Imitation learning, also known as programming by demonstration, has been shown to be a promising paradigm for intuitive robot programming by non-expert users. However, the classical kinesthetic approach with physical hand guidance suffers from generalizability across different robot types and is impractical for demonstrating tasks with long horizons. Visual imitation learning enables the recording of multi-step tasks as a single continuous video, allowing non-experts to demonstrate tasks naturally. Existing approaches typically require a large amount of data to develop end-to-end deep learning models that map raw pixels to robot actions. This paper explores the application of visual imitation learning from one-shot demonstration, significantly reducing the data requirements and simplifying the programming process. To achieve this target, a framework is proposed to map hand trajectories to the robot end-effector, consisting of four essential components: hand detection; object detection; segmentation of the trajectories into elemental skills; and learning the skills. Methods are developed for each component and evaluated on recorded videos to demonstrate the effectiveness of the proposed framework.

This study aimed to identify whether the combined use of functional electrical stimulation (FES) reduces the motor torque of a gait exercise rehabilitation robot in spinal cord injury (SCI) and to verify the effectiveness of the developed automatic assist level adjustment in people with paraplegia. Acute and chronic SCI patients (1 case each) performed 10 min of gait exercises with and without FES using a rehabilitation robot. Reinforcement learning was used to adjust the assist level automatically. The maximum torque values and assist levels for each of the ten walking cycles when walking became steady were averaged and compared with and without FES. The motor's output torque and the assist level were measured as outcomes. The assist level adjustment allowed both the motor torque and assist level to decrease gradually to a steady state. The motor torque and the assist levels were significantly lower with the FES than without the FES under steady conditions in both cases. No adverse events were reported. The combined use of FES attenuated the motor torque of a gait exercise rehabilitation robot for SCI. Automatic assistive level adjustment is also useful for spinal cord injuries.

In wheeled vehicles, there exists a challenge concerning the alignment of the front wheels during turns. When both wheels are turned to the same extent, the inner wheel experiences lateral slippage on the road surface, resulting in reduced steering efficiency. Such problems can be solved by using the Ackermann principle. There are two approaches: through the steering mechanism or by employing autonomous wheel control. From a technical standpoint, it is achievable to synthesize a steering mechanism that fulfills the Ackermann condition, ensuring as accurately as possible for any given turning radius. This research paper focuses on synthesizing a steering mechanism, specifically a two-circuit linkage that links the left and right wheels. The structure and kinematics of this mechanism are being investigated. Following the principles of Ackermann, an objective function for the kinematic synthesis of the mechanism has been formulated. The synthesis process of the mechanism is conducted using the analytical method of interpolation in four parameters. A dedicated method has been developed, and kinematic analysis of the mechanism using the synthesized parameters has been performed. The simulation results have demonstrated high accuracy in achieving the desired implementation of the Ackermann condition.

Glass cleaning is one of the major cleaning tasks in malls, offices, and modern households where the human workforce is still used for cleaning. Manual cleaning on façade glasses is a less safe, tedious, ineffective, and complex process. With the advancement of robot technology, it is possible to use robots for glass cleaning to facilitate mankind and improve cleaning efficiency. This work presents the development of a vacuum-type glass cleaning robot for façade cleaning and its performance analysis. The developed square-shaped robot is controlled by an Arduino Mega microcontroller, equipped with vacuuming and cleaning technology. An adhesion mechanism on the wheels makes the robot move forward and backward on the glass. The robot runs on a 24-volt DC with a power rating of 75 watts. There are ultrasonic sensors to detect obstacles and help the robot navigate. The robot uses a random-walk mechanism and works continuously for 90 minutes effectively. The performance of the robot has been analyzed in terms of coverage area, repeatability, and dust collection efficiency.

Many tasks in a modern household are done by machines like e.g. a dishwasher or a vacuum cleaner and in the near future most household tasks can be done by smart service robots. This relieves the residents who in turn can enjoy their free time. This newly gained free time turns out to cause the so called spare time rebound effect due to more resource consumption [1,2]. We roughly quantify this rebound effect and propose a CO2 -budget model to reduce or even avoid it. In modern industry, automation and AI take over work from humans, leading to higher productivity of the company as a whole. This is the main reason for economic growth which leads to environmental problems due to higher consumption of natural resources. We show that, even though the effects of automation at home and in the industry are different (free time versus higher productivity) in the end they both lead to more resource consumption and environmental pollution. We discuss possible solutions to this problem such as carbon taxes, emissions trading systems and a carbon budget.

Crawling robots are the focus of intelligent inspection research, and the main feature of this type of robot is the flexibility of in-plane attitude adjustment. The crawling robot HIT_Spibot is a new type of steam generator heat transfer tube inspection robot with a unique mobility capability different from traditional quadrupedal robots. This paper introduces a hierachical motion planning approach for HIT_Spibot, aiming to achieve efficient and agile maneuverability. The proposed method integrates three distinct planners to handle complex motion tasks: a nonlinear optimization-based base motion planner, a TOPSIS-based base orientation planner, and a Mask-D3QN (MD3QN) algorithm-based gait motion planner. Initially, the robot's base and foot workspace are delineated through envelope analysis, followed by trajectory computation using Larangian methods. Subsequently, the TOPSIS algorithm is employed to establish an evaluation framework conducive to foundational turning planning. Finally, the MD3QN algorithm trains foot points to facilitate robot movement along predefined paths. Experimental results demonstrate the method's adaptability across diverse tube structures, showcasing robust performance even in environments with random obstacles. Compared to the D3QN algorithm, MD3QN achieves a 100% success rate, enhances average overall scores by 6.27%, reduces average stride lengths by 39.04%, and attains a stability rate of 58.02%. These results not only validate the effectiveness and practicality of the method but also showcase the significant potential of HIT_Spibot in the field of industrial inspection.

The integration of Augmented Reality (AR) into Human-Robot Interaction (HRI) represents a significant advancement in collaborative technologies. This paper provides a comprehensive review of AR applications within HRI, emphasizing their role in enhancing collaboration, trust, and safety. By aggregating findings from numerous studies, this research highlights key challenges, including the need for improved situational awareness, enhanced safety, and more effective communication between humans and robots. A framework developed from the literature is presented, detailing the critical elements of AR necessary for advancing HRI. The framework outlines effective methods for continuously evaluating AR systems for HRI. This structured approach focuses on enhancing collaboration and safety, with a strong emphasis on integrating best practices from Human-Computer Interaction (HCI) centered around user experience and design.

Introduction: This review explores the literature and presents institutional cases of concurrent robotic multisite surgery—in particular, robot-assisted radical prostatectomy (RARP) and robot-assisted partial nephrectomy (RAPN) for synchronous prostate and kidney cancers. We highlight dual-console synchronous robotic procedures, emphasizing the unique docking tech-nique developed. Aim: The aims of the study were to evaluate the feasibility, safety, and clinical outcomes of concurrent RARP and RAPN for synchronous prostate cancer and small renal tumors, as well as other concurrent robotic multisite surgeries, and to compare institutional findings with the existing literature. Materials and Methods: We describe the unique docking technique used in our procedures, which facilitates atraumatic transitions between surgeries using the same port sites. Additionally, eligible studies on concurrent robotic multisite surgery that were published in English were retrieved from the MEDLINE, Embase, and Cochrane Library databases. Data on operative time, blood loss, complications, and postoperative outcomes were extracted. Results: Eight cases from our institution demonstrated the feasibility and safety of the proposed approach, which is consistent with previous reports. The unique docking technique and dual-console setup enhance surgical precision, offering significant benefits in patient outcomes. As part of the litera-ture review, nine retrospective studies involving 40 cases of concurrent RARP and RAPN were reviewed. Additionally, eleven retrospective studies involving 392 cases of concomitant RARP and robotic transabdominal preperitoneal inguinal hernia repair (RTAPPIHR) were analyzed. Conclusions: Concurrent RARP and RAPN for synchronous prostate and kidney tumors is a viable and effective approach. Our early experience suggests that this and other combined procedures can optimize patient care and reduce costs. Prospective trials are needed to validate these findings and further refine the techniques.

Currently, many health workers have died of being infected by dangerous infectious diseases. One solution is to prevent the spread of transmissions by minimizing contact between patients and staff or others using a mobile robot for delivering logistics services. We propose an approach by applies a navigation system using a position driver and obstacle avoidance using a fuzzy controller and particle swarm optimization for path planning in an unknown environment for a holonomic mobile robot. A Fuzzy Controller was used for obstacle avoidance so that the mobile robot could avoid obstacles using existing proximity sensors as the perception of the robot. In the path planning section, Particle Swarm Optimization is used to find intermediate points that must be reached by the mobile robot to reach their target. First, we performed simulation under the condition that the simulation resolution was similar to that of real conditions. It was found that the Trigonometric Function Adaptive PSO (TFAPSO) was better for finding the optimal solution based on the safest, shortest path, and lowest time. Finally, the holonomic mobile robot is tested directly in an unknown environment with the trajectory path generated by TFAPSO in real condition.

Will human societies accommodate social robots, given the current development rate? Are we under a novelty effect? Can (and should) social robots compete with intelligent agents (e.g., software robots) for the attention of humans? Will the current development of machine learning be the motor of social robotics? What kind of robotics products and culture can we expect that will emerge? These are relevant questions to assess the sustainability of social robots and how they will change business practices and lifestyle. Speculative/exploratory arguments on these topics are possible and have been mostly left out of research papers. This, however, results in an unconventional structure where the novelty comes from the questioning of the role of Social Robotics that has not been duly addressed in the literature. The paper raises questions and (i) presents arguments supporting sustainability grounded on experiments in real-world scenarios, and (ii) identifies challenges according to multiple viewpoints. These are questions for which assertive answers are not found in the literature. Besides the answers to the above questions, the conclusions point to pathways we believe social robotics can evolve, e.g., incorporating maximal knowledge on how humans work.

As businesses increasingly adopt advanced technologies to enhance productivity and safety, the integration of human-robot collaboration (HRC) emerges as a transformative approach. This paper explores the role of GPU-accelerated computer vision and generative AI in optimizing HRC within business environments. By leveraging the computational power of GPUs, real-time data processing, and advanced machine learning algorithms, robots can better interpret complex visual cues and adapt to dynamic workspaces. Generative AI further enables the design of intelligent robotic systems capable of anticipating human actions, optimizing task allocation, and ensuring safety through predictive modeling. This research highlights the potential of these technologies to improve operational efficiency, reduce human error, and create safer, more adaptable workplaces. The implications of such advancements are discussed, providing insights into the future of HRC in various industries.

Cyber-physical testing has been applied for a decade in hydrodynamic laboratories to assess the dynamic performance of floating wind turbines (FWT). Rotor loads, computed by a numerical simulator fed with measurements, are applied in real time on the physical floater by using actuators. The present paper proposes a set of short and targeted benchmark tests that aim at quantifying the performance of actuators used in cyber-physical testing of FWT. They aim at ensuring good load tracking over all frequencies of interest, and satisfactory disturbance rejection for large motions. These benchmark tests are exemplified on two radically different 15MW FWT models tested at SINTEF Ocean.

Ondol, a heating system unique to Korean homes, raises indoor temperatures by supplying hot water through pipes embedded in the floor slab. Known for its comfort and sustained heat advantages, Ondol has garnered international interest in countries requiring efficient heating solutions. Given the inherent challenges during installation and operation, timely inspection is crucial due to difficulties in detecting and pinpointing defects in the buried concrete pipes, often leading to costly rework and removal. Yet, specialized inspection systems tailored for Ondol pipes remain underexplored. Therefore, this study proposes a robotic inspection system capable of assessing the condition of Ondol pipelines. We analyzed the characteristics of Ondol piping to establish the system requirements and developed a prototype of a compact capsule-shaped inspection robot tailored for Ondol pipe inspection. Subsequent laboratory testing validated its performance and usability, confirming its capability for field application through tests on curvature maneuverability and image reception quality. This research aims to motivate advancements in Ondol-specific system implementation and performance validation, potentially contributing to the smartification of Ondol maintenance practices.

Human-robot collaboration is a new trend in modern manufacture. The safety or human protection is of great significance due to the share of the same workshop between humans and robots. To achieve effective protection, in this paper, a contact force sensor based on the 8-shaped wound polymer optical fiber is proposed. The 8-shaped wound structure can convert the normal contact force to the shrinkage of the 8-shaped optical fiber ring. The macro-bending loss of the optical fiber is used to detect the contact force. Compared with conventional sensors, the proposed scheme has the advantage of high flexibility, low cost, fast response, high repeatability, which shows the great promise on actively alarming collision and passively reducing the hurt.

Depictions of robots as romantic partners for humans are frequent in popular culture. As robots are becoming part of human society, they gradually assume the role of partners for humans wherever necessary: as assistants, collaborators, or companions. Companion robots are sup-posed to provide social contact to those humans who could not have it otherwise. These com-panion robots are usually not designed to fulfill one of the most important human needs: the one for romantic and intimate contact. Human-robot intimacy remains a vastly unexplored ter-ritory. In this article, we review the state-of-the-art research in intimate robotics. We discuss major issues limiting acceptance of robots as intimate partners, public perception of robots in in-timate roles, and the possible influence of cross-cultural differences in these domains. We also discuss possible negative effects human-robot intimacy may have on human-human contact. Most importantly, we propose a new term “Intimate companion robots” to reduce the negative connotations of other terms used so far and improve the social perception of research in the domain. With this article, we provide an outlook on prospects for the development of intimate companion robots, considering the specific context of their use.

Vibration problems have become one of the most important factors affecting robot performance. To this end, a terminal residual vibration suppression method based on joint trajectory optimization is proposed to improve the accuracy and stability of robot motion. Firstly, based on the characteristics of the friction nonlinearity due to joint coupling and physical feasibility of dynamic parameters, a semidefinite programming method is used to identify dynamic parameters with actual physical meaning, thereby obtaining an accurate dynamic model. Then, based on the result of the residual vibration time domain analysis, a joint trajectory optimization model with the goal of minimizing joint tracking error is established. The Chebyshev collocation method is used to discretize the optimization model. The dynamic model is used as the optimization constraint, and barycentric interpolation is used to obtain the optimized joint motion trajectory. Finally, industrial robot experiments prove that the vibration suppression method proposed in this article can reduce the maximum acceleration amplitude of residual vibration by 62% and the vibration duration by 71%. Compared with the input shaping method, the method proposed in this paper can reduce the terminal residual vibration more effectively and ensure the consistency of running time and trajectory.

Okra, a widely grown vegetable in many regions, often suffers from freshness loss during transportation, causing significant waste. Factors like variety, environment, maturity, and handling affect its quality. Current methods for checking okra tenderness are slow and prone to mistakes, so we need a better, non-damaging method. This study aims to use a device on a robot arm to assess okra freshness and tenderness. We tested 120 okra pods, storing some in a cold chamber for 24 hours (considered tender) and others at room temperature for two days before moving them to a cold environment for five more days (considered not tender). We used a force sensor on a robot arm to measure okra hardness without damaging it, then did tenderness tests. We found that certain sensor data, like the first slope (S1) and the difference between the maximum value and the first overshoot (Os), were good predictors of tenderness, with an accuracy rate of nearly 80%. We also validated this non-damaging method with weight loss, compression, and puncture tests, achieving a 95.5% accuracy rate in distinguishing between tender and non-tender okra pods.

Autonomous navigation in dynamic environments poses a significant challenge in the field of ro-botics with the primary goals of ensuring both smooth and safe movement. This study introduces control strategy based on an Adaptive Neuro-Fuzzy Inference System (ANFIS) to enhance au-tonomous robot navigation in dynamic environments, emphasizing on collision-free path plan-ning. This strategy employs, a path planning technique to develop a trajectory that allows the ro-bot to navigate smoothly while avoiding collisions with both static and dynamic obstacles. The developed control system incorporates four ANFIS controllers: two are tasked with guiding the robot toward its end point, and the other two are activated for obstacle avoidance. The experi-mental setup conducted in CoppeliaSim involves a mobile robot equipped with ultrasonic sensors navigating in an environment with static and dynamic obstacles. Simulation experiments are conducted to demonstrate the model's capability in ensuring collision-free navigation, employing a path planning algorithm to ascertain the shortest route to the target destination. The simulation results highlight the superiority of the ANFIS-based approach over conventional methods, partic-ularly in terms of computational efficiency and navigational smoothness.

As the global population faces an increasing prevalence of physical disabilities, the challenge of motor rehabilitation has become increasingly urgent. Considering that approximately 15% of the global population lives with some form of disability, with a significant number having motor disa-bilities that greatly impact their quality of life, the integration of robotic technologies into rehabili-tation processes offers an opportunity for significant improvement in functional recovery and pa-tient autonomy. This analysis aims to evaluate the progress and challenges encountered in imple-menting robotic technology for the rehabilitation of patients with physical disabilities, highlighting the potential of emerging technologies such as exoskeletons, assisted training devices, and brain-computer interface systems in facilitating motor recovery. By examining relevant clinical studies, the analysis demonstrates the varied effectiveness of robotic therapies compared to traditional re-habilitation methods, while also highlighting the need for ongoing research to optimize care prac-tices and address challenges related to cost, accessibility, and treatment personalization. In con-clusion, robotic technologies represent a promising direction in motor rehabilitation, with the po-tential to revolutionize the care of patients with physical disabilities, significantly improving quali-ty of life and social integration.

Compared to traditional multi-robot path planning problems, multi-chain robot path planning (MCRPP) is more challenging because it must account for collisions between robot units and between the bodies of a chain and the leading unit during towing. To address MCRPP more efficiently, we propose a novel algorithm called Multi-Train Safe Interval Path Planning (MT-SIPP). Based on safe interval path planning principles, we categorize conflicts in the multi-train planning process into three types: travel conflicts, waiting conflicts, and station conflicts. To handle travel conflicts, we use an improved k-robust method to ensure trains avoid collisions with other trains during movement. To resolve waiting conflicts, we apply a time correction method to ensure the safety of positions occupied by trains during waiting periods. To address station conflicts, we introduce node constraints to prevent other trains from occupying the station positions of trains that have reached their target stations and are stopped. Experimental results on three benchmark maps show that the MT-SIPP algorithm achieves about a 30% improvement in solution success rate and nearly a 50% increase in the maximum number of solvable instances compared to existing methods. These results confirm the effectiveness of MT-SIPP in addressing the challenges of MCRPP.

This research introduces an Intelligent Robotic Arm with Adaptive Collision Avoidance, employing real-time current fluctuation analysis for human-proximity detection. Precision and versatility in motors and actuators are given top priority in the robotic arm setup. Motor power lines are continually monitored by integrated high-precision current sensors, and a real-time data processing system separates natural fluctuations from those caused by outside influences. When a human comes into contact with the surface of the robotic arm, the system excels at detecting their closeness by identifying unique patternsin the variations of current. This sets off an adaptive collision avoidance system, which quickly flips the main power supply’s kill switch to bring the vehicle to an emergency stop. A crucial component is adaptability, as the system dynamically modifies sensitivity in response to environmental condi- tions. Comparative studies show that this approach performs better than conventional static sensing techniques. Experiments under control confirm the great precision, accuracy, and low false positive rate. The use of a failsafe technique improves system integrity by preventing false alarms and enabling recovery after an emergency

Wheeled mobile robot dynamics and suitable controller design are challenging but rewarding fields of study. By understanding the dynamics of wheeled mobile robots, it could be possible to design suitable hybrid control schemes for wheeled mobile robots. Since hybrid control schemes involve combining individual control methods to create a more effective overall control strategy. This can be done in a variety of ways, such as using fuzzy linear quadratic Gaussian control. We were therefore inspired to create dynamic models and their controller designs for the wheeled mobile robot by examining the dynamics of the wheeled mobile robot. The novelty of the current paper is to hybridize the different control schemes for wheeled mobile robots in order to get better performance. Entire systems models were simulated in a MATLAB/SIMULINK environment. The results obtained for the settling time response by FLQG were 87.1% over LQG; this study compared the effectiveness of current and previous FLQG controllers in external disturbances and found peak amplitude improvements of 71.25%. Therefore, the proposed controller is suitable for use with the wheeled mobile robot.

Robotic systems are increasingly being used in healthcare to improve patient care and support healthcare professionals. These robots are especially effective at performing repetitive tasks. In complex cancer cases, robots can enhance surgical precision and efficiency, resulting in reduced pain for patients and a lower risk of complications. Robot-assisted surgery offers high-quality 3D imaging, improved clarity, and increased efficiency. This review paper examines the application of Artificial Intelligence (AI) and robotic systems in the healthcare domain, specifically focusing on the interaction among operators, patients, and robots. The goal is to promote collaboration and improve healthcare provision through human-robot interaction. We considered already published articles by relevance, to identify the primary safety issues that need addressing for the integration of AI and robots in hospitals. Concluding with insights into understanding the focal points of social errors in Human-Robot Interaction (HRI) is crucial for mitigating these errors. While current technologies have reached a certain level of maturity, there are still numerous challenges in utilizing robot-assisted clinical practice, including technological, safety, clinical, financial, insurance, psychological, social, ethical, and legal issues. In addition, there is an urgent issue that needs to be addressed: the alignment of values in artificial intelligence, ensuring that AI systems reflect ethical principles and human values is crucial to avoid negative consequences such as bias, discrimination, and prejudicial decisions. Resolving this complex issue requires collaboration among clinical staff, researchers, programmers, and political decision-makers from various fields.

This study focuses on the design, development, and evaluation of an educational mobile robot, named Robot-T2, to be used in educational activities within a technical school. The primary objective was to create a versatile platform that allows students to explore programming, engineering, and science concepts in a practical and collaborative manner. The methodology included an iterative design and testing approach, incorporating feedback from students and teachers to continuously improve the robot's functionality. The tests covered autonomous navigation, line following, and object manipulation, using the OnBotJava programming software and the Control Hub as the main interface. The results demonstrated that Robot-T2 is highly efficient and adaptable in various educational contexts, showing remarkable precision in navigation and object manipulation. The design iterations significantly improved the robot's performance, enriching the educational experience and promoting active learning. In conclusion, educational robotics, represented by Robot-T2, has great potential to enhance the teaching and learning process in technical schools, fostering teamwork, problem-solving, and the integration of technology in the classroom. This project is expected to inspire future developments in educational robotics.

To encourage proper waste management from electrical and electronic devices (e-waste), it is necessary to invest heavily in the development of recycling technologies. One way to improve the process is to automate separating the shredded parts of e-waste using a robot. This paper's literature review, utilizing the Preferred Reporting Items for Systematic reviews and Meta-Analyses (PRISMA) framework, showcases potential robotic technologies for e-waste separation. However, the intricate design of these devices can pose significant challenges in their implementation. Various legal, organizational, and sociological obstacles have left Serbia's e-waste management practice underdeveloped, resulting in an unsatisfactory recycling rate. In this paper we examined the possibility of using robots on the precise example of recycling refrigerators in a recycling center in Eastern Serbia, concluding that such a solution would have multiple positive effects, both on the employees and the working environment, on the operations of the recycling center itself, and on increasing the e-waste recycling rate in the country.

This paper provides a structured and practical roadmap for practitioners to integrate Learning from Demonstration (LfD) into manufacturing tasks, with a specific focus on industrial manipulators. Motivated by the paradigm shift from mass production to mass customization, it is crucial to have an easy-to-follow roadmap for practitioners with moderate expertise, to transform existing robotic processes to customizable LfD-based solutions. To realize this transformation, we devise the key questions of "What to Demonstrate", "How to Demonstrate", "How to Learn", and "How to Refine". To follow through these questions, our comprehensive guide offers a questionnaire-style approach, highlighting key steps from problem definition to solution refinement. The paper equips both researchers and industry professionals with actionable insights to deploy LfD-based solutions effectively. By tailoring the refinement criteria to manufacturing settings, the paper addresses related challenges and strategies for enhancing LfD performance in manufacturing contexts.

Robot manipulators are robotic systems that are frequently used in automation systems and able to provide increased speed, precision and efficiency in the industrial applications. Due to their nonlinear and complex nature, it is crucial to optimize the robot manipulator systems in terms of trajectory control. In this study, positioning analysis based on artificial neural networks (ANN) were performed for robot manipulator systems used in the textile industry and the optimal ANN model for the high-accuracy positioning was improved. The inverse kinematic analysis of a 6 degree of freedom (DOF) industrial denim robot manipulator were carried out via 4 different learning algorithms of Delta-Bar-Delta (DBD), Online Back Propagation (OBP), Quick Back Propagation (QBP) and Random Back Propagation (RBP) for proposed neural network predictor. From the results obtained, it was observed that QBP based 3-10-6 type ANN structure produced the optimal results in terms of estimation and modelling of trajectory control. In addition, 3-5-6 type ANN structure was also improved and its Root Mean Square Error (RMSE) and statistical R2 performances were compared to that of 3-10-6 ANN structure. Consequently, it can be concluded that the proposed neural predictors can successfully be employed in real-time industrial applications for robot manipulator trajectory analysis.

Artificial Intelligence (AI) is revolutionizing decision-making procedures in healthcare information systems (HIS), increasing the efficacy, accuracy, and personalization of healthcare. Notwithstanding remarkable progresses, yet there remain gaps in the holistic comprehension and implication of AI-driven technologies across various HIS scenarios. These gaps, consisting limited integration of AI across a variety of HIS parts and inadequate emphasize on interpretability and privacy, motivate our study to conduct a structured evaluation of recent AI applications in this domain. In this study, we present a novel taxonomy for the AI implication in medical decision-making. We analyzed 30 articles and categorized them into six groups including: Clinical Decision Support Systems (CDSS), Predictive Analytics, Natural Language Processing (NLP), Computer-Aided Diagnostics (CAD), Robotic-Assisted Surgery, and Virtual Health Assistants (VHAs/chatbots). Our study aims to propose a holistic perspective of the fast evolving perspective of AI in HIS. The majority of the investigated studies were published from 2023 and 2022, with Springer as the leading publisher (33%). Python and MATLAB were the most well-known simulation languages, applied in 48% and 20% of the papers, respectively, reflecting the technical trends in the area. By emphasizing on pivotal criteria like interpretability, accuracy, and privacy, this research aims to elucidate the crucial issues and development driving AI-driven decision-making in HIS.

Retinal vein cannulation involves puncturing an occluded vessel on the micron scale. Even single millinewton force can cause permanent damage. An ophthalmic robot with a piezo-driven injector is precious enough to perform this delicate procedure, but the uncertain viscoelastic characteristics of the vessel makes it difficult to achieve the desired contact force without harming the retina. The paper utilizes a viscoelastic contact model to explain the mechanical characteristics of retinal blood vessels in order to tackle this issue. The uncertainty in the viscoelastic properties is considered an internal disturbance of the contact model, and an active disturbance rejection controller is then proposed to precisely control the contact force. The experimental results show that this method can precisely adjust the contact force at the millinewton level even when the viscoelastic parameters vary significantly (up to 403.8%). The root mean square (RMS) and maximum value of steady-state error are 0.32 mN and 0.41 mN. The response time below 2.51 s with no obvious overshoot.

Periacetabular osteotomy (PAO) is an effective approach for surgical treatment of developmental dysplasia of the hip (DDH). However, due to the complex anatomical structure around the hip and limited field of view (FoV) during the surgery, it is challenging for surgeons to perform a PAO surgery. To solve this challenge, we propose a robot-assisted augmented reality (AR)-guided surgical navigation system for PAO. The system mainly consists of a robot arm, an optical tracker, and a Microsoft HoloLens 2 which is a state-of-the-art (SOTA) optical see-through head-mounted display (OST-HMD). For AR guidance, we propose an optical marker-based virtual-physical registration method to estimate a transformation from the optical tracker coordinate system (COS) to the virtual space COS, such that virtual models can be superimposed on the corresponding physical counterparts. Furthermore, to guide the osteotomy, the developed system automatically aligns the bone saw with osteotomy planes planned in preoperative images, and then provides surgeons with not only robot assistance but also AR guidance. Comprehensive experiments were conducted to evaluate both virtual-physical registration accuracy and osteotomy accuracy of the developed navigation system. The proposed virtual-physical registration method achieved an average mean absolute distance error (mADE) of 1.96 ± 0.43 mm. The developed system achieved an average distance deviation of 0.82 ± 0.17 mm and an average angular deviation of 3.77 ± 0.85 . Experimental results demonstrated high virtual-physical registration accuracy. The sub-millimeter distance deviation demonstrated the osteotomy accuracy of the proposed system.

This article presents a combined route and path planning strategy to guide Skid-Steer Mobile Robots (SSMRs) in scheduled harvest tasks within expansive crop rows with complex terrain conditions. The proposed strategy integrates: i) a global planning algorithm based on the Traveling Salesman Problem under the Capacitated Vehicle Routing approach and Optimization Routing (OR-tools from Google) to prioritize harvesting positions by minimum path length, unexplored harvest points, and vehicle payload capacity, and ii) a local planning strategy using Informed Rapidly-exploring Random Tree (IRRT*) to coordinate scheduled harvesting points while avoiding low-traction terrain obstacles. The global approach generates an ordered queue of harvesting locations, maximizing the crop yield in a workspace map. In the second stage, the IRRT* planner avoids potential obstacles, including farm layout and slippery terrain. The path planning scheme incorporates a traversability model and a motion model of SSMRs to meet kinematic constraints. Experimental results in a generic fruit orchard demonstrated the effectiveness of the proposed strategy. In particular, the IRRT* algorithm outperformed RRT and RRT* with 96.1% and 97.6% smoother paths, respectively. The IRRT* also showed improved navigation efficiency, avoiding obstacles and slippage zones, making it suitable for precision agriculture.

This paper explores strategies for fostering efficient vocal communication and collaboration between human workers and collaborative robots (cobots) in assembly processes. Vocal communication enables division of attention of the worker, as it frees the visual attention, and the worker’s hands, dedicated to the task at hand. Speech generation and speech recognition are pre-requisites for effective vocal communication. The study focuses on cobot assistive tasks, where the human is in charge of the work and performs the main tasks while the cobot assists the worker in various peripheral jobs, such as bringing tools, parts, or materials, and returning them, or disposing them; or screwing or packaging the products. A nuanced understanding is necessary for understanding how human-robot interactions can be optimized to enhance overall productivity and safety. Through a comprehensive review of relevant literature and empirical studies, this manuscript identifies key factors influencing successful vocal communication, and proposes practical strategies for implementation.

In this paper, a modular wire-actuated robotic arm was designed to improve the safety and adaptability of service robots during human-robot interaction. To raise the stiffness adjustment range of the robotic arm, a symmetric variable-stiffness unit was designed based on flexure, which had compact and simple structure, and lowly nonlinear stiffness-force relationship. In this paper, we focused on the research of the symmetric 1-DOF joint module. Based on the kinematics and stiffness analysis, the pose of the joint module could be adjusted by controlling the length of the wires, and the stiffness of the joint module could be adjusted by controlling the tension of the wires. Because of the actuation redundancy, the pose and stiffness of the joint module could be controlled synchronously. Furthermore, a directly method was proposed for the stiffness-oriented wire tension distribution problem of the 1-DOF joint module. A simulation was carried out to verify the proposed method.

In this article the problem of detection and isolation (FDI) in wheeled mobile robot is 1 treated. first of all we consider a master-slave robot system in which the master robot has to follow a 2 desired trajectory given by a well-determined control law, then the slave is controlled by the master. 3 However in real environment there is no ideality because faults can appear in the master or slave 4 or even the both and affect the system and may lead to unacceptable results so to ensure a well 5 functioning an extended kalman filter is tuned to diagnosis eventual faults and to generate residuals 6 in order to detect and isolate them. The performance of an estimator based on an EKF is simulated 7 based MATLAB Simulink simulations.

The rapid advancement of artificial intelligence (AI) and robotics has led to significant progress in various medical fields, including interventional radiology (IR). This review focuses on the research progress and applications of AI and robotics in IR, including deep learning (DL), machine learning (ML), and convolutional neural networks (CNNs) across specialties such as oncology, neurology, and cardiology. To ensure the breadth and depth of this review, we implemented a systematic literature search strategy, selecting research published within the last five years. We conducted searches in databases such as PubMed and Google Scholar to find relevant literature. Special emphasis was placed on selecting large-scale studies to ensure comprehensiveness and reliability of the results. We discuss the role of AI techniques used before, during, and after intervention treatments and the advantages of robotics in achieving precise operations and reducing intra-operative risks. Challenges faced in the implementation of these techniques are also addressed. Finally, we explore the future trends and potential applications of AI and robotics in interventional therapy, highlighting their potential to improve patient treatment outcomes and quality of life.

Это исследование сосредоточено на разработке системы искусственного зрения для гибкого дельта-робота-манипулятора и ее интеграции с межмашинной связью для оптимизации взаимодействия устройств в реальном времени. Эта интеграция направлена ​​на увеличение скорости роботизированной системы и улучшение ее общей производительности. Предлагаемое сочетание системы искусственного зрения с межмашинной связью позволяет обнаруживать и распознавать цели с высокой точностью в режиме реального времени в ограниченном пространстве, предназначенном для позиционирования, дальнейшей локализации и выполнения производственных процессов, таких как сборка или сортировка деталей. . В данном исследовании RGB-изображения используются в качестве входных данных для алгоритма MASK-R-CNN, а результаты обрабатываются в соответствии с особенностями прототипа дельта-манипулятора робота. Данные, полученные от MASK-R-CNN, адаптированы для использования в системе управления дельта-роботом с учетом ее уникальных характеристик и требований к позиционированию. Технология M2M позволяет манипулятору робота быстро реагировать на изменения, например, на перемещение объектов или изменение их положения, что имеет решающее значение для задач сортировки и упаковки. Система была протестирована в условиях, близких к реальным, чтобы оценить ее производительность и надежность.

According to the requirement of 20kg load of casting barrel, we design a three-dimensional model of the robot and analyze the three stages of liquid level change in the casting barrel during the casting process. Through the analysis, it is determined that the time and angle function is an implicit function, and it is impossible to find the analytical expression of time about angle. The kinetic function of the casting barrel is simulated by MATLAB, and it is found that the function image has mutation points, and when the original function is fitted and approximated by fifth-degree polynomial interpolation, the fifth-degree polynomial function image of the time versus the angular acceleration has a large amplitude of oscillation, especially the mutation points. A PID algorithm based on the discretization of the time and acceleration function is introduced for correction, and the results show that this method effectively reduces the oscillation amplitude of the image and improves the coincidence with the original function.

Autonomous mobile robots are essential to the industry, and human-robot interactions are becoming more common nowadays. These interactions require that the robots navigate scenarios with static and dynamic obstacles in a safely manner, avoiding collisions. This paper presents a physical implementation of a method for dynamic obstacle avoidance using a Long Short-Term Memory (LSTM) neural network that obtains information from the mobile robot’s LiDAR for it to be capable of navigating through scenarios with static and dynamic obstacles while avoiding collisions and reaching its goal. The model is implemented using a TurtleBot3 mobile robot within an OptiTrack Motion Capture (MoCap) system for obtaining its position at any given time. The user operates the robot through these scenarios, recording its LiDAR readings, target point, position inside the MoCap system, and its linear and angular velocities, all of which serve as the input for the LSTM network. The model is trained on data from multiple user-operated trajectories across five different scenarios, outputting the linear and angular velocities for the mobile robot. Physical experiments prove that the model is successful in allowing the mobile robot to reach the target point in each scenario while avoiding the dynamic obstacle, with a validation accuracy of 98.02%.

The article explores the concept of 'synthetic man' (SM) in the context of 'synthetic biology' (SB), analysing the potential, challenges, and ethical implications of these achievements. Through dialogue with ChatGPT 4, an in-depth understanding of the evolution, contributions of SM, ChatGPT's contribution, and concerns associated with SM is sought, providing insight into how this technology could affect our society. Our study uses a structured dialogue framework with ChatGPT that addresses essential SM questions regarding SM history, contributions, challenges, and concerns. ChatGPT responses are analysed to extract relevant information and identify trends and insights. The ChatGPT dialogue reveals that MS is still a theoretical and speculative concept with significant advances in gene therapy and genetic engineering. The potential contributions of SM in addressing global challenges such as health, environment and education are identified. Ethical and social concerns such as health risks and psychological impact are also highlighted. Differences in ChatGPT responses were observed between different sessions or even within the same session, which highlighted the limitations in the replicability of the research and sometimes the need for clarification of the questions. The article is distinguished by its unique approach of using an advanced language model to explore a complex and speculative topic. The LLM Dialogue Framework on Technology (LLM-DFonTech) framework proposal for structured dialogue with ChatGPT on various technological topics related to the original contribution provides an adaptable tool for interdisciplinary research in emerging technologies. This methodology opens up new possibilities for analyzing and developing trends in technology and society.

Walking of humanoid robots is dependent on precise tracking of the center of gravity and foot trajectories. Trajectory tracking is achieved by mobilizing the robot joints to produce the correct trajectory. Errors are being occurred because of assumptions on tracking the center of gravity and the foot trajectories. In this study, a numerical algorithm has been developed that produces an exact and single kinematic solution in which the center of gravity and foot trajectories can be tracked with the desired precision. The effectiveness of the algorithm was examined with a dynamic simulation and compared with the method given in the literature The main highlight of this study, using the presented algorithm, the robot can walk even if the position of its center of gravity is lower than its hips, resulting tracking error was smaller than reported in the literature.

A review of literature, supporting the view on the psychophysical origins of some acceptance effects of cyber-physical systems (CPSs), is presented and discussed in the paper. Psychological effects like the reactance to a robot or the uncanny valley phenomenon suggest that CPSs are perceived as a special type of ‘being’, a phylogenetically emergent category, or a novel ontology in a philosophical sense, culturally developing as a function of the social brain. Justification of this view is provided by the psychophysically-relevant human responses to technologically and socially ambiguous stimuli on the one hand, and the probabilistic independence of the proposed ontology to similar ontologies, subjectively experienced by the human, on the other. The results of the presented in the paper analysis demonstrate the feasibility of the proposed hypothesis of ontological ‘near independence’ of the distribution of the probabilistic psychophysical processes in response to the cyber-physical stimulus as a socially evolving phenomenon.

Biological neural network (BNN) is the core brain for creature to accomplish its intelligent behaviors through unique network structure and mechanisms. It also inspires controlling human-designed autonomous agents including robots to generate more advanced intelligent behaviors by mimicking the neural control mechanism of creatures at a deeper and more interactive level. Here, we constructed a whole-brain neural network model of Caenorhabditis elegans (C. elegans), which characterizes the electrochemical processes at the level of cellular synapse. The neural network simulation integrates computational programming and visualization of neurons and synapse connections of C. elegans, containing the specific controllable circuits summarization with their dynamic characteristics within the whole network. To illustrate its particular intelligent control capability in terms of robotics, we introduce the first innovative methodology for applying the BNN model to a 12-legged robot’s movement control based on the established numerical simulation platforms. We accomplished and designed two methods and corresponding encoding processes, one involving orientation control and the other involving locomotion generation, to demonstrate the intelligent control performance of BNN. Both simulation and experiment results indicate that the robot exhibits stronger autonomy and more intelligent moving performance under the control of BNN. We then summarized the contributions for digitalizing the C. elegans’ whole-brain neural network in real-time and utilizing it to control robot in a closed loop to validate its advanced intelligence control ability in terms of a scientific robot.

Recently, due to the decrease in labor force, increase in labor costs, and the desire for improved quality of life, research on robots has been actively conducted to address these issues. However, it is currently difficult to find robots that physically interact with humans. The reason is that the actuators of robots do not have high torque density on their own. To solve this problem, high torque density motors, such as proprioceptive actuators, are being researched. However, the torque density is still insufficient for physical interaction with humans, so we have developed a motor with higher torque density. However, high torque density motors have the disadvantage of lower speed characteristics due to increased Back-EMF. Therefore, to address the deterioration of speed characteristics in the developed motor, we applied the Independent 3-Phase winding structure to improve the speed characteristics. Consequently, through comparison with Y-Connection and Delta-Connection, we propose the most suitable winding structure for high torque density motors intended for physical interaction with humans.

Interactions between mobile robots and human operators in common areas require a high safety especially in terms of trajectory planning, obstacle avoidance and mutual cooperation. In this connection the crossings of planned trajectories, their uncertainty based on model fluctuations, system noise and sensor noise,play an outstanding role. This paper discusses the calculation of expected areas of interactions du ring human-robot navigation with respect to fuzzy and noisy information. Expected crossing points of possible trajectories are nonlinearily associated with positions and orientations of robot and human. The nonlinear transformation of a noisy system input, such as directions of motion of human and robot, to a system output, the expected area of intersection of their trajectories, is done by two methods: statistical linearization and the sigma-point-transformation. For both approaches fuzzy approximations are presented and the inverse problem is discussed where the input distribution parameters are computed from given output distribution parameters.

Military medical service is an important component of the Armed Forces of any country [1]. In wartime, healthcare performs critical functions of medical support for military operations, providing effective and qualified care to the wounded and sick. Consequently, it is imperative to equip military hospitals with state-of-the-art materials and technical resources commensurate with the predefined requirements. In this study, we examine a series of enhancements applied to the TurtleBot 3 Waffle Pi-based medical assistant robot, tailored for deployment in military hospital settings.

The paper delineates the developed vision system of the UR5 cobot and the operating algorithm of the robotic quality control station. The hardware-software architecture of the developed robotic station was shown, consisting of a UR5 cobot equipped with a web camera and a stationary industrial camera with a lighting system. Image processing and analysis algorithms were described, the method of control and communication between the station components was discussed, and two operating scenarios were presented as a single robotic station and a robotic line. Based on the results obtained, the level of measurement noise, accuracy, and repeatability of the developed vision system were estimated.

The use of new assistive technologies in general, and Socially Assistive Robots (SAR) in particular is becoming increasingly common for supporting people’s health and well-being. However, it still faces many issues regarding long-term adherence, acceptability and utility. Most of these issues are due to design processes that insufficiently take into account the needs, preferences and values of intended users. Other issues are related to the currently very limited amount of long-term evaluations, performed in real world settings, for SAR. This study presents the results of two regional projects that consider as a starting hypothesis that the assessment in controlled environments and/or with short exposures may not be enough in the design of a SAR deployed in a retirement home and the necessity of designing for and with users. Thus, the proposed methodology has focused in use cases definitions that follow a human-centred and participatory design approach. The main goals have been facilitating system acceptance and attachment by involving stakeholders in the robots design and evaluation, overcoming usage barriers and considering user’s needs integration. The implementation of the first use case deployed and the two-phase pilot test performed in the retirement home are presented. In particular, a detailed description of the interface re-design process based on improving a basic prototype with users’ feedback and recommendations is presented together with main results of a formal evaluation that has highlighted the impact of changes and improvements addressed in the first redesign loop of the system.

Endoscopy has made a significant and noteworthy contribution to the field of medical science and technology. Nevertheless, its potential remains constrained due to the limited availability of rigid or flexible endoscopes. This paper introduces a novel hydraulic actuator based on electrorheological fluid (ERF) as a pivotal advancement in bridging the existing gap within the realm of endoscopy. Following a comprehensive introduction that briefly outlines the electrorheological effect, the subsequent section is dedicated to the elucidation of the actuator’s development process. Challenges arise, particularly in terms of miniaturization and the realization of a hydraulically sealed system with integrated valve electrodes. An internal electrorheological valve system consisting of four valves that are controlled using a pulse-width modulated high voltage was suitable for position control of the antagonistic hydraulic actuators. High-precision stereolithography (SLA) printing has proven practical for manufacturing the actuator components. For functional testing, a test bench was set up in which the actuator follows a setpoint through a PI control loop. The control deviation ranged from 0.6 to 1 degree, with a response time between 6 and 8 seconds. The experiments have demonstrated that, through the use of ERF and integrated valve electrodes, a miniaturized functional actuator can be constructed.

Automation is the key aspect of science and technology field and refers to controlling the systems for efficient output requirements. The development of robotics and similar, technologies in 21st century is a vast topic of research and significant progress has been made on this field. This research study focuses on building a ribbon-cutting robot with a Bluetooth interface for event inaugurations. The entire system hinges on constructing a prototype that is mounted on a robotic car frame with four wheels and an Arduino controller. In this case, ribbons are cut using a nickel wire, and it may be paired with an Android device via Bluetooth or an application. The robot is one of the first steps toward the development of autonomous, cognitive robots and can be used in a variety of events. Efficient temperature monitoring is done with help of LM35 sensor and Bluetooth based communication in order to monitor the conditions and effectively control the actions for which robot is designed. The robot has significantly allowed authors for desired tests on ribbon cutting and final results obtained were very exciting for its desired application target. Ribbon-cutting robots find applications in various events, including inaugurations, exhibitions, and ceremonies. Their precision and novelty add value to such occasions.

This paper proposed a three-layer distributed simulation network architecture: 1. Distributed virtual simulation network, 2. Perception and control sub-network, and 3. Collaborative communication service network. This simulation architecture runs on a distributed platform. The platform can provide a unique virtual scenario and several simulation services to verify the individual robot system's basic perception, control, and planning algorithms and the distributed collaborative algorithms of heterogeneous multi-robot systems. Furthermore, we designed a simulation experiment scenario for classical heterogeneous robot systems such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). At last, We gave a rough estimation model of the bandwidth.

Collaborative robotics is a major topic in current robotics research posing new challenges, especially in Human-Robot Interaction. The crucial aspect in this area of research focuses on understanding the behavior of robots when engaging with humans, where reinforcement learning is a key discipline that allows us to explore sophisticated emerging reactions. This review aims to delve into the relevance of different sensors and techniques, with special attention to EEG (electroencephalography data on brain activity) and its influence on the behavior of robots interacting with humans. In addition, mechanisms available to mitigate potential risks during the experimentation process such as virtual reality will also be addressed. In the final part of the paper, future lines of research combining the areas of collaborative robotics, reinforcement learning, virtual reality and human factors will be explored, as this last aspect is vital to ensure safe and effective Human-Robot Interactions.

This conceptual paper explores the potential of integrating Electromagnetic Fields (EMF) with traditional physiological signals to enhance emotional contagion in Human-Robot Interaction (HRI). A focused literature review identifies gaps in current HRI models that rely solely on visual, auditory, and known physiological cues for emotional exchange. A novel framework is proposed, incorporating EMF as a complementary modality, aiming to deepen emotional synchronization between humans and robots. The paper lays groundwork for future research to consider EMF detection as a complementary modality alongside traditional cues. It also addresses technological requirements and discusses potential limitations. By extending the modalities used in emotional contagion, this work seeks to advance the development of more intuitive and empathetic robotic systems.

Robotic odor source localization (OSL) is a technology that enables mobile robots or autonomous vehicles to find an odor source in unknown environments. An effective navigation algorithm that guides the robot to approach the odor source is the key to successfully locating the odor source. While traditional OSL approaches primarily utilize an Olfaction-only strategy, guiding robots to find the odor source by tracing emitted odor plumes, our work introduces a fusion navigation algorithm that combines both vision and olfaction-based techniques. This hybrid approach addresses challenges such as turbulent airflow, which disrupts olfaction sensing, and physical obstacles inside the search area, which may impede vision detection. In this work, we propose a hierarchical control mechanism that dynamically shifts the robot’s search behavior among four strategies: crosswind maneuver, Obstacle-avoid Navigation, Vision-based Navigation, and Olfaction-based Navigation. Our methodology includes a custom-trained deep-learning model for visual target detection and a moth-inspired algorithm for Olfaction-based navigation. To assess the effectiveness of our approach, we implemented the proposed algorithm on a mobile robot in a search environment with obstacles. Experimental results demonstrate that our Vision and Olfaction Fusion algorithm significantly outperforms Vision-only and Olfaction-only methods, reducing average search time by 54% and 30%, respectively.

Agriculture and rural regions in Europe face a number of economic, social and environmental challenges. Rural areas are active players in the EU’s green transitions. Weeding is one of the most important factors of agricultural production. New weeding techniques are being developed to enhance sustainability. Among them laser based weeding seems a promising alternative for use of chemicals. WeLASER technique is a novel technique of weed control. Its successful implementation depends on many factors related to the innovation itself, policy context, farming conditions and users’ attitudes. Survey was carried out to provide the insight on the attitudes toward the innova-tive (laser) weed control tool (device - autonomous robot). The CATI method was selected for the survey of farmers opinion and carried out in three countries: Denmark, Spain and Poland. Statistical methods were applied to analyze the results. The study provided knowledge on how farmers see the barriers and opportunities of implementing the device in practice. Positive attitudes of farmers were observed but with high expectations related to quality of the technique and systemic conditions of its implementation.

This study examines the practicality and limitations of using a FANUC CRX-10 iA/l collaborative robot to assemble a product component, highlighting the trade-offs between increased roboisation and reduced manual intervention. Through a detailed case study in the i-Labs laboratory, critical factors affecting precision assembly such as station layout, tooling design and robot programming are discussed. The findings highlight the benefits of robots for non-stop operation, freeing up human operators for higher value tasks despite longer cycle times. In addition, the paper advocates further research into reliable gripping of small components, a current challenge for robotics. The work contributes to open science by sharing partial results and methods that could inform future problem solving in robotic assembly.

This study presents a literature review focused on nonverbal communication in human-robot interaction (HRI) that involves service robots with social capabilities. We aim to list the types of robots used and nonverbal communication cues examined in the reviewed studies; and the main research objectives, participant characteristics, data collection methods, and primary findings of these studies. To achieve this, we conducted a literature review of 39 relevant open access academic papers published from 2006 to 2023 that examined the utilization of nonverbal cues by both humans and robots during HRI. The results suggest that enhancing the quality of communication between humans and service robots must be improved, while there are several aspects that require more thorough exploring, needed to strengthen robot self-efficacy, trust and trustworthiness in HRI or overcome cultural differences. The results emphasize the importance of nonverbal communication in shaping the dynamics of interactions between humans and service robots.

Fully mechanized mining face production involves complex geological conditions; mining pressure; gas, water, fire and other mining environments. The working face needs a shearer, hydraulic support, a scraper conveyor and other equipment for coordination. The deep integration of intelligent technology with factors such as "humans, machines, the environment, and management" in the workplace is the core content of intelligent coal mines. This paper puts forward an advanced framework for coal mining robot technology systems, including single robots, robotized equipment, robot clusters and unmanned systems. The framework clarifies the common key technologies of coal mining robot research and development and cross-integration with new technologies such as 5G, the industrial internet, big data, artificial intelligence, and digital twins to improve the autonomous and intelligent application of coal mining robots. By establishing a scientific and complete standard system for coal mining robots, we aim to achieve customized research and development and standardized production of various types of robots. A specific analysis was conducted on the research progress of common key technologies such as explosion-proof design, mechanical system innovation, power drive, intelligent sensing, positioning and navigation, and underground communication of coal mining robots. The current research and application status of various types of coal mining robots in China are summarized. A new direction for future coal mine robot research and development is proposed. Moreover, robotic mining systems should be promoted to enhance the overall intelligence level and mining efficiency of mining equipment. To develop human‒machine environment-integrated robots to improve the autonomy and collaboration level of coal mining robots. The digital twinning of the entire mine robot system should be accelerated, the normalized operation level of coal mine robots should be improved, research on coal mining robots, support robots, and transportation robots should be carried out, intelligence should be achieved in fully mechanized mining faces, and equipment support for fewer and unmanned fully mechanized mining faces should be provided. The practical process of implementing coal mining robotization has been summarized, and the technical and engineering feasibility of the coal mining machine population has been verified.

This paper describes design of experimental methodology developed to measure the working properties of accuracy of the path traversed by a collaborative robot. The methodology proposed here uses a collaborative robot and a laser measuring system Gepard from Raytec. The main parts of the measuring chain and the ISO 9283 standard are described. The proposed experimental methodology should examine working properties of industrial robots, such as the properties of position and path. The focus of this paper lies on the path accuracy of robots. Currently, the interest in this topic is on the rise and the measuring systems capable of recording this parameter are too costly. This paper focuses on experimental measuring of the path properties, describing them in more detail. The measuring and results were processed in the software tool developed for Gepard.

In an agricultural system, finding suitable watering, pesticide, and soil content to provide the right nutrients for the right plant is a mystery so far. Plants cannot speak and cannot ask which food they require. These problems can be addressed by applying intelligent (fuzzy logic) controllers to IoT devices in order to enhance communication between crops, ground mobile robots, aerial robots, and the entire farm system. The application of fuzzy logic in agriculture is a promising technology that can be used to optimize crop yields and reduce water usage. It was developed based on language and the air properties in the agricultural fields were formulated. The entire system was simulated in the MATLAB/SIMULINK environment with Cisco Packet Tracer integration. The inputs for the system were soil moisture sensors, temperature sensors, humidity sensors, and outputs were pump flow, valve opening, water level, and moisture in sounding. The obtained results were the output of opening valve, moisture in sound, pump flow rate, outflows, water level, and ADH values, which are 10.00000013 rad/sec, 34.72%, 4.494%, 0.025 m^3/sec, 73.31 cm^3, and 750 values respectively. The outflow rate increase indicates that the water is released from the tanks, and the control signal fluctuates, indicating that the valve is opening.

The implementation of a progressive rehabilitation training model to promote patients’ motivation efforts can greatly restore the damaged central nervous system function in patients. The patients’ active engagement can be effectively stimulated by assist-as-needed (AAN) robot rehabilitation training. However, its application in robotic therapy has been hindered by a simple determination method of robot assisted torque which focuses on the evaluation only of the affected limb's movement ability. Moreover, the expected effect of assistance depends on the designer, which deviates from the patient's expectations, and its applicability to different patients is deficient. In this study, we propose a control method with personalized treatment features based on the idea of estimating and mapping the stiffness of the patient’s healthy limbs. This control method comprises an interactive control module in the task-oriented space based on the quantitative evaluation of motion needs and an inner loop position control module for the pneumatic swing cylinder in the joint space. An upper limb endpoint stiffness estimation model is constructed and a parameter identification algorithm is designed. The upper limb endpoint stiffness which characterizes the patient's ability to complete training movements is obtained by collecting surface electromyographic (sEMG) signals and human-robot interaction forces during patient movement. Then the motor needs of the affected limb when completing the same movement are quantified based on the performance of the healthy limb. A stiffness mapping algorithm is designed to dynamically adjust the rehabilitation training trajectory and auxiliary force of the robot based on the actual movement ability of the affected limb, achieving AAN control. Experimental studies were conducted on a self-developed pneumatic upper limb rehabilitation robot, and the results showed that the proposed AAN control method can effectively estimate the patient's movement needs and achieve progressive rehabilitation training. The rehabilitation training robot that simulates the movement characteristics of the patient's healthy limbs drives the affected limb, making the intensity of the rehabilitation training task more in line with the patient's pre-morbid limb use habits, and also beneficial for the consistency of bilateral limb movements.

This study introduces a cybernetic control and architectural framework for a robotic fish avatar operated by a human. The behavior of the robot fish is influenced by the electromyographic (EMG) signals of the human operator, triggered by stimuli from the surrounding objects and scenery. An deep artificial neural network (ANN) with perceptrons classifies EMG signals, discerning the type of muscular stimuli generated. The research unveils a fuzzy-based oscillation patterns generator (OPG) designed to emulate functions akin to a neural central pattern generator, producing coordinated fish undulations. The OPG generates swimming behavior as an oscillation function, decoupled into coordinated step signals, right and left, for a dual electromagnetic oscillator in the fish propulsion system. Furthermore, the research presents an underactuated biorobotic mechanism of the subcarangiform type, comprising a two-solenoid electromagnetic oscillator, an antagonistic musculoskeletal elastic system of tendons, and a multi-link caudal spine composed of helical springs. The biomechanics dynamic model and control for swimming, as well as the ballasting system for submersion and buoyancy, are deduced. Experimental results encompass EMG pattern recognition, OPG, and coordinated fish locomotion, with additional topics illustrated through numerical simulations.

Scientific research in the study of Human-Robot Interactions (HRI) has advanced significantly in recent years. Social humanoid robots have undergone severe testing and have been implemented in a variety of settings, including educational institutions, healthcare facilities and senior care centers. Humanoid robots have also been evaluated across diverse population groups. However, the research on different children-groups is still scarce, especially deaf children. This feasibility study includes both hearing children and deaf children, and aim to assess the interaction between children and a humanoid robot without the use of sounds and voices. In addition, an experiment was conducted where the children were asked to watch a video and then assess whether the NAO humanoid robot responded to the emotions shown in the video in a congruent or incongruent way. The findings indicated that there was no difference between the children who were present-ed with congruent emotions in the NAO as opposed to the children who were presented with in-congruent emotions in the robot. Only the ability to predict emotion in videos and gender were significant predictors of guessing the correct emotion in robot. Although no significantly differ-ence was found between hearing and deaf children, this feasibility study is intended to lay the groundwork for future research in this unexplored field of study.

Recognizing trust as a pivotal element for success within Human-Robot Collaboration (HRC) environments, this article examines its nature, exploring the different dimensions of trust, analysing the factors affecting each of them, and proposing alternatives for trust measurement. To do so, we designed an experimental procedure involving 50 participants interacting with a modified 'Inspector game' while we monitor their brain, electrodermal, respiratory, and ocular activities. This procedure allowed us to map dispositional (static individual baseline) and learned (dynamic, based on prior interactions) dimensions of trust considering both demographic and psychophysiological aspects. Our findings challenge traditional assumptions regarding the dispositional dimension of trust and establish clear evidence that the first interactions are critical for the trust-building process and the temporal evolution of trust. By identifying more significant psychophysiological features for trust detection and underscoring the importance of individualized trust assessment, this research contributes to understanding the nature of trust in HRC. Such insights are crucial for enabling more seamless human-robot interaction in collaborative environments.

This paper proposes the application of force-projecting bilateral control to a master-follower teleoperation system with a pneumatic manipulator on the follower side, and evaluates its effectiveness. The proposed method directly projects the operating force on the master side to the driving force on the follower side, eliminating the need for both position control and external force detection on the follower side, thereby solving the problem of low rigidity and response delay of pneumatic manipulators and providing highly stable sensor-less force presentation against variable environments. In this study, dynamic response analyses of a 1-DOF master-follower system were performed by numerical simulation using a linear system model, followed by experimental verification by implementing an actual system with an external force estimator. The results showed that the proposed force-projecting bilateral control has significantly higher positioning rigidity and better force control stability than the conventional force-reflecting bilateral control. A theoretical consideration was also given using equivalent transformation of force transfer functions to provide evidence for the high stability.

In order to improve the stiffness of the flexible robot,this paper proposes a variable-stiffness elastic actuator to improve the rigidity of flexible robots. The actuator integrates the working principles of a pneumatic drive, wedge structure, and particle blockage. the tensile stiffness of the actuator is nonlinearly negatively correlated with the air pressure because of the structural and material properties.The compressive stiffness and lateral stiffness increases nonlinearly as air pressure increases, being 3and 121 times greater at 0.17 MPa compared to 0 MPa, respectively. Beyond 0.17 MPa, the two stiffness of the actuator experiences incremental growth due to wedge impedance forces.

The agricultural industry places a high priority on crop protection, especially when it comes to protecting cotton crops against pink bollworm infestations. Rapid disease identification is essential for effective crop management at the same time. In order to overcome these difficulties, this study offers a thorough process for utilizing the Robot Operating System (ROS) to deploy an autonomous robot. The robot is intended to identify infestations of pink bollworm in addition to counting and tracking red Disease that impact cotton harvests. Drones are used to check the condition of cotton fields, and the autonomous robot's path planning component is closely related to this process. Large fields are photographed by these drones in multispectral mode, and the robot's course planning technique is done by calculating the Normalized Difference Vegetation Index (NDVI) based on these images. This approach ensures targeted surveillance and intervention, optimizing the use of resources. A customized dataset was created especially for this application to improve the robot's detecting abilities. The dataset was utilized to train a YOLOV8 model, a state-of-the-art object detection architecture. Performance characteristics of the trained model are impressive; it has a mean Average Precision (mAP) of 67.1%, Precision of 67.9%, and Recall of 61.8%. These metrics highlight how well the model works to precisely locate and measure interesting occurrences in the cotton fields. In order to address the particular challenges presented by pink bollworm infestations and crop diseases in the context of cotton cultivation, this research contributes a comprehensive solution for autonomous crop monitoring and protection by seamlessly integrating ROS, drones, NDVI calculations, and a robust detection model.

Robot workpiece machining is interesting in industry since it offers some advantages, such as higher flexibility in comparison with the conventional approach based on the CNC technology. However, in recent years we have been facing a strong progressive shift to custom based manufacturing and low volume/high mix production, which require a novel approach to automation by the employment of collaborative robotics. However, collaborative robots feature only limited motion capability, to provide safety in cooperation with human workers. Thus, it is highly necessary to perform more detailed robot task planning to ensure its feasibility and optimal performance. In this paper, we deal with the problem of studying kinematic robot performance in the case of such manufacturing tasks, where the robot tool is constrained to follow the machining path embedded on the workpiece surface at a prescribed orientation. The presented approach is based on the well-known concept of manipulability, although the latter suffers from physical inconsistency due to mixing different units of linear and angular velocity in a general 6 DOF task case. Therefore, we introduce the characteristics of the workpiece surface constraint in the robot kinematic analysis, that enables evaluation of its available velocity capability in a reduced dimension space. Such constrained robot kinematics transform the robot`s task space to a two-dimensional surface tangent plane, and the manipulability analysis may be limited to the space of linear velocity only. Thus, the problem of physical inconsistency is avoided effectively. We show the theoretical derivation of the proposed method, which was verified by numerical experiments.

The COVID-19 outbreak demonstrated the viability of various remote working solutions, telepresence robots (TPRs) being one of them. High-quality video transmission is one of the cornerstones of using such solutions, as most of the information about the environment is acquired through vision. This study aims to compare the camera capabilities of four models of popular telepresence robots using compact reduced LogMAR and Snellen optometry charts as well as text displayed on the projector screen. The symbols from the images are extracted using OCR (Optical Character Recognition) software and the results of the recognition are compared with the symbols on the charts. Double 3 TPR provides the best quality images of optometric charts, but the OCR results of measurements of the image on the projector do not show the clear advantage of one single model over the others. The results demonstrated by Temi 2 and Double 3 TPRs are generally better than the others, suggesting that these TPRs are more feasible to be used in teaching and learning scenarios.

In this article, the research team has systematically developed a method to model the kinematics and dynamics of a 3-wheeled robot subjected to external disturbances and sideways wheel sliding. These models will be used to design control laws that compensate for wheel slippage, model uncertainties, and external disturbances. These are control algorithms developed based on Dynamic Surface Control (DSC). Adaptive trajectory tracking DSC algorithm using fuzzy logic system (AFDSC) and radial neural network (RBFNN) with fuzzy logic system to overcome the disadvantages of DSC and expand the application domain for wheeled Mobile Robots (WMR). However, this Adaptive Fuzzy Neural Network Dynamic Surface Control (AFNNDSC) adaptive controller ensures the closed system is stable and follows the preset trajectory in the presence of wheel slippage model uncertainty and is affected by significant amplitude disturbances. The stability and convergence of the closed-loop system are guaranteed based on the Lyapunov analysis. The AFNNDSC adaptive controller is evaluated by simulation on MATLAB/Simulink software and in a steady state. The maximum position error on the right wheel and left wheel is 0.000572 (m) and 0.000523 (m), and the angular velocity tracking error in the right and left wheels of the control method is 0.000394 (rad/s). The experimental results show the correctness of the theoretical analysis, the effectiveness of the proposed controller, and the possibility of practical application.

Ureteral stricture (US) following ureteroscopic lithotripsy (URSL) has emerged as a serious issue due to the widespread use of laser technology. The management of complex US is challenging. This prospective study evaluated the efficacy of robot-assisted uretero-ureterostomy (RAUU) in addressing US following URSL, and analyzed the pathology of transected ureteral tissues to identify the risk factors for US during URSL. Fourteen patients, with a mean age of 49.8 years, were included in this study. The mean stricture length on radiography was 22.66 ± 7.38 mm. Nine (64.2%) patients had experienced failure with previous interventions, including eight patients who underwent endoscopic incision plus balloon dilation. At an average follow-up of 12.8 months, the overall success rates were 92.9% both clinically and radiographically, without major complications. Pathological findings revealed microcalcifications in 57.1% patients and loss of ureteral mucosa in 28.6% patients. In conclusion, this technique of RAUU via end-to-end anastomosis exhibits promise as a viable option for US following URSL in appropriately selected patients, despite serious pathological changes of the ureter. Migration to the site of ureteral perforation may be the most serious factor contributing to the development of US.

This paper presents experimental results of static and dynamic obstacle avoidance methods for a two-wheel mobile robot with independent control using a deep Q-learning (DQL) reinforcement learning algorithm. This is an alternative method that combines the Q-learning (QL) algorithm with a neural network. Neural networks in the DQL algorithm act as Q matrix table approximators for each pair (State - Action). The effectiveness of the proposed solution was verified through simulations, programming, and experimentation. This DQL algorithm is compared to the QL algorithm. First, the mobile robot communicated with the control script using the robot operating system (ROS). The mobile robot is code programmed using a Python in the ROS operating system combined with the DQL controller in Gazebo software. The mobile robot then performed experiments in a workshop with many different experimental scenarios. This DQL controller is improved in term of the computation time, convergence time, planning trajectory accuracy, and obstacles avoidance. Therefore, the DQL controller solved the path optimization problems for mobile robots better than the Q-learning controller.

China is rich in coal resources, but the complex hydrogeological conditions lead to difficulties in coal mining, such as coal mine collapse, roof and water damage, and other accidents that occur frequently, resulting in many casualties and property losses. The use of coal mine hole detection technology to detect and analyze the internal environment of the coal mine in advance helps to reduce safety hazards and prevent coal mine accidents, for the existing coal mine hole detection technology operation is cumbersome, not easy to control, and insufficient depth of jacking prob-lems, this paper designs a new type of mine hole detection small robot. Firstly, this paper ana-lyzes the function and structural design of the mine hole detection robot, designs the variable diameter function according to the characteristics of narrow and uneven mine holes in coal mines, and analyzes the mechanics of the critical parts through theoretical calculations; secondly, based on the three-dimensional modeling software, established the structural model of the small robot for mine hole detection; after that, designed the robot's hardware circuits and control pro-grams for the presence of water and gas inside the mine hole, highlighting the need to carry out a new type of mine hole detection small robot. After that, we designed the robot's hardware circuit and control program, giving particular emphasis to the safety design of the circuit for the pres-ence of water and gas inside the mine hole of the coal mine. Finally, to verify the feasibility of the design program, the basic parameters and function tests of the mine hole detection small robot are carried out. The experimental results show that the mine hole inspection small robot realized by this design can adapt to the working hole diameter from 65 mm to 100 mm, the maximum working power is only 12 W, and the maximum crawling speed is 3.96 m/min. The maximum crawling slope reaches 90°, which can meet the actual mine hole inspection needs. The research can provide theoretical and design guidance for developing the mine hole detection robot with substantial engineering practical reference value.

This paper presents a deep learning-based multi-guidance line detection approach, enabling an autonomous four-wheeled agricultural robot to navigate strip farmland. The integration of Proportional-Integral-Derivative (PID) and Fuzzy Logic Control (FLC) systems optimizes the velocity and heading angle of robot, facilitating smooth navigation along identified guidance line. Enhance cornering maneuverability with real-time kinematics (RTK)-assisted Global Navigation Satellite System (GNSS) (RTK-GNSS) positioning. Additionally, the spraying system combined with deep learning can effectively identify weeds and crop nutrient deficiencies to achieve precise spraying. The guidance system prioritizes irrigation lines for navigation, with additional guidance from crop and furrow lines. Trigonometric analysis determines the angular deviation between the identified guidance line and the vertical line of the top view image. Experiments under diverse weather conditions demonstrate the stable navigation of robot at 12.5 cm/s, achieving up to 90% accuracy in weed and nutrient deficiency identification. The spraying accuracy for weeds and deficiencies averages 87% and 73%, respectively, underscoring the system's contribution to sustainable and precision horticulture practices.

This research paper investigates ultra-wideband (UWB) localization systems by focusing on the use of average filter (AVG), Kalman filter (KF), and extended Kalman filter (EKF) algorithms, as well as a novel integrated filtering method that incorporates low-pass filter (LPF) into AVG, KF, and EKF. The study aims to improve localization loss in indoor environments using a TurtleBot robot equipped with a camera to observe ground truth positions. To evaluate the effectiveness of the proposed algorithms, a comprehensive comparison of the raw and filtered data with the camera-based ground truth observations is performed. Quantitative analyses of the results, including max, min, max-min, and mean error, are performed to evaluate the localization performance of the algorithms and the integrated filtering method. The results reveal that the integrated filtering method has performed better accuracy in comparison with existing methods.

After reviewing the history of the struggle between human beings and plant diseases, insects and weeds, especially reviewing the thoughts of plant protection in ancient Chinese agricultural books, the target recognition of plant pests and the six types of plant protection methods and 36 subdi-vision measures were summarized. Then the development overview of pesticide application technology was focused and reviewed systematically by combining the development timeline of pesticide application and the key technologies including the performance measurement and the simulation and modeling of pesticide spraying system. And three suggestions for further research were proposed from the perspectives of human-being and environmental health, the sustainable and eco-friendly application medium, and the efficiently application equipment system in plant protection.

Autonomous navigation of a mobile robot in dynamic environments presents a significant challenge in the field of robotics. The primary objective for mobile robot navigation is to ensure both smoothness and safety of movement. A path planning is applied to generate a trajectory that allows the robot to move smoothly while avoiding collisions with both stationary and moving obstacles. This study aims to introduce an Adaptive Neuro-Fuzzy Inference System (ANFIS)-based control strategy for a mobile robot navigating in dynamic environments, with a significant focus on ensuring collision-free path planning. The developed control strategy incorporates four ANFIS controllers, each regulating the robot's responsive behaviors. The experimental scene includes a mobile robot moving in an environment with static and dynamic obstacles without colliding with the obstacles. The experimental tests confirm the model's capability to facilitate collision-free motion, employing a path planning algorithm for determining the shortest route to the target destination. Simulations are conducted to show the effectiveness of the proposed algorithm, highlighting the mobile robot's efficiency in navigating without collisions while avoiding both stationary and moving obstacles using the integration of ultrasonic sensors.

Collaborative robots (cobots) have largely replaced conventional industrial robots in today’s workplaces, particularly in manufacturing setups due to their improved performance and intelligent design. In the framework of Industry 5.0, humans are working alongside cobots to accomplish the required level of automation. However, human-robot interaction has brought up concerns regarding human factors (HF) and ergonomics. A human worker may experience cognitive stress as a result of cobots' irresponsive nature in unpredictably occurring situations, which adversely affects productivity. Therefore, there is a necessity to measure stress to enhance a human worker’s performance in a human-robot collaborative environment. In this study, factory workers’ mental workload has been assessed using physiological, behavioural, and subjective measures. Electroencephalography (EEG) and functional near-infrared spectroscopy (fNIRS) signals have been collected to acquire brain signals and track hemodynamic activity, respectively. The effect of task complexity, cobot’s movement speed, and cobot’s payload capacity on the mental stress of a human worker have been observed, for a task designed in the context of a smart factory. Task complexity and cobot’s speed have proved to be more impactful. As physiological measures are unbiased and more authentic means to estimate stress, eventually, they may replace the other conventional measures if they prove to correlate with the results of traditional ones. Here, regression and artificial neural networks (ANN) have been utilised to determine the correlation between physiological data and subjective and behavioural measures. Regression has performed better for most of the targets and the best correlation (rsq-adj = 0.654146) has been achieved for predicting missed beeps, behavioural measure, using a combination of multiple EEG and fNIRS predictors. The k-nearest neighbours (KNN) algorithm has been used to evaluate the accuracy of correlation between traditional measures and physiological variables, with highest accuracy of 77.8% achieved for missed beeps as the target. Results show that physiological measures can be more insightful and have the tendency to replace other biased parameters.

Delta parallel robot has been widely used in precision parts processing, handling, sorting, and precision assembly, with high efficiency and motion stability being its important performance indexes. Any small line segment corner in trajectory planning causes tangential discontinuous trajectory abrupt change, and the process vibration and shock caused by it seriously affect its high-speed and high-precision performance. In this paper, a trajectory planning method combining Cartesian space and joint space is proposed. Firstly, the vector method and micro-element integration method are used to establish the complete kinematics and dynamics equations of the Delta parallel robot, and the inverse kinematics/dynamics model-solving program is written based on Matlab software. Secondly, the end-effector trajectory of the Delta parallel robot is planned in Cartesian space, and the data points and inverse control points of the end-effector trajectory are obtained by the normalization method. Finally, the data points and control points are mapped to the joint space through the inverse kinematics equation, and the fifth-order B-spline curve is adopted for quadratic trajectory planning, which realizes the high-order continuous smoothing of trajectory planning. The simulation and experiment results show that the trajectory smoothing performance of continuous high-order curvature change can be improved using the proposed method, the tracking error of the end-effector is reduced by 21.12%, and the peak torques change of three joints is reduced by 3.5%, 11.6% and 1.6%, respectively.

The paper provides a comprehensive review of the recent advancements and methodologies in Human-Robot Collaboration (HRC) applied to the manufacturing assembly process. In modern manufacturing, the assembly process involves intricate and time-consuming operations, often necessitating flexible manual interventions. However, the cost and stability issues associated with manual labor highlight the need for collaborative solutions integrating humans and robots. HRC, as a viable solution, involves the joint effort of humans and robots in manufacturing tasks, presenting advantages in terms of precision, reproducibility, and cycle time. This review categorizes and discusses methodologies such as task allocation, reinforcement learning, and Cyber-Physical Systems (CPS)-based planning approaches that facilitate HRC in the assembly process. It also explores experiments and future trends to address challenges and enhance efficiency in manufacturing assembly through intelligent collaboration between humans and robots. The objective of this research is to provide insights and directions for further research in HRC to optimize manufacturing processes. By analyzing the existing state-of-the-art and presenting future prospects, this paper aims to guide researchers and practitioners toward more effective implementations of HRC in manufacturing assembly, ultimately leading to improved operational efficiency and productivity.

Taiwan’s Chi Mei Medical Center has a vision of becoming a sustainable organization. They found they violated the sustainable development goal (SDG) 13 (“Climate Action”) since its workflows consume excessive tangible resources and waste much operation time. To fulfill the vision, the Chi Mei Medical Center first introduced electronic invoicing. Implementing this electronic invoicing included adopting cloud E-invoice data and creating a software robot for auditing them. This study presents this software robot and its contributions. The software robot replaces an internal auditor to log into Taiwan’s E-invoice platform, download cloud E-invoice data, and detect the inconsistency between these cloud and on-premise data. Internal auditors of the Chi Mei Medical Center only needed to confirm the detection results. They welcome this software robot since it significantly reduces their work burdens. They approved more software robots for assisting other workflows. Besides, the Chi Mei Medical Center earned profits after eliminating paper invoices. This elimination helped release less carbon. This study concludes that chasing a sustainable organization is unnecessarily equivalent to the requirement of more costs. A software robot represents the last puzzle for constructing a paperless workflow since it can resolve the resistance of existing workers to a new workflow.

The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present cable-driven reconfigurable robot kinematics and statics. We studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. Likewise, we propose a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, we synthesized a cable-driven robot with the human ankle in the closed-loop kinematics. We incorporate a draw-wire sensor to measure the axes’ pose and compute the product of exponentials. We reconfigure the cables to balance the tension and pressure forces using the axis projection on the base and platform planes. Likewise, we also computed the workspace to show that the reconfigurable design fits several sizes. The data used is from anthropometry and statistics. Finally, we validated the robot’s statics with MuJoCo for various cable length groups corresponding to the axes’ range of motion. We suggested a platform adjusting system and an alignment method. The design is lightweight, and the cable-driven robot has advantages over rigid parallel robots, such as Stewart platforms. We will use compliant actuators.

The benefits of multi-robot systems are substantial, bringing gains in efficiency, quality, and cost, and are useful in a wide range of environments from warehouse automation, to agriculture, and even extend in part to entertainment. In multi-robot system research, the main focus is on ensuring efficient coordination in the operation of the robots, both in task allocation and navigation. However, much of this research seldom strays from theoretical bounds; there are many reasons for this, with the most prominent and impactful being resource limitations. This is especially true for research in areas such as multi-robot path planning (MRPP) and navigation coordination. This is a large issue in practice as many approaches are not designed with meaningful real-world implications in mind and are not scalable to large multi-robot systems. This survey aims to look into the coordination and path-planning issues and challenges faced when working with multi-robot systems, especially those using a prioritised planning approach and identify key areas which are not well-explored and the scope of applying existing MRPP approaches to real-world settings.

Collaborative robots have experienced low acceptance in applications, especially in industry. 1 This fact has attracted the attention of researchers and practitioners, who point to different causes 2 for this low acceptance. One of the main reasons is the difficulty in converging on suitable methods 3 for modeling collaborative interactions between robots and their surrounding context during the 4 requirements phase. These interactions must be elicited and modeled during requirements modeling 5 to maximize value creation through collaboration and must be formally verified, taking into account 6 the risks of human-robot interaction. However, such modeling is often not present in collaborative 7 robot design, and the choice of an appropriate approach remains an open problem. In this paper, 8 this problem is addressed from a requirements engineering perspective, a goal-oriented model and 9 a service-based approach supported by an additional verification method based on Petri nets is 10 proposed. A case study based on collaborative robots used in a hospital environment is presented.

Cochlear implantation (CI) allows rehabilitation for patients with severe to profound hearing impairment. Although the use of a robotic assistant provides technical assistance to the surgeon, the assessment of the impact of its use on auditory outcomes remains uncertain. We aim to com-pare the hearing results of patients who underwent bilateral cochlear implantation, one side was performed with manual insertion and the other side with robot-assisted insertion. The electrode array intrascalar positioning and the surgery duration were also studied. This retrospective intra-individual study involved 10 patients who underwent bilateral cochlear implantation. The study included 2 infants and 8 adults. The unique composition of this cohort enabled us to utilize each patient as their own control. Regarding speech disyllabic recognition, pure tone average, ECAP, ratio of array translocation, basilar membrane rupture, percentage of translocated electrodes there was no difference between manual and robot-assisted CI groups. This study is the first to compare intra-individual hearing performance after cochlear implantation either manually or robot-assisted. The number of patients and the time delay between manual and robotic implantation may have led to a lack of power, but there was no apparent difference in hearing performance between manual and robotic implantation.

The relative position of the orchard robot to the rows of fruit trees is an important parameter for achieving autonomous navigations. The current methods for estimating the position parameters between rows of orchard robots obtain low parameter accuracy, and to address this problem, this paper proposes a machine vision-based method for detecting the relative position of orchard robots and fruit tree rows. Firstly, the fruit tree trunk is identified based on the improved YOLOv4 model; secondly, the camera coordinates of the tree trunk are calculated from the principle of binocular camera triangulation, and the ground projection coordinates of the tree trunk are obtained through coordinate conversion; finally, the midpoints of the projection coordinates of different sides are combined and the navigation path is obtained by linear fitting with the least squares method, and the position parameters of the orchard robot are obtained through calculation. The experimental results show that the average accuracy and average recall of the improved YOLOv4 model for fruit tree trunk detection are 97.05% and 95.42%, respectively, which are 5.92 and 7.91 percentage points higher than those of the original YOLOv4 model. The average errors of heading angle and lateral deviation estimates obtained based on the method in this paper are 0.57° and 0.02 m. The method can accurately calculate heading angle and lateral deviation values at different positions between rows, and can provide a reference for autonomous visual navigation of orchard robots.

(1) Background: The social robot interaction design is critical in determining acceptance and user experience. However, few studies have systematically discussed the current focus and future research directions of social robot interaction design from a bibliometric perspective. Therefore, in order to identify the latest research progress and evolution trajectory of research hotspots in social robot interaction design over the last decade. (2) Methods: based on 2416 papers related to social robot interaction design collected in the Web of Science (WOS) database, a comprehensive review was conducted by using bibliometrics to draw a knowledge map using VOSviewer and CiteSpace in an integrated manner. (3) Conclusions: The current research hotspots of social robot interaction design mainly focus on #1the study of human-robot relationships in social robot, #2Research on the Emotional Design of Social Robot, #3research on social robot for children's psychotherapy, #4research on companion robot for elderly rehabilitation, and #5research on educational social robot. The reference co-citation identifies the classic literature that forms the basis of the current research, which provides theoretical guidance and methods for the current research. Finally, we discuss several future research directions and challenges in this field.

Some traditional robots are based on offline programming reciprocal motion, and with the continuous upgrading of vision technology, more and more tasks are replaced by machine vision. For the current problem of insufficient accuracy of robot target localization based on binocular vision, and an improved random sampling consistency algorithm is proposed to complete parallel robot target localization and grasping under the guidance For the current problem of insufficient accuracy of robot target localization based on binocular vision, an improved random sampling consistency algorithm is proposed to complete parallel robot target localization and grasping under the guidance of multi Firstly, the RANSAC algorithm is improved based on the SURF algorithm; then the parallax gradient method is applied to iterate the matched point pairs several times to further optimize the data; then the 3D reconstruction is completed by the program technique; finally the obtained data is finally the obtained data is input into the robot arm and the camera internal and external parameters are obtained by the calibration method so that the robot can accurately locate and The experiments show that the improved algorithm has advantages in recognition accuracy and grasping success rate under multi- The experiments show that the improved algorithm has advantages in recognition accuracy and grasping success rate under multi-vision system.

As a typical visual positioning system, monocular ranging is widely used in various fields. However, when the distance increases, there is a greater error. YOLOv8 network has the advantages of fast recognition speed and high accuracy. This paper proposes a method by combining YOLOv8 network recognition with a monocular ranging method to achieve target localization and grasping for the NAO robots. By establishing a visual distance error compensation model and applying it to correct the estimation results of the monocular distance measurement model, the accuracy of the NAO robot's long-distance monocular visual positioning is improved. Additionally, a grasping control strategy based on pose interpolation is proposed. Throughout, the proposed method's advantage in measurement accuracy was confirmed via experiments, and the grasping strategy has been implemented to accurately grasp the target object.

In 2020 the world experienced the threat of the COVID-19 epidemic, as seniors and chronic disease patients typically try to reduce their exercise and social activities to avoid increasing the risk of infection, which could lead to increased loneliness and even many diseases. This research combining golf croquet games with AIoT companion robots constructs a home-based intelligent exercise system thus uses the Technology Acceptance Model (TAM), deduces users’ intention to use this system based on perceived usefulness and perceived ease of use, and adds the needs of love and belonging, esteem, cognitive, aesthetic, and self-actualization in Maslow’s needs theory to conduct system needs analysis. The analysis results show that participants have a high level of acceptance of this system, believing that it is easy to learn and operate, can increase interaction with others, also found that this system can improve self-confirmation, satisfying the third for knowledge, feeling happy, and self-actualization needs are easier to fulfill. In the future, we shall collect and record the seniors in the process of use, so as to find out their health problems as soon as possible, expand their daily life through this exercise, and achieve the goal of happy living and health care.

Reinforcement Learning (RL) has demonstrated considerable potential in solving challenges across various domains, notably in autonomous driving. Nevertheless, implementing RL in autonomous driving comes with its own set of difficulties, such as the overestimation phenomenon, extensive learning time, and sparse reward problems. Although solutions like Hindsight Experience Replay (HER) have been proposed to alleviate these issues, the direct utilization of RL in autonomous vehicles remains constrained due to the intricate fusion of information and the possibility of system failures during the learning process. In this paper, we present a novel RL-based autonomous driving system technology that combines Obstacle Dependent Gaussian (ODG) RL, Soft Actor-Critic (SAC), and meta-learning algorithms. Our approach addresses key issues in RL, including the overestimation phenomenon and sparse reward problems, by incorporating prior knowledge derived from the ODG algorithm. We evaluated our proposed algorithm on official F1 circuits, using high-fidelity racing simulations with complex dynamics. The results demonstrate exceptional performance, with our method achieving up to 89% faster learning speed compared to existing algorithms in these environments.

Obesity represents a worldwide epidemic disorder, increasing the overall morbidity and mortality rate. In this study we investigated the impact of obesity on peri-operative and long-term functional outcomes of Robotic assisted simple prostatectomy (RASP). Baseline flowmetry parameters and validated questionnaires’ scores were prospectively recorded. Follow-up assessments included Flowmetry and validated questionnaires. Composite outcomes (Trifecta) was defined as combination of: post-operative Q-max>15 ml/sec, IPSS score<8 and absence of complications. Pentafecta included also post-operative ejaculation persistence (MSHQ score>0) and the Erectile function maintenance (∆IEEF<6). Data were stratified by BMI (<30 or ≥30). 81 patients underwent RASP in our Institution. Baseline demographics and clinical features, questionnaires score and baseline flowmetry results were comparable between obese and non-obese cohorts. At follow-up, obese patients reported lower subjective improvement in IPSS (p=0.02) and OABQ scores (p<0.001) and higher incidence of stress incontinence requiring Duloxetin (p<0.001). Flowmetry outcomes, were also worse in this cohort (p=0.02 and p=0.03, respectively). At comprehensive outcomes assessment, obese patients had comparable Trifecta (67% vs 54%, p=0.39) and pentafecta achievement rate (p=0.76). Our prelimirary results proved that obesity is associated with worse functional outcomes (storage LUTS and incontinence rate) after RASP, but doesn’t affect trifecta and pentafecta achievement rate.

Traditional end-effector robots for arm rehabilitation are usually attached a­t the hand, primarily focusing on coordinated multi-joint training. Therapy at an individual joint level of the arm for severely impaired stroke survivors is not always possible with existing end-effector robots. The Arm Rehabilitation Robot (AREBO)—an end-effector robot—was designed to provide both single and multi-joint assisted training while retaining the advantages of traditional end-effector robots, such as ease of use and cost-effectiveness (compared to exoskeletons). This work presents the design, optimization, and characterization of AREBO for training single-joint movements of the arm. The AREBO has three actuated and three unactuated degrees of freedom, allowing it to apply forces in any arbitrary direction at its endpoint and self-align to arbitrary orientations within its workspace. The AREBO’s link lengths were optimized to maximize its workspace and manipulability. The AREBO provides single-joint training in both unassisted and adaptive weight support modes using a human arm model to estimate the human arm's kinematics and dynamics without using additional sensors. The characterization of the robot’s controller and the algorithm for estimating the human arm parameters were performed using a two degrees of freedom mechatronic model of the human shoulder joint. The results demonstrate that: (a) the movements of the human arm can be estimated using a model of the human arm and robot’s kinematics, (b) the AREBO has similar transparency to that of existing arm therapy robots in the literature, and (c) the adaptive weight support mode control can adapt to different levels of impairment in the arm. This work demonstrates how an appropriately designed end-effector robot can be used for single-joint training, which can be easily extended to multi-joint training. Future work will focus on the evaluation of the system on patients with any neurological condition requiring arm training.

This paper introduces an alternative method to design the path following controller of an under-actuated spherical mobile robot, which has a single pendulum structure its inside as a driving mechanism. The mechanism has an under-actuated problem; two inputs for the roll and pitch but no direct input for the yaw. In order to overcome this problem, the proposed method defines a virtual reference input for the heading direction. The virtual reference input works as a control input since it can be arbitrarily designed just like the reference input of a conventional system. The control scheme using the defined virtual reference input achieves the stabilization and path following control of the under-actuated spherical mobile robot without any additional control technique. The stability of the proposed control scheme is guaranteed by Lyapunov stability analysis, and simulation results are given to demonstrate its performance.

Purpose The COVID-19 pandemic, triggered by the novel severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2), has resulted in over 160 million infections and 3.5 million fatalities worldwide. Evidence of SARS-CoV-2 presence in the highly vascularized penile tissue and the established correlation between COVID-19 and subsequent erectile dysfunction (ED) has emerged. Robot-assisted radical prostatectomy (RARP) is a popular procedure for prostate cancer because of its reliability and swift recovery rate. However, the ED prevalence post-surgery is believed to be comparable to open surgery, and postoperative ED significantly affects the patient's quality of life. Our study aimed to explore the effect of COVID-19 on ED recovery in patients undergoing bilateral nerve preservation during RARP. Materials and Methods We conducted a retrospective study on 85 patients who underwent bilateral nerve-sparing RARP (nsRARP) at our institution between December 2017 and May 2021. Chart reviews and the International Index of Erectile Function-5 (IIEF-5) questionnaire facilitated the analysis. Our objective was to contrast ED recovery after surgery between SARS-CoV-2–infected and non-infected patients using preoperative IIEF-5 scores and scores at 6, 12, and 24 months post-surgery. We defined successful ED recovery as an IIEF-5 score of 17 or higher and successful sexual intercourse. We also compared ED recovery rates between the two groups, regardless of the timing of COVID-19 diagnosis. IBM's SPSS version 18.0 assisted in the statistical analysis, with Fisher's exact test and chi-square test used for comparing categorical variables. Independent t-tests determined mean differences between baseline and postoperative IIEF-5 scores. A p-value less than 0.05 was considered statistically significant. Results From December 2017 to May 2021, our institution executed 213 RARP cases, with 185 of these involving nerve preservation. Among these patients, 133 had an IIEF-5 score of 17 or higher during preoperative EF assessment. We included 85 patients with consistent IIEF-5 records before surgery and at 6, 12, and 24 months post-surgery in this study. Of these, 44 and 41 patients comprised the COVID-19–positive and COVID-19–negative groups, respectively. The COVID-19–positive group had a higher proportion of diabetes mellitus (DM) patients (24 (54.55%) vs. 7 (17.07%), p<0.001). There was no significant difference in preoperative IIEF-5 scores or scores up to 6 months after surgery between the two groups. However, the IIEF-5 scores of the COVID-19–positive group were statistically lower after 12 and 24 months post-surgery. Additionally, the COVID-19–negative group showed a more considerable score increase between 6 and 12 months post-surgery, and the EF recovery rate was lower in the COVID-19–positive group starting from the 12th month after surgery. Within the COVID-19–positive group, no statistically significant difference in IIEF-5 scores was found between single infection and multiple reinfection groups. Conclusions Principal component analysis revealed the impact of COVID-19 on ED recovery in patients who underwent nsRARP. The most substantial changes in IIEF-5 scores occurred between 6 and 12 months. From 12 months onwards, the COVID-19–positive group had significantly lower scores, and fewer patients had IIEF-5 scores above 17. However, the number of COVID-19 diagnoses did not significantly affect the IIEF-5 scores.

Most of the fishing currently practiced in Japan is done by small vessels with a small number of fishermen (one or two). One of the most common fishing methods is longline fishing. However, this method requires the vessel to operate at a constant low speed because the depth of the hook must be kept constant while adjusting the speed of the fishing boat to the tidal current. In addition, because the vessel must maneuver and fish at the same time, automation is desired. Thus, we propose a robotic system that can control the depth of the trap at a constant depth even when the speed of the vessel and the current change, and that can successfully fish without the need for skilled fishermen. Fishing can be conducted regardless of the speed of the vessel, whereas currently it is controlled by the speed of the vessel and the tidal current. Therefore, it may contribute to proposing new fishing methods as well as the existing ones. This can contribute to the shortage of successors to the fishing industry and to the revitalization of the fishing industry.

The paper presents the conceptualization and realization of a novel platform for additive manu-facturing, an industrial robot arm-based system for additive manufacturing applications. Tradi-tional 3D printers, especially those employing fused deposition modelling (FDM) processes, are restricted to depositing material in a single toolpath plane (e.g. x-y plane). The focus of this study was to explore the feasibility of integrating commercial off the shelf (COTS) additive manufac-turing technologies with a six degree of freedom industrial robot arm to yield a 3D additive manufacturing system with the capability to perform free-form six degree of freedom fused deposition modelling. The present paper presents the development of a platform from stage 0, i.e. materials to its use, and finally a printed product with the developed extruder.

Aiming at the problem that soft robots are challenging to take into account both flexibility and bearing capacity, Using the software Pneu-Net driver as the deformation mode, magnetorheological fluid material phase transformation to achieve variable stiffness, A pneumatic modular soft joint structure with dynamically adjustable deformation and stiffness in all directions is proposed. In this paper, mathematical models of deformation and variable stiffness are established. The correspondence between gas pressure and deformation and applied current and joint stiffness is obtained. The finite element analysis method was used to simulate the deformation characteristics and variable stiffness characteristics of modular joints based on the Yeoh model. Finally, the theoretical and simulation results are verified by deformation and variable stiffness tests. It is proved that the modular joint has good rigid-flexible coupling characteristics.

In this paper is presented the design and syntheis of a dynamic output feedback neural network controller for a non-holonomic mobile robot. First the dynamic model of a non-holonomic mobile robot is presented, in which these constraints are considered for the mathematical derivation of a feasable representation for this kind of robot. Then two control strategies are provided based on kinematic control for this kind of robot. The first control strategy is based on driftless control, this means, that considering that the velocity vector of the mobile robot is orthogonal to its restriction a dynamic output feedback and neural network controller is designed in order that the control action would be zero only when the velocity of the mobile robot is zero. The Lyapunov stability theorem is implemented in order to find a suitable control law. Then another control strategy is designed for trajectory tracking purposes, which similar to the driftless controller, a kinematic control scheme is provided but suitable to implement in more sophisticated hardware. In both control strategy a dynamic control law is provided along with a feedforward neural network controller, so in this way, by the Lyapunov theory the stability and convergence to the origin of the mobile robot position coordinates is ensured. Finally, two numerical experiment are presented in order to validate the theoretical results synthetized in this research study. Discussions and conclusions are provided in order to analyze the results found in this research study.

Nowadays, cyber-physical systems (CPSs) are composed of more and more agents and the demand for designers to develop ever larger multi-agent systems is a fact. When the number of agents increases, several challenges related to control or communication problems arise due to the lack of scalability of existing solutions. It is important to develop tools that allow control strategies evaluation of large-scale systems. In this paper, it is considered that a CPS is a heterogeneous robot multi-agent system that cooperatively performs a formation task through a wireless network. The goal of this research is to evaluate the system's performance when the number of agents increases. To this end, two different mixed reality frameworks developed with the open-source tools Gazebo and Webots are used. These frameworks enable combining both real and virtual agents in a realistic scenario allowing scalability experiences. They also reduce the costs required when a significant number of robots operate in a real environment, as experiences can be conducted with a few real robots and a higher number of virtual robots by mimicking the real ones. Currently, the frameworks include several types of robots being the aerial robot Crazyflie 2.1 and differential mobile robots Khepera IV those used in this work. To illustrate the usage and performance of the frameworks, an event-based control strategy for rigid formations varying the number of agents is analyzed. The agents should achieve a formation defined by a set of desired Euclidean distances to their neighbors. To compare the scalability of the system in the two different tools, the following metrics have been used: formation error, CPU usage percentage, and the ratio between the real-time and the simulation time. The results show the feasibility of using Robot Operating System (ROS) 2 in distributed architectures for multi-agent systems in mixed reality experiences regardless of the number of agents and their nature. However, the two tools under study present different behaviors when the number of virtual agents grows in some of the parameters, and such discrepancies are analyzed.

As the global population rapidly ages with longer life expectancy and declining birth rates, the need for healthcare services and caregivers for older adults is increasing. Current research envisions addressing this shortage by introducing domestic service robots to assist with daily activities. The successful integration of robots as domestic service providers in our lives requires them to possess efficient manipulation capabilities, provide effective physical assistance, and have adaptive control frameworks that enable them to develop social understanding during human-robot interaction. In this context, human factors, especially quantifiable ones, represent a necessary component. The objective of this paper is to conduct an unbiased review encompassing studies on human factors studied in research involving physical interactions and strong manipulation capabilities. We identified the prevalent human factors in physical human-robot interaction (pHRI), noted the factors typically addressed together and determined the frequently utilized assessment approaches. Additionally, we gathered and categorized proposed quantification approaches based on measurable data for each human factor. We also formed a map of common contexts and applications addressed in pHRI for a comprehensive understanding and easier navigation of the field. We found out that most of the studies in direct pHRI (when there is direct physical contact) focus on social behaviors with belief being the most commonly addressed human factor type. Task collaboration is moderately investigated, while physical assistance is rarely studied. In contrast, indirect pHRI (when the physical contact is mediated via a third item) studies often involve industrial settings, with physical ergonomics being the most frequently investigated human factor. More research is needed on human factors in direct and indirect physical assistance applications, including studies that combine physical social behaviors with physical assistance tasks. We also found that while the predominant approach in most studies involves the use of questionnaires as the main method of quantification, there is a recent trend that seeks to address quantification approaches based on measurable data.