关键词： Brain-computer interface   EEG   Robotics   Rehabilitation   Motor imagery   Stroke  

摘要： BackgroundHand rehabilitation is core to helping stroke survivors regain activities of daily living. Recent studies have suggested that the use of electroencephalography-based brain-computer interfaces (BCI) can promote this process. Here, we report the first systematic examination of the literature on the use of BCI-robot systems for the rehabilitation of fine motor skills associated with hand movement and profile these systems from a technical and clinical *** search for January 2010-October 2019 articles using Ovid MEDLINE, Embase, PEDro, PsycINFO, IEEE Xplore and Cochrane Library databases was performed. The selection criteria included BCI-hand robotic systems for rehabilitation at different stages of development involving tests on healthy participants or people who have had a stroke. Data fields include those related to study design, participant characteristics, technical specifications of the system, and clinical outcome ***30 studies were identified as eligible for qualitative review and among these, 11 studies involved testing a BCI-hand robot on chronic and subacute stroke patients. Statistically significant improvements in motor assessment scores relative to controls were observed for three BCI-hand robot interventions. The degree of robot control for the majority of studies was limited to triggering the device to perform grasping or pinching movements using motor imagery. Most employed a combination of kinaesthetic and visual response via the robotic device and display screen, respectively, to match feedback to motor ***19 out of 30 studies on BCI-robotic systems for hand rehabilitation report systems at prototype or pre-clinical stages of development. We identified large heterogeneity in reporting and emphasise the need to develop a standard protocol for assessing technical and clinical outcomes so that the necessary evidence base on efficiency and efficacy can be developed.

关键词： Digital twin   Data fusion   Data-level fusion   Decision-level fusion   Evidence theory   Sustainable design  

摘要： In order to give full play to the role of science and technology in achieving the sustainable development goals, digital twin technology based on data fusion plays an irreplaceable role. This paper analyzes the detection process of intelligent detection robots for massage chairs, theoretical research is carried out from two aspects of decision-level fusion and data-level fusion. The principles, levels, and models of information fusion are analyzed, and an in-depth analysis and discussion of DS evidence theory are conducted. Whereas the ambiguity and uncertainty of evaluation indicators in sustainable design, a quantitative model for sustainable design is established in this paper. The entropy weight method is used to determine the weight of sub-indicators, and a decision matrix for the indicators to be evaluated is established. Based on the data detected by the robot while the massage chair is working, the sustainability of the massage chair is evaluated. Reflect the obtained quantitative indicators on the digital twin data flow system, improve the comprehensive performance of products in sustainable design through data fusion, and prove that the necessity of sustainability and the proposed method must be considered in the design and use process feasibility. (C) 2020 Elsevier Ltd. All rights reserved.

关键词： gravimetric   IV robotics   oncology   patient safety   sterile compounding  

摘要： Purpose. A study was conducted to compare an intravenous (IV) gravimetric technology-assisted workflow (TAWF) platform to an IV robotic system. In the study we reviewed both IV technology platforms using the same gravimetric quality assurance system, which allowed for direct comparison. Methods. All oncology preparations compounded from January 2016 through December 2018 using either system were included in our retrospective analysis. Final preparation accuracy, IV system precision, and workflow throughput (analyzed using lean process methodologies) were evaluated. Results. Data analysis indicated that use of the IV gravimetric TAWF system was associated with a significantly lower percentage of accuracy errors compared to the IV robotics system (1.58% vs 2.47%, P < 0.001), with no significant difference in absolute precision (1.12 vs 1.12 P = 0.952). Lean analysis demonstrated that overall completion time (17:49 minutes vs 24:45 minutes) and compound preparation time (2:39 minutes vs 6:07 minutes) were less with the IV gravimetric TAWF vs the IV robotics system. Conclusion. Implementation of either an IV gravimetric TAWF system or IV robotics system will result in similar compounding accuracy and precision. Preparation time was less with use of the IV gravimetric TAWF vs the IV robotic system, but the IV robotic system required less human intervention. Both systems ensure medication safety for patients, although the IV robotic system has increased safeguards in place. Therefore, the primary driver for implementing these systems is alternative factors such as cost of systems implementation and maintenance, employee safety, and drug waste.

关键词： Prism adaptation   Virtual reality   Haptic robot   Hemispatial neglect   Far space   Passive movement   Guided movement  

摘要： Prism adaptation is a method for studying visuomotor plasticity in healthy individuals, as well as for rehabilitating patients suffering spatial neglect. We developed a new set-up based on virtual-reality (VR) and haptic-robotics allowing us to induce sensorimotor adaptation and to reproduce the effect of prism adaptation in a more ecologically valid, yet experimentally controlled context. Participants were exposed to an immersive VR environment while controlling a virtual hand via a robotic-haptic device to reach virtual objects. During training, a rotational shift was induced between the position of the participant's real hand and that of the virtual hand in order to trigger sensorimotor recalibration. The use of VR and haptic-robotics allowed us to simulate and test multiple components of sensorimotor adaptation: training either peripersonal or extrapersonal space and testing generalization for the non-trained sector of space, and using active versus robot-guided reaching movements. Results from 60 neurologically intact participants show that participants exposed to the virtual shift were able to quickly adapt their reaching movements to aim correctly at the target objects. When the shift was removed, participants showed a systematic deviation of their movements during open-loop tasks in the direction opposite to that of the shift, which generalized to un-trained portions of space and occurred also when their movements were robotically-guided during the adaptation. Interestingly, follow-up questionnaires revealed that when the adaptation training was mbotically-guided, participants were largely unaware of the mismatch between their hand and the virtual hand's position. The stability of the aftereffects, despite the changing experimental parameters, suggests that the induced sensory-motor adaptation does not rely on low-level processing of sensory stimuli during the training, but taps into high-level representations of space. Importantly, the flexibility of the tr

关键词： Children with disabilities   computing   inclusion   inclusive STEM   LEGO (R)   programming   robotics   youth  

摘要： This study assessed the extent to which an adapted robotics programme fostered interest in science, technology, engineering and mathematics (STEM) among children with disabilities. This study included pre- and post-programme surveys. The sample involved 57 children with disabilities who participated in an adapted robotics programme held in a pediatric hospital. There were two main forms of the programme: junior group (aged 6-9) and intermediate group (aged 10-14). Statistical analyses showed that although both groups of children perceived they gained at least some knowledge about computing/robotics from the programme, juniors were significantly more likely to report learning a lot from the programme than intermediates. Further, the junior group showed a significant increased desire to pursue future careers in computing/robotics after the programme. However, the intentions of either group to actually study computing/robotics at school did not significantly increase. A thematic analysis of open-ended survey responses revealed that the intent of both groups of children for participating in the programme along with what they enjoyed the most during the programme was linked to STEM, socialisation and teamwork. Additionally, while the majority of the intermediate group liked everything about the programme, the majority of the junior group reported on some things they disliked.

关键词： Autonomous vehicles   machine learning   service robots   real-time computation   sharing economy   trade-off learning  

摘要： While multiple mechanisms for value creation from big data analytics (BDA) exist, their application in everyday life can create trade-offs, particularly in the context of service robotics where the dispersion of autonomous digital technologies creates potentials for data-driven efficiency gains. Attending to personal preferences in such contexts, increasingly vital for customer acceptance, may run counter to efficiency, thus constraining value creation and rendering efficiency-personalization trade-offs a key managerial challenge. For the case of autonomous vehicles (AVs), we formalize this trade-off and design a machine-learning approach to handle it by drawing on a unique dataset comprising 35,000 drives by 1,850 users. We consider the real-time dynamics and user interactions that affect the decisions of AVs and develop a model extension that allows for leveraging the properties of sharing business models to make better-informed decisions. Our study contributes to information systems (IS) AV research by providing an artifact that targets both efficiency and personalization of AV operations as well as the dynamic balance between the two. With the focus on everyday life contexts, our study points to the value of incorporating trade-offs between competing goals as well as human-centered perspectives in information systems designs for research on BDA value creation. For practitioners, our work provides a practical and generalizable approach to realize the potentials of service robots without risking customer acceptance.

关键词： 自由漂浮空间机器人   多目标规划   轨迹规划   动力学RRT*   障碍规避  

摘要： 针对自由漂浮空间机器人(FFSR)轨迹规划问题,提出了一种基于动力学RRT^(*)算法的FFSR轨迹规划方法。首先,建立了FFSR的运动学与动力学模型,将系统模型伪线性重构为状态空间模型,并设计了考虑位姿调整时长和能量消耗的加权目标函数;然后,针对机械手初末位置间的障碍,简化避障方法,提出了机械臂避障与机械手避障两层次避障策略,提高碰撞检测效率;接着,给出了多体系统的动力学RRT*逼近最优轨迹的方法;最后,为验证算法有效性并不失一般性,选取平面2连杆FFSR模型进行数值仿真并用经典RRT^(*)算法和高斯伪谱法与之对比。仿真结果表明,该方法能够以较快的速度生成可行的机器人移动轨迹。

关键词： CDIO   机械电子工程   工业机器人竞赛   评价机制  

摘要： 本文介绍了CDIO工程教育理念的相关特点和在机械电子工程专业的应用情况,以大学生工业机器人应用大赛为依托,重点讨论了项目的构思、设计、实现和开展情况,并借助该比赛初步建立了学生及教师工程能力和工程素养的评价机制.这次比赛的开展也是CDIO教育理念的一次成功实践,它锻炼了学生的独立思考和团队协作能力,考查了学生查找并解决工程问题的实际能力,培养了学生的工程意识,提升了工程素养;同时,评价机制的初步建立也为后续CDIO理念的进一步实施和拓展提供了思路.

关键词： 喷涂机器人   动力学   仿真分析   ADAMS  

摘要： 要对机器人实施精确控制,首先必须对机器人进行动力学研究,建立机器人的动力学模型。以某公司提供的某型六轴喷涂机器人为研究对象,基于多自由系统动力学理论基础,建立机器人的动力学模型并进行了大量的理论计算。然后采用ADAMS建立虚拟样机进行仿真,通过仿真分析获取了一系列的重要结果,为优化机器人结构提供有价值的数据信息。

关键词： Fish   Propellers   Unmanned underwater vehicles   Robot sensing systems   Swarm algorithms   swarm behaviors   swarm robotics   underwater robotics   underwater communication  

摘要： As technology advances, the places we have been able to explore have drastically increased. However, the advancements in the underwater realm have staggered behind both the exploration of surface and air domains. This is due in part to the challenges that arise when placing a robot in water. One current shift has seen the use of a swarm of robots that are cheaper and are of a lower quality, that work together to accomplish a common goal, as opposed to using a single expensive robot. Swarm robotics benefits from being more tolerant of catastrophic failure and can cover large areas in smaller time frames. However, unlike other advancements in technology, underwater swarm robotics have struggled to compete with its counterparts on the surface and in the air. This is mainly due to the problems with communication underwater, the hazardous environment, the cost and difficulties with construction of underwater robots. This article conducts a literature review into the current state of underwater swarm robotics;it covers the design of the underwater robots, the methods used by the individual robot to perceive their environment, how they can localize to said environment, the methods of communication available underwater, centralized and decentralized control, the basis of swarm algorithms, the behaviors that are exhibited when a swarm works collectively and how swarms have been applied underwater.