Linked e-resources
Details
Table of Contents
Intro
Preface
Organization
Contents - Part III
Perception and Manipulation of Dexterous Hand for Humanoid Robot
Dexterous Hand-Object Interaction Control Based on Adaptive Impedance Algorithm
1 Introduction
2 Methodology
2.1 Admittance Control
2.2 Parameter Adaptive Rate Design of Admittance Controller
2.3 Stability Analysis
3 Experiment
3.1 Design of Experimental Platform for Dexterous Hand
3.2 Experiments on Grasping Force Control of Objects With Different Dynamic Characteristics
4 Conclusion
References
Design and Control of a Two-Segment Rotatable Wire-Driven Flexible Arm
1 Introduction
2 Design and Manufacture
2.1 Robotic Arm
2.2 Control System
2.3 Gripper Design
3 Kinematic Modeling
4 Experiment and Results
5 Discussions and Conclusion
References
Design and Research of a New Underactuated Manipulator
1 Introduction
2 Adaptive Underactuated Robotic Hand
2.1 Force Analysis of Underactuated Hand Robot Grasping
2.2 Underactuated Robotic Finger
2.3 The Working Principle of Underactuated Robotic Finger
3 Kinematic Analysis and Simulation of Robot Finger
3.1 Robot Finger Kinematics Simulation
3.2 Kinematics Simulation of Underactuated Robot Finger
4 Grasping Simulation Experiment of Adaptive Robotic Hand
4.1 Analysis of Simulation Results
4.2 Analysis of Underactuated Robot Hand Grabbing a Sphere Under Different Driving Forces
5 Conclusion
References
Medical Imaging for Biomedical Robotics
Accelerated Unfolding Network for Medical Image Reconstruction with Efficient Information Flow
1 Introduction
2 Proposed Method
2.1 AccADMM-Based Unfolding Framework
2.2 Reconstruction Subnet
3 Experiments
4 Conclusion
References
Examining the Impact of Muscle-Electrode Distance in sEMG Based Hand Motion Recognition
1 Introduction
2 Methodology
2.1 Subjects
2.2 Experimental Protocol
2.3 Database
2.4 Signal Processing
2.5 sEMG-Based Approach for Muscle Rehabilitation
3 Results
4 Conclusion
References
Fast Calibration for Ultrasound Imaging Guidance Based on Depth Camera
1 Introduction
1.1 Related Work
2 Theory and Method
2.1 Calibration Setup
2.2 Calibration Process
2.3 Segmentation and Localization of Needle Tip
2.4 Calibration Model
3 Experiments and Results
3.1 Experiment Setup
3.2 Position Extraction of Coordinate System and Needle Tip
3.3 Calibration Results
4 Discussion and Conclusion
References
Zero-Shot Kidney Stone Segmentation Based on Segmentation Anything Model for Robotic-Assisted Endoscope Navigation
1 Introduction
2 Methodology
2.1 Data Acquisition
2.2 Segment Anything Model
2.3 Stone Segmentation Model
2.4 Implementation Details and Evaluation Metrics
3 Experiments
3.1 Ablation Studies
Preface
Organization
Contents - Part III
Perception and Manipulation of Dexterous Hand for Humanoid Robot
Dexterous Hand-Object Interaction Control Based on Adaptive Impedance Algorithm
1 Introduction
2 Methodology
2.1 Admittance Control
2.2 Parameter Adaptive Rate Design of Admittance Controller
2.3 Stability Analysis
3 Experiment
3.1 Design of Experimental Platform for Dexterous Hand
3.2 Experiments on Grasping Force Control of Objects With Different Dynamic Characteristics
4 Conclusion
References
Design and Control of a Two-Segment Rotatable Wire-Driven Flexible Arm
1 Introduction
2 Design and Manufacture
2.1 Robotic Arm
2.2 Control System
2.3 Gripper Design
3 Kinematic Modeling
4 Experiment and Results
5 Discussions and Conclusion
References
Design and Research of a New Underactuated Manipulator
1 Introduction
2 Adaptive Underactuated Robotic Hand
2.1 Force Analysis of Underactuated Hand Robot Grasping
2.2 Underactuated Robotic Finger
2.3 The Working Principle of Underactuated Robotic Finger
3 Kinematic Analysis and Simulation of Robot Finger
3.1 Robot Finger Kinematics Simulation
3.2 Kinematics Simulation of Underactuated Robot Finger
4 Grasping Simulation Experiment of Adaptive Robotic Hand
4.1 Analysis of Simulation Results
4.2 Analysis of Underactuated Robot Hand Grabbing a Sphere Under Different Driving Forces
5 Conclusion
References
Medical Imaging for Biomedical Robotics
Accelerated Unfolding Network for Medical Image Reconstruction with Efficient Information Flow
1 Introduction
2 Proposed Method
2.1 AccADMM-Based Unfolding Framework
2.2 Reconstruction Subnet
3 Experiments
4 Conclusion
References
Examining the Impact of Muscle-Electrode Distance in sEMG Based Hand Motion Recognition
1 Introduction
2 Methodology
2.1 Subjects
2.2 Experimental Protocol
2.3 Database
2.4 Signal Processing
2.5 sEMG-Based Approach for Muscle Rehabilitation
3 Results
4 Conclusion
References
Fast Calibration for Ultrasound Imaging Guidance Based on Depth Camera
1 Introduction
1.1 Related Work
2 Theory and Method
2.1 Calibration Setup
2.2 Calibration Process
2.3 Segmentation and Localization of Needle Tip
2.4 Calibration Model
3 Experiments and Results
3.1 Experiment Setup
3.2 Position Extraction of Coordinate System and Needle Tip
3.3 Calibration Results
4 Discussion and Conclusion
References
Zero-Shot Kidney Stone Segmentation Based on Segmentation Anything Model for Robotic-Assisted Endoscope Navigation
1 Introduction
2 Methodology
2.1 Data Acquisition
2.2 Segment Anything Model
2.3 Stone Segmentation Model
2.4 Implementation Details and Evaluation Metrics
3 Experiments
3.1 Ablation Studies