Intelligent robotics and applications [electronic resource] : 15th International Conference, ICIRA 2022, Harbin, China, August 1-3, 2022, Proceedings. Part III / Honghai Liu, Zhouping Yin, Lianqing Liu, Li Jiang, Guoying Gu, Xinyu Wu, Weihong Ren (eds.).

Intro
Preface
Organization
Contents
Part III
Wearable Sensing and Robot Control
Wearable Ultrasound Interface for Prosthetic Hand Manipulation
1 Introduction
2 Overview of Integrated Ultrasound System
2.1 Ultrasound Transducers Module
2.2 Signal Processing Module
2.3 Prosthetic Hand Module
3 Experiment Evaluation
3.1 Experimental Protocol
3.2 Data Processing Procedures
3.3 Feature Classification and Validation
4 Data Analysis
5 Discussion and Conclusion
5.1 Discussion
5.2 Conclusion
References

3D Printed Soft Robotic Hand Combining Post-Stroke Rehabilitation and Stiffness Evaluation
1 Introduction
2 Ring-reinforced Soft-Elastic Composite Actuator (R-SECA)
2.1 Actuator Design for the Soft Robotic Hand
2.2 Performance of the Ring-reinforced Soft-Elastic Composite Actuator
2.3 Finger Joint Stiffness Estimation Method and Device with R-SECA
3 3D Printed Soft Robotic Hand System
4 Pilot Test on Stroke Survivors
5 Conclusion
References
Wearable Sensing Based Virtual Reality Rehabilitation Scheme for Upper Limb Training
1 Introduction

2 Design of VR-Based Rehabilitation System
2.1 Wearable Sensing Device
2.2 Rehabilitation Games Design
3 Decision-Making for Rehabilitation Training
3.1 Selection of Upper Limb Motion Feedback Parameters
3.2 Cuckoo Search-Fuzzy Based Decision-Making Scheme
4 Experiments and Results Discussion
4.1 Inclusion and Exclusion Criteria
4.2 Experimental Protocol
4.3 Results Discussion
5 Conclusion
References
Gait Analysis and Phase Recognition Based on Array Fiber Optic Sensing Insole
1 Introduction
2 Array Fiber Optic Sensing Insole

2.1 Fiber Bragg Grating Sensing
2.2 Insole Design and Fabrication
2.3 Sensor Pressure Calibration
3 Experiments
3.1 Gait Monitoring
3.2 Gait Phase Recognition
4 Conclusion
References
Gait Phase Detection Based on Time Sequence Adapting to Various Walking Posture and Frequency
1 Introduction
2 Experiment
2.1 Volunteer Setup
2.2 Wearable System
2.3 Data Acquisition
2.4 Data Labeling
3 CFCT Model Structure
3.1 Construct Inputs and Outputs
3.2 Model Layers
3.3 Model Training
4 Result
4.1 Current Moment's Gait Phase Prediction

4.2 Historical and Future Phase Prediction
5 Conclusion
References
In Situ Calibration of a Six-Axis FBG Force/Moment Sensor for Surgical Robot
1 Introduction
2 Design and Fabrication of the Sensor
2.1 Structure Design
2.2 Sensing Principle
2.3 Sensor Fabrication
3 In Situ Calibration and Result
3.1 Setup and Principle
3.2 Experiment and Result
4 Robot-Assisted Bone Drilling Experiment
5 Conclusion
References
Wearable Robotics to Characterize, Retrain, and Restore Human Movements