Touch-free guided hand gesture recognition for human-robot interactions plays an increasingly significant role in teleoperated surgical robot systems. Indeed, despite depth cameras provide more practical information accuracy enhancement, the instability and computational burden of data represent a tricky problem. In this letter, we propose novel multi-sensor system teleoperation. A fusion model is designed performing interference presence occlusions. multilayer Recurrent Neural Network (RNN)...

Learning manipulation skills from open surgery provides more flexible access to the organ targets in abdomen cavity and this could make surgical robot working a highly intelligent friendly manner. Teaching by demonstration (TbD) is capable of transferring human humanoid robots employing active learning multiple demonstrated tasks. This work aims transfer motion demonstrations manipulators robot-assisted minimally invasive (RA-MIS) using TbD. However, kinematic constraint should be respected...

Purpose The purpose of this paper is to develop a human activity-aware adaptive shared control solution for human–robot interaction in surgical operation. Hands-on and teleoperation are two main procedures switched frequently teleoperated minimally invasive surgery (MIS). detailed activity the can be defined recognized using sensor information. In paper, novel continuous method proposed manipulators with Cartesian impedance scenario. Design/methodology/approach A by adjusting weight function...

Hand gesture recognition has been applied to many research fields and shown its prominent advantages in increasing the practicality of Human-Robot Interaction (HRI). The development advanced techniques data science, such as big machine learning, facilitate accurate classification hand gestures using electromyography (EMG) signals. However, processing collection label large set imposes a high work burden results time-consuming implementations. Therefore, novel method is proposed combine...

In this paper, an Internet of Things-based human-robot collaborative control scheme is developed in Robot-assisted Minimally Invasive Surgery scenario. A hierarchical operational space formulation designed to exploit the redundancies 7-DoFs redundant manipulator handle multiple tasks based on their priority levels, such as guaranteeing a remote center motion constraint and avoiding collision with swivel without influencing undergoing surgical operation. Furthermore, concept Robotic Things...

In the past decade, touchless interaction with objects has drawn increasing attention in a wide range of applications, from entertainment to real-time control robots. For this purpose, many vision-based hand tracking devices such as Leap Motion and Microsoft Kinect were developed. However, there is still need for improvement successful realization these sensors delicate scenarios. Major concerns are low precision, reliability, robustness occlusions that occur nature utilized sensors....

Robot-human object handover has been extensively studied in recent years for a wide range of applications. However, it is still far from being as natural human-human handovers, largely due to the robots' limited sensing capabilities. Previous approaches literature typically simplify scenarios, including one or more (a) conducting handovers at fixed locations, (b) not adapting human preferences, (c) only focusing on single-arm with small objects sensor occlusions caused by large objects. To...

Design and control of a lower-limb exoskeleton rehabilitation the elderly are main challenge for health care in past decades. In order to satisfy requirements or disabled users, this paper presents novel design adaptive fuzzy empowered rehabilitation, namely MOVING UP. Different from other devices, article considers active training devices. Firstly, product method based on user experience is proposed rehabilitation. At same time, achieve stable operation assistant system, an scheme...

Under-actuated bionic hands have achieved tremendous popularity in many fields because of their advantages lightweight, budget-friendly, satisfactory flexibility, and adaptability. Except for the mechanical design, various anthropomorphic control strategies been proposed investigated last decades. However, due to its under-actuated characteristic, there are still challenges all degrees freedom (DOFs) using less input. It is challenging map human hand kinematic synergies on robotic hands,...

Quadcopters are useful for situations such as natural disasters, military purposes, healthcare implementations and intelligent systems. In order to be entirely applicable these engineering areas; being portable, which means a foldable mechanical design larger quadcopters, is vital. This brings up new research topic, namely self-arm management. Without management, the quadcopter needs closed manually limitation functionality more importantly, autonomy. To best our knowledge, this paper...

Abstract In this manuscript, a scheme for neural-learning-enhanced Cartesian Admittance control is presented robotic manipulator to deal with dynamic environments moving remote center of motion (RCM) constraints. Although some research has been implemented address fixed constrained motion, the movement constraint still challenging. Indeed, active RCM constraints generate uncertain disturbance on robot tool shaft unknown dynamics. The decoupled controller optimisation employed and maintain...

This paper presents the mechanical design of a custom built two wheeled inverted pendulum, named as YAFT, and an intelligent control system structure to solve its problems. YAFT is equipped with various sensors, from IMU camera, processing units, STM Raspberry PI, that give opportunity deploy in telepresence, cognitive robotic human-machine applications. As we have preferred use low-cost market components, perform deflection analysis show has rigid body frame then derive dynamical model. We...

Considering the lack of autonomy and uncertainties external environment, manipulating robots in an unstructured environment remains a critical issue. By combining human intelligence, teleoperation control has been considered as significant solution for enhancing manipulation capability. In this paper, whole-body spatial strategy hexapod robot is investigated. Firstly, forward inverse kinematics modeling leg analyzed. addition, three gaits planning, namely straight, swivel, transverse gaits,...

Lower-limb exoskeletons are increasingly used in gait assistance applications to assist patients with locomotive disorders rehabilitation and daily life. To provide based on the user's variable joint stiffness human-like characteristics is a growing challenging field. This paper proposed an adaptive controller for lower-limb exoskeleton time-varying delay using transferring strategy. Neural network compensation was applied estimate nonlinearity caused by model uncertainties systems....

This paper mainly centers on the energy management of medical rescue mobile robot with different payloads in uncertain road conditions. Efficient usage is a crucial issue because consumption will increase application and expansion robotics. The power system affected by task its operating environment. designs six-wheel-drive using hybrid system. Aiming at wheel driving conditions robots, power-adaptation control strategy proposed, structure form introduced. Firstly, based strategy, nonlinear...