scholarly journals “I Want That”: Human-in-the-Loop Control of a Wheelchair-Mounted Robotic Arm

2011 ◽  
Vol 8 (1) ◽  
pp. 127-147 ◽  
Author(s):  
Katherine M. Tsui ◽  
Dae-Jin Kim ◽  
Aman Behal ◽  
David Kontak ◽  
Holly A. Yanco
Keyword(s):  
Cognitive Function ◽  
Cognitive Load ◽  
Complete System ◽  
Target Population ◽  
Robotic Arm ◽  
Loop Control ◽  
Robotic Arms ◽  
Manual Task ◽  
Human In The Loop ◽  
High Level

Wheelchair-mounted robotic arms have been commercially available for a decade. In order to operate these robotic arms, a user must have a high level of cognitive function. Our research focuses on replacing a manufacturer-provided, menu-based interface with a vision-based system while adding autonomy to reduce the cognitive load. Instead of manual task decomposition and execution, the user explicitly designates the end goal, and the system autonomously retrieves the object. In this paper, we present the complete system which can autonomously retrieve a desired object from a shelf. We also present the results of a 15-week study in which 12 participants from our target population used our system, totaling 198 trials.

Fuzzy model predictive control for 2-DOF robotic arms

2018 ◽  
Vol 38 (5) ◽  
pp. 568-575 ◽  
Author(s):  
Weilin Yang ◽  
Wentao Zhang ◽  
Dezhi Xu ◽  
Wenxu Yan
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Fuzzy Model ◽  
Robotic Arm ◽  
Real Time System ◽  
Content Type ◽  
Loop Control ◽  
Robotic Arms ◽  
Intrinsic Nonlinearity ◽  
Robotic Arm Control

Purpose Robotic arm control is challenging due to the intrinsic nonlinearity. Proportional-integral-derivative (PID) controllers prevail in many robotic arm applications. However, it is usually nontrivial to tune the parameters in a PID controller. This paper aims to propose a model-based control strategy of robotic arms. Design/methodology/approach A Takagi–Sugeno (T-S) fuzzy model, which is capable of approximating nonlinear systems, is used to describe the dynamics of a robotic arm. Model predictive control (MPC) based on the T-S fuzzy model is considered, which optimizes system performance with respect to a user-defined cost function. Findings The control gains are optimized online according to the real-time system state. Furthermore, the proposed method takes into account the input constraints. Simulations demonstrate the effectiveness of the fuzzy MPC approach. It is shown that asymptotic stability is achieved for the closed-loop control system. Originality/value The T-S fuzzy model is discussed in the modeling of robotic arm dynamics. Fuzzy MPC is used for robotic arm control, which can optimize the transient performance with respect to a user-defined criteria.

Human-In-the-Loop Control of a Wearable Lower Limb Exoskeleton for Stable Dynamic Walking

2020 ◽  
pp. 1-1
Author(s):  
Zhijun Li ◽  
Kuankuan Zhao ◽  
Longbin Zhang ◽  
Xinyu Wu ◽  
Tao Zhang ◽  
...  
Keyword(s):  
Lower Limb ◽  
Dynamic Walking ◽  
Loop Control ◽  
Human In The Loop ◽  
Lower Limb Exoskeleton

scholarly journals The association between continuity of care and surgery in lumbar disc herniation patients

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Eun-San Kim ◽  
Chang-yup Kim
Keyword(s):  
Continuity Of Care ◽  
Disc Herniation ◽  
Structural Model ◽  
Lumbar Disc ◽  
Quality Care ◽  
Target Population ◽  
National Sample ◽  
Marginal Structural Model ◽  
Lumbar Surgery ◽  
High Level

AbstractContinuity of care is a core dimension of high-quality care in the management of disease. The purpose of this study was to investigate the association between continuity of care and lumbar surgery in patients with moderate disc herniation. The Korean National Sample Cohort was used. The target population consisted of patients who have had disc herniation more than 6 months and didn’t get surgery and red flag signs within 6 months from onset. The population was enrolled from 2004 to 2013. The Bice-Boxerman Continuity of Care was used in measuring continuity of care. The marginal structural model with time dependent survival analysis was used. In total, 29,061 patients were enrolled in the cohort. High level of continuity of care was associated with a lower risk of lumbar surgery (HR, 0.27; 95% CI, 0.20–0.27). When the index was calculated only with outpatient visits to primary care with related specialty, the HR was 0.49 (95% CI: 0.43–0.57). In exploratory analysis, patients with lumbar stenosis and spondylolisthesis had higher risk of having a low level of continuity of care. These results indicate that continuity of care is associated with lower rates of lumbar surgery in patients with moderate disc herniation.

scholarly journals Comparison of Activation in the Prefrontal Cortex of Native Speakers of Mandarin by Ability of Japanese as a Second Language Using a Novel Speaking Task

Healthcare ◽  
2021 ◽  
Vol 9 (4) ◽  
pp. 412
Author(s):  
Li Cong ◽  
Hideki Miyaguchi ◽  
Chinami Ishizuki
Keyword(s):  
Second Language ◽  
Prefrontal Cortex ◽  
Cognitive Load ◽  
Near Infrared ◽  
Native Speakers ◽  
Brain Activation ◽  
Brain Regions ◽  
Strong Inhibition ◽  
Functional Near Infrared Spectroscopy ◽  
High Level

Evidence shows that second language (L2) learning affects cognitive function. Here in this work, we compared brain activation in native speakers of Mandarin (L1) who speak Japanese (L2) between and within two groups (high and low L2 ability) to determine the effect of L2 ability in L1 and L2 speaking tasks, and to map brain regions involved in both tasks. The brain activation during task performance was determined using prefrontal cortex blood flow as a proxy, measured by functional near-infrared spectroscopy (fNIRS). People with low L2 ability showed much more brain activation when speaking L2 than when speaking L1. People with high L2 ability showed high-level brain activation when speaking either L2 or L1. Almost the same high-level brain activation was observed in both ability groups when speaking L2. The high level of activation in people with high L2 ability when speaking either L2 or L1 suggested strong inhibition of the non-spoken language. A wider area of brain activation in people with low compared with high L2 ability when speaking L2 is considered to be attributed to the cognitive load involved in code-switching L1 to L2 with strong inhibition of L1 and the cognitive load involved in using L2.

Human-in-the-Loop Control Using Euler Angles

2019 ◽  
Vol 97 (2) ◽  
pp. 271-285 ◽  
Author(s):  
Adolfo Perrusquía ◽  
Wen Yu
Keyword(s):  
Euler Angles ◽  
Loop Control ◽  
Human In The Loop

scholarly journals Towards a balancing safety against performance approach in human–robot co-manipulation for door-closing emergencies

2021 ◽  
Author(s):  
Chuande Liu ◽  
Chuang Yu ◽  
Bingtuan Gao ◽  
Syed Awais Ali Shah ◽  
Adriana Tapus
Keyword(s):  
Loop Control ◽  
Risk Levels ◽  
Human In The Loop ◽  
Planning And Control ◽  
Power Stations ◽  
Markov Decision ◽  
Partially Observable ◽  
And Control ◽  
Self Protection ◽  
Balance Mechanism

AbstractTelemanipulation in power stations commonly require robots first to open doors and then gain access to a new workspace. However, the opened doors can easily close by disturbances, interrupt the operations, and potentially lead to collision damages. Although existing telemanipulation is a highly efficient master–slave work pattern due to human-in-the-loop control, it is not trivial for a user to specify the optimal measures to guarantee safety. This paper investigates the safety-critical motion planning and control problem to balance robotic safety against manipulation performance during work emergencies. Based on a dynamic workspace released by door-closing, the interactions between the workspace and robot are analyzed using a partially observable Markov decision process, thereby making the balance mechanism executed as belief tree planning. To act the planning, apart from telemanipulation actions, we clarify other three safety-guaranteed actions: on guard, defense and escape for self-protection by estimating collision risk levels to trigger them. Besides, our experiments show that the proposed method is capable of determining multiple solutions for balancing robotic safety and work efficiency during telemanipulation tasks.

scholarly journals Percepción de los entrenadores de alto rendimiento de atletismo: caracterización de su perfil polifacético (Perception of high performance track and field coaches: characterization of their multifaceted profile)

Retos ◽  
2015 ◽  
pp. 42-47
Author(s):  
Angeles Filgueira Perez
Keyword(s):  
High Performance ◽  
Target Population ◽  
Track And Field ◽  
Personal Qualities ◽  
High Level ◽  
Almost All ◽  
Methodological Aspects ◽  
The Ideal

En el presente estudio se ha tratado de obtener una aproximación al perfil ideal del entrenador de alto rendimiento en atletismo. En el mundo del deporte de alta competición, el entrenador debe desarrollar funciones de maestro, técnico y líder, lo cual hace difícil delimitar sus competencias (conocimientos, habilidades y cualidades personales). Por tanto, la principal motivación de este trabajo es establecer el papel que debe desempeñar el entrenador para la preparación física, técnica, táctica, psicológica y moral del deportista de alto nivel. Para ello, se ha considerado como población objeto de estudio al conjunto de entrenadores de alto rendimiento que en el momento de la investigación estuviesen activo, ya que interesaba realizar este estudio desde su propia perspectiva. Los datos recogidos forman parte de una investigación más amplia, llevada a cabo mediante encuesta, para la que se diseñó un cuestionario de 78 preguntas en el que se abarcaban tres temas: el perfil del entrenador y del deportista, así como la figura del formador de entrenadores en el Practicum. En este trabajo nos centramos en el primer tema y el análisis de la información obtenida nos permite concluir que la que práctica totalidad de los entrenadores de atletismo consideran necesario dominar con precisión los aspectos técnico-metodológicos. Además, consideran que su ética profesional debe estar regida por los principios de autonomía y beneficencia, de modo que valores como la honestidad y la justicia deben primar en el desarrollo de sus funciones.Abstract: In the current study, we have tried to get an approximation of the ideal profile of high performance coaches in athletics. In the high-level sports world, the coach must develop the role of teacher, technician and leader,  which makes it difficult to delimit  his/her competencies (knowledge, skills and personal qualities). Therefore, the main motivation of this work is to define the role that the coach plays in relation  to the physical, technical, tactical, psychological and moral preparation of elite athletes. Keeping this aim as an objective, we have considered as the target population the high performance coaches who are active at the time of the investigation, since we were interested  in knowing their own perspective. The data that was collected is a part of a wider investigation, conducted by a survey, for which we designed a questionnaire of 78 questions divided on three topics: the profile of the coach and the athlete, as well as the figure of the coach educator in the Practicum. In this work, we focus on the first topic and the analysis of the information that we obtained allows us to conclude that almost all the track and field coaches find it necessary to dominate the technical and methodological aspects. They also consider that professional ethics must be governed by the principles of autonomy and care that values   like honesty and justice must prevail in the performance of their work.

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