neurorobotics

To address traditional impedance control methods' difficulty with obtaining stable forces during robot-skin contact, a force control based on the Gaussian mixture model/Gaussian mixture regression (GMM/GMR) algorithm fusing different compensation strategies is proposed. The contact relationship between a robot end effector and human skin is established through an impedance control model. To allow the robot to adapt to flexible skin environments, reinforcement learning algorithms and a strategy based on the skin mechanics model compensate for the impedance control strategy...

Brain-computer interfaces (BCIs) that enable human-machine interaction have immense potential in restoring or augmenting human capabilities. Traditional BCIs are realized based on complementary metal-oxide-semiconductor (CMOS) technologies with complex, bulky, and low biocompatible circuits, and suffer with the low energy efficiency of the von Neumann architecture. The brain-neuromorphics interface (BNI) would offer a promising solution to advance the BCI technologies and shape our interactions with machineries...

Insects exhibit remarkable abilities in navigating complex natural environments, whether it be evading predators, capturing prey, or seeking out con-specifics, all of which rely on their compact yet reliable neural systems. We explore the field of bio-inspired robotic vision systems, focusing on the locust inspired Lobula Giant Movement Detector (LGMD) models. The existing LGMD models are thoroughly evaluated, identifying their common meta-properties that are essential for their functionality. This article reveals a common framework, characterized by layered structures and computational strategies, which is crucial for enhancing the capability of bio-inspired models for diverse applications...

The crossmodal interaction of different senses, which is an important basis for learning and memory in the human brain, is highly desired to be mimicked at the device level for developing neuromorphic crossmodal perception, but related researches are scarce. Here, we demonstrate an optoelectronic synapse for vision-olfactory crossmodal perception based on MXene/violet phosphorus (VP) van der Waals heterojunctions. Benefiting from the efficient separation and transport of photogenerated carriers facilitated by conductive MXene, the photoelectric responsivity of VP is dramatically enhanced by 7 orders of magnitude, reaching up to 7...

With the development of deep learning, synthetic aperture radar (SAR) ship detection and recognition based on deep learning have gained widespread application and advancement. However, there are still challenging issues, manifesting in two primary facets: firstly, the imaging mechanism of SAR results in significant noise interference, making it difficult to separate background noise from ship target features in complex backgrounds such as ports and urban areas; secondly, the heterogeneous scales of ship target features result in the susceptibility of smaller targets to information loss, rendering them elusive to detection...

This paper represents a constraint planning and optimization control scheme for a highly redundant mobile manipulator considering a complex indoor environment. Compared with the traditional optimization solution of a redundant manipulator, infinity norm and slack variable are additionally introduced and leveraged by the optimization algorithm. The former takes into account the joint limits effectively by considering individual joint velocities and the latter relaxes the equality constraint by decreasing the infeasible solution area...

INTRODUCTION: Object detection methods for team ball games players often struggle due to their reliance on dataset scale statistics, resulting in missed detections for players with smaller bounding boxes and reduced accuracy for larger bounding boxes. METHODS: This study introduces a two-fold approach to address these challenges. Firstly, a novel multi-scale attention mechanism is proposed, aiming to reduce reliance on scale statistics by utilizing a specially created SIoU (Similar to Intersection over Union) label that explicitly represents multi-scale features...

The visual perception model is critical to autonomous driving systems. It provides the information necessary for self-driving cars to make decisions in traffic scenes. We propose a lightweight multi-task network (Mobip) to simultaneously perform traffic object detection, drivable area segmentation, and lane line detection. The network consists of a shared encoder for feature extraction and two decoders for handling detection and segmentation tasks collectively. By using MobileNetV2 as the backbone and an extremely efficient multi-task architecture to implement the perception model, our network has great advantages in inference speed...

Health monitoring is a critical aspect of personalized healthcare, enabling early detection, and intervention for various medical conditions. The emergence of cloud-based robot-assisted systems has opened new possibilities for efficient and remote health monitoring. In this paper, we present a Transformer-based Multi-modal Fusion approach for health monitoring, focusing on the effects of cognitive workload, assessment of cognitive workload in human-machine collaboration, and acceptability in human-machine interactions...

The human factor plays a key role in the automotive field since most accidents are due to drivers' unsafe and risky behaviors. The industry is now pursuing two main solutions to deal with this concern: in the short term, there is the development of systems monitoring drivers' psychophysical states, such as inattention and fatigue, and in the medium-long term, there is the development of fully autonomous driving. This second solution is promoted by recent technological progress in terms of Artificial Intelligence and sensing systems aimed at making vehicles more and more accurately aware of their "surroundings...

Extra robotic arms (XRAs) are gaining interest in neuroscience and robotics, offering potential tools for daily activities. However, this compelling opportunity poses new challenges for sensorimotor control strategies and human-machine interfaces (HMIs). A key unsolved challenge is allowing users to proficiently control XRAs without hindering their existing functions. To address this, we propose a pipeline to identify suitable HMIs given a defined task to accomplish with the XRA. Following such a scheme, we assessed a multimodal motor HMI based on gaze detection and diaphragmatic respiration in a purposely designed modular neurorobotic platform integrating virtual reality and a bilateral upper limb exoskeleton...

The aim of the current study was to investigate children's brain responses to robot-assisted language learning. EEG brain signals were collected from 41 Japanese children who learned French vocabularies in two groups; half of the children learned new words from a social robot that narrated a story in French using animations on a computer screen (Robot group) and the other half watched the same animated story on the screen but only with a voiceover narration and without the robot (Display group). To examine brain activation during the learning phase, we extracted EEG functional connectivity (FC) which is defined as the rhythmic synchronization of signals recorded from different brain areas...

Ultra-flat carrying robots (UCR) are used to carry soft targets for functional safety road tests of intelligent driving vehicles and should have superior control performance. For the sake of analyzing and upgrading the motion control performance of the ultra-flat carrying robot, this paper develops the mathematical model of its motion control system on the basis of the test data and the system identification method. Aiming at ameliorating the defects of the standard particle swarm optimization (PSO) algorithm, namely, low accuracy, being susceptible to being caught in a local optimum, and slow convergence when dealing with the parameter identification problems of complex systems, this paper proposes a refined PSO algorithm with inertia weight cosine adjustment and introduction of natural selection principle (IWCNS-PSO), and verifies the superiority of the algorithm by test functions...

Navigating robots with precision in complex environments remains a significant challenge. In this article, we present an innovative approach to enhance robot localization in dynamic and intricate spaces like homes and offices. We leverage Visual Question Answering (VQA) techniques to integrate semantic insights into traditional mapping methods, formulating a novel position hypothesis generation to assist localization methods, while also addressing challenges related to mapping accuracy and localization reliability...

No abstract text is available yet for this article.

This study introduces an intelligent learning model for classification tasks, termed the voting-based Double Pseudo-inverse Extreme Learning Machine (V-DPELM) model. Because the traditional method is affected by the weight of input layer and the bias of hidden layer, the number of hidden layer neurons is too large and the model performance is unstable. The V-DPELM model proposed in this paper can greatly alleviate the limitations of traditional models because of its direct determination of weight structure and voting mechanism strategy...

A flexible spine is critical to the motion capability of most animals and plays a pivotal role in their agility. Although state-of-the-art legged robots have already achieved very dynamic and agile movement solely relying on their legs, they still exhibit the type of stiff movement that compromises movement efficiency. The integration of a flexible spine thus appears to be a promising approach to improve their agility, especially for small and underactuated quadruped robots that are underpowered because of size limitations...

No abstract text is available yet for this article.

INTRODUCTION: Deep deterministic policy gradient (DDPG)-based path planning algorithms for intelligent robots struggle to discern the value of experience transitions during training due to their reliance on a random experience replay. This can lead to inappropriate sampling of experience transitions and overemphasis on edge experience transitions. As a result, the algorithm's convergence becomes slower, and the success rate of path planning diminishes. METHODS: We comprehensively examines the impacts of immediate reward, temporal-difference error (TD-error), and Actor network loss function on the training process...

No abstract text is available yet for this article.