Search results for "Robot"
showing 10 items of 1036 documents
2018
Despite major progress in Robotics and AI, robots are still basically "zombies" repeatedly achieving actions and tasks without understanding what they are doing. Deep-Learning AI programs classify tremendous amounts of data without grasping the meaning of their inputs or outputs. We still lack a genuine theory of the underlying principles and methods that would enable robots to understand their environment, to be cognizant of what they do, to take appropriate and timely initiatives, to learn from their own experience and to show that they know that they have learned and how. The rationale of this paper is that the understanding of its environment by an agent (the agent itself and its effect…
Somatosensory Training Improves Proprioception and Untrained Motor Function in Parkinsons Disease
2018
Background: Proprioceptive impairment is a common feature of Parkinson's disease (PD). Proprioceptive function is only partially restored with anti-parkinsonian medication or deep brain stimulation. Behavioral exercises focusing on somatosensation have been promoted to overcome this therapeutic gap. However, conclusive evidence on the effectiveness of such somatosensory-focused behavioral training for improving somatosensory function is lacking. Moreover, it is unclear, if such training has any effect on motor performance in PD.Objective: To investigate, whether proprioception improves with a somatosensory focused, robot-aided training in people with PD (PWPs), and whether enhanced proprioc…
Low-Cost Robotic Guide Based on a Motor Imagery Brain–Computer Interface for Arm Assisted Rehabilitation
2020
Motor imagery has been suggested as an efficient alternative to improve the rehabilitation process of affected limbs. In this study, a low-cost robotic guide is implemented so that linear position can be controlled via the user&rsquo
Robotic Rehabilitation and Multimodal Instrumented Assessment of Post-stroke Elbow Motor Functions-A Randomized Controlled Trial Protocol.
2020
Background: The reliable assessment, attribution, and alleviation of upper-limb joint stiffness are essential clinical objectives in the early rehabilitation from stroke and other neurological disorders, to prevent the progression of neuromuscular pathology and enable proactive physiotherapy toward functional recovery. However, the current clinical evaluation and treatment of this stiffness (and underlying muscle spasticity) are severely limited by their dependence on subjective evaluation and manual limb mobilization, thus rendering the evaluation imprecise and the treatment insufficiently tailored to the specific pathologies and residual capabilities of individual patients. Methods: To ad…
On the Objective Evaluation of Motion Cueing in Vehicle Simulations
2021
Motion-based simulators are used for a variety of applications, such as research, education, entertainment and training. In fact, motion cues are required to achieve the highest regulatory certifications in training vehicle simulators. Nonetheless, the reproduction of self-motion cues presents technological and economic limitations that are not present in the generation of audiovisual cues. For this reason, the generated motion does not generally match the expected one. Therefore, it is necessary to define means to assess the suitability/fidelity of the generated motion cues. After more than 50 years of motion-based vehicle simulation, no mechanism has been universally accepted as the stand…
Branch-and-Cut for the Split Delivery Vehicle Routing Problem with Time Windows
2019
The split delivery vehicle routing problem with time windows (SDVRPTW) is a notoriously hard combinatorial optimization problem. First, it is hard to find a useful compact mixed-integer programming (MIP) formulation for the SDVRPTW. Standard modeling approaches either suffer from inherent symmetries (mixed-integer programs with a vehicle index) or cannot exactly capture all aspects of feasibility. Because of the possibility to visit customers more than once, the standard mechanisms to propagate load and time along the routes fail. Second, the lack of useful formulations has rendered any direct MIP-based approach impossible. Up to now, the most effective exact algorithms for the SDVRPTW hav…
Would a robot trust you? Developmental robotics model of trust and theory of mind
2019
Trust is a critical issue in human - robot interactions: as robotic systems gain complexity, it becomes crucial for them to be able to blend into our society by maximizing their acceptability and reliability. Various studies have examined how trust is attributed by people to robots, but fewer have investigated the opposite scenario, where a robot is the trustor and a human is the trustee. The ability for an agent to evaluate the trustworthiness of its sources of information is particularly useful in joint task situations where people and robots must collaborate to reach shared goals. We propose an artificial cognitive architecture based on the developmental robotics paradigm that can estima…
Real-time Multispectral Image Processing and Registration on 3D Point Cloud for Vineyard Analysis
2021
International audience; Nowadays, precision agriculture and precision viticulture are under strong development. In order to accomplish effective actions, robots require robust perception of the culture and the surrounding environment. Computer vision systems have to identify plant parts (branches, stems, leaves, flowers, fruits, vegetables, etc.) and their respective health status. Moreover, they must merge various plant information, to measure agronomic indices, to classify them and finally to extract data to enable the agriculturist or expert to make a relevant decision. We propose a real-time method to acquire, process and register multispectral images fused to 3D. The sensors system, co…
Inverse Kinematics for a 7 DOF Robotic Arm Using the Redundancy Circle and ANFIS Models
2014
In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, ANFIS implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.
Another Approach for Redundancy Resolution of a 7 DOF Robotic Arm
2015
In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.