jianan Liu Guoli Song ningbo yu Institute of Robotics and Automatic Information Systems Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences

Knee joint diseases have grown to be a major health risk and a planning system for knee surgery,such as Total knee arthroplasty（TKA）,can be of great *** surgery is very complex,requires multi-modal information and demands advanced *** this work,a surgical planning system has been designed,developed and demonstrated,with the aim to help surgeons get familiarized with the surgery,diagnose knee impairment,plan and optimize the operation *** of all,the TKA procedures were *** tibia and femur bones are cut and artificial prostheses are implanted into the knee to relieve pain and recover the joint ***,the requirements,structure and implementation goals for the surgical planning system were *** that,the system was built up to realize the designed functionalities,including parsing of medical images from CT and magnetic resonance imaging（MRI）,3 D reconstruction of the knee joint,segmentation of the regions of interest（ROIs）,virtual osteotomy,measurement of spatial distance and angles,and simulated knee prosthesis ***,clinical imaging data were taken to demonstrate and validate system functionality.

关键词： Knee surgery surgical planning total knee arthroplasty virtual osteotomy prosthesis installation

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Chinese Neurosurgical Journal 2021年第3期7卷 171-181页

作者： ningbo yu Siquan Liang Jiewei Lu Zhilin Shu Haitao Li Yang yu Jialing Wu Jianda Han College of Artificial Intelligence Nankai UniversityTianjinChina Tianjin Key Laboratory of Intelligent Robotics Nankai UniversityTianjinChina Department of Neurosurgery Tianjin Huanhu HospitalTianjinChina Department of Neurorehabilitation Tianjin Huanhu HospitalTianjinChina Department of Neurology Tianjin Huanhu HospitalTianjinChina Laboratory of Cerebral Vascular and Neurodegenerative Diseases Tianjin Neurosurgical InstituteTianjin Huanhu HospitalTianjinChina

Background:Deep brain stimulation(DBS)has proved effective for Parkinson’s disease(PD),but the identification of stimulation parameters relies on doctors’subjective judgment on patient ***:Five PD patients performed 10-meter walking tasks under different brain stimulation *** walking tests,a wearable functional near-infrared spectroscopy(fNIRS)system was used to measure the concentration change of oxygenated hemoglobin(ΔHbO_(2))in prefrontal cortex,parietal lobe and occipital *** functional connectivity and global efficiency were calculated to quantify the brain ***:We discovered that both the global and regional brain efficiency of all patients varied with stimulation parameters,and the DBS pattern enabling the highest brain efficiency was optimal for each patient,in accordance with the clinical assessments and DBS treatment decision made by the ***:Task fNIRS assessments and brain functional connectivity analysis promise a quantified and objective solution for patient-specific optimization of DBS *** registration:Name:Accurate treatment under the multidisciplinary cooperative diagnosis and treatment model of Parkinson’s *** number is *** of registration is April 23,2019.

关键词： Deep brain stimulation programming Parkinson’s disease Brain efficiency Functional connectivity

一种基于RGB-D的移动机器人未知室内环境自主探索与地图构建方法

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机器人 2017年第6期39卷 860-871页

作者：于宁波王石荣徐昌南开大学机器人与信息自动化研究所天津300353 南开大学天津市智能机器人技术重点实验室天津300353 中国科学院沈阳自动化研究所机器人学国家重点实验室辽宁沈阳110016

提出了一种基于RGB-D信息的移动机器人自主探索与地图构建方法.首先,基于RGB-D传感器提供的信息,通过定位点生成、地图构建与闭环检测,实时构建3D点云地图.然后,将探索过程描述成部分可观测马尔可夫决策过程,结合局部地图推演策略与全... 详细信息

提出了一种基于RGB-D信息的移动机器人自主探索与地图构建方法.首先,基于RGB-D传感器提供的信息,通过定位点生成、地图构建与闭环检测,实时构建3D点云地图.然后,将探索过程描述成部分可观测马尔可夫决策过程,结合局部地图推演策略与全局边界搜索策略,建立了移动机器人的自主探索方法.在此基础上,确定移动机器人当前动作约束,采用动态窗运动控制方法,既能避免移动机器人陷入局部最优,又能保证采用RGB-D数据进行建图时的稳定性.最后,开展了实验室场景下的探索任务实验,验证了本文提出的移动机器人未知环境自主探索与地图构建方法的有效性.

关键词：移动机器人自主探索点云地图局部地图推演全局边界搜索

A Video-Based Method to Classify Abnormal Gait for Remote Screening of Parkinson’s Disease

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A Video-Based Method to Classify Abnormal Gait for Remote Sc...

基于共享控制的人机灵巧力触觉交互系统设计与实现

第40届中国控制会议

作者： yuchen Yang Peipei Liu yubo Sun ningbo yu Jialing Wu Jianda Han College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University Graduate School of Tianjin Medical University Department of Neurology Tianjin Huanhu Hospital Department of Neurorehabilitation Tianjin Huanhu Hospital

Telemedicine is of growing importance for the increasing number of patients with population aging,lack of medical resources in the countryside,and special situation such as the COVID-19 *** impairment is a major motor symptom for patients suffering from neurological disorders such as Parkinson’s disease（PD）,and serves as an important indicator for early screening and diagnosis of the *** gait analysis methods typically require advanced equipment,trained professionals,and complex *** this paper,we propose a method to classify the abnormal gait of patients suffering from Parkinson’s disease and normal gait,solely with the 2 D walking videos recorded by a common camera or a smartphone.A pose estimation algorithm is employed to extract the skeleton of the subjects from the *** on the analysis of motor disturbances resulting from Parkinson’s disease,specific gait features are defined and extracted,including step length,walking speed,arm swing magnitude,and *** that the sample size of clinical data is limited in the early stage,classic classifiers are applied,including logistic regression（LR）,support vector machine（SVM）,and random forest（RF）.The registered clinical study was conducted with 20 PD patients and 20 age-matched healthy *** the three classifiers,87.5%（LR）,90.0%（SVM）,and 92.5%（RF） of classification accuracy were achieved,***,video-based classification of abnormal gait promises a solution for remote screening and diagnosis of neurological diseases.

关键词： Abnormal Gait Motion Feature Video Analysis Parkinson’s Disease Telemedicine

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仪器仪表学报 2017年第3期38卷 602-611页

作者：于宁波李思宜赵营泉王奎徐昌南开大学机器人与信息自动化研究所天津300353 天津市智能机器人技术重点实验室天津300353

人能够在复杂感知的相互协调下做出决策并完成灵巧操作。将视听觉和力触觉等不同模态相融合,可以提高操作者对虚拟场景或远程环境的感知,进而改善操作效果。如何协调人的操作和虚拟环境中目标机器人系统的自主性,则是人机交互中的一个... 详细信息

人能够在复杂感知的相互协调下做出决策并完成灵巧操作。将视听觉和力触觉等不同模态相融合,可以提高操作者对虚拟场景或远程环境的感知,进而改善操作效果。如何协调人的操作和虚拟环境中目标机器人系统的自主性,则是人机交互中的一个关键问题。为此,本文基于Unity3D引擎建立了虚拟场景,并实现了omega.7力反馈平台与虚拟场景之间的通信。进而,创建了基于碰撞检测的虚拟距离传感器,实现了虚拟场景中目标机器人对周围环境的探测。然后,设计实现了人机力触觉交互共享控制算法,将人的智能决策与灵巧操作优势同目标机器人的自主算法相融合,使得目标机器人系统的控制权限可以在人手操作和机器人自主算法之间连续平滑转移。由此,实现了人与虚拟环境和目标机器人之间功能多样、场景逼真的视听觉和灵巧力触觉多模态交互,从而为医学、康复、军事、娱乐等领域中的人机交互提供了一种解决方案。

关键词：人机灵巧力触觉交互虚拟传感器力触觉共享控制多模态反馈虚拟场景

基于RGB-D信息的移动机器人SLAM和路径规划方法研究与实现

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智能系统学报 2018年第3期13卷 445-451页

作者：李元王石荣于宁波南开大学机器人与信息自动化研究所天津300353 南开大学天津市智能机器人技术重点实验室天津300353

移动机器人在各种辅助任务中需具备自主定位、建图、路径规划与运动控制的能力。本文利用RGB-D信息和ORB-SLAM算法进行自主定位,结合点云数据和GMapping算法建立环境栅格地图,基于二次规划方法进行平滑可解析的路径规划,并设计非线性控... 详细信息

移动机器人在各种辅助任务中需具备自主定位、建图、路径规划与运动控制的能力。本文利用RGB-D信息和ORB-SLAM算法进行自主定位,结合点云数据和GMapping算法建立环境栅格地图,基于二次规划方法进行平滑可解析的路径规划,并设计非线性控制器,实现了由一个运动底盘、一个RGB-D传感器和一个运算平台组成的自主移动机器人系统。经实验验证,这一系统实现了复杂室内环境下的实时定位与建图、自主移动和障碍物规避。由此,为移动机器人的推广应用提供了一个硬件结构简单、性能良好、易扩展、经济性好、开发维护方便的解决方案。

关键词：移动机器人 RGB-D SLAM GMapping 路径规划二次规划曲线拟合非线性控制

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试论企业社会责任与劳资和谐

绍兴文理学院学报(自然科学版) 2009年第3期 83-88页

作者：卢宇宁波宇洲液压设备厂

文章通过对企业社会责任和劳动者权益含义的理解,从经济、法治、社会三位一体角度提出劳资和谐的重要意义.通过对几家单位的调研,了解引发劳动争议的现实原因和纠纷解决方式,从而探索劳资和谐的有效途径.

关键词：企业社会责任劳动者权益劳资和谐