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Preprint REVIEW | doi:10.20944/preprints201805.0484.v1

Review of Deep Learning Methods in Robotic Grasp Detection

Shehan Caldera, Alexander Rassau, Douglas Chai

Subject: Engineering, Electrical And Electronic Engineering Keywords: deep learning; deep convolutional neural networks; dcnn; convolutional neural networks; cnn; robot learning; transfer learning; robotic grasping; robotic grasp detection; human-robot collaboration

Online: 31 May 2018 (17:27:23 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201712.0022.v1

Why not Robot Teachers: Artificial Intelligence for Addressing Teacher Shortage

Bosede I. Edwards, Adrian David Cheok

Subject: Computer Science And Mathematics, Robotics Keywords: AIED; independent robot teachers; robotics; embodied pedagogical agents; full-fledged robot teachers

Online: 4 December 2017 (08:54:09 CET)

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Preprint REVIEW | doi:10.20944/preprints201805.0293.v1

A Review: Simultaneous Localization and Mapping in Application to Autonomous Robot

Olusanya Agunbiade, Tranos Zuva

Subject: Computer Science And Mathematics, Robotics Keywords: autonomous robot; illumination variance; kidnap robot; dynamic environment; navigation; simultaneous localization and mapping

Online: 22 May 2018 (08:37:12 CEST)

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Preprint REVIEW | doi:10.20944/preprints201612.0027.v1

Robots to the Rescue: A Review of Studies on Differential Medical Diagnosis Employing Ontology-Based Chat Bot Technology

Bosede Iyiade Edwards, Idris Oladele Muniru, Adrian David Cheok

Subject: Medicine And Pharmacology, Other Keywords: chatbot technology; ontology-based systems; expert systems; diagnosis; conversational agents; robotics; human-robot interaction; physician-patient relationship; intelligent agents

Online: 6 December 2016 (04:46:32 CET)

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Preprint ARTICLE | doi:10.20944/preprints201609.0084.v1

A Novel Virtual Torque Sensor for Rescue Robots with Harmonic Drives

Kerui Xia, Liang Ding, Guangjun Liu, Haibo Gao, Zongquan Deng

Subject: Engineering, Control And Systems Engineering Keywords: robot joint; virtual torque sensor; Gaussian process regression; harmonic drive compliance model

Online: 23 September 2016 (09:52:45 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201612.0116.v1

Remote Control for Robot Walking via Gesture Detected by Inertial Sensor

Na Xiang, Fa-fa Wang, Bin-bin Wang, Sheng-lun Yi, Xue-bo Jin, Ting-li Su, Jian-lei Kong, Yu-ting Bai

Subject: Engineering, Control And Systems Engineering Keywords: inertial sensor; finger gesture; NAO humanoid robot; quaternions; motion capture

Online: 23 December 2016 (10:31:04 CET)

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Preprint ARTICLE | doi:10.20944/preprints202304.0827.v3

ROSGPT: Next-Generation Human-Robot Interaction with ChatGPT and ROS

Anis Koubaa

Subject: Computer Science And Mathematics, Artificial Intelligence And Machine Learning Keywords: Human-Robot Interaction; ROS; ROS2; ChatGPT; Large Language Model; Robot Operating System

Online: 26 April 2023 (03:54:36 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202005.0221.v1

Real-world Comparison of Visual Odometry Methods

Alexandre Alapetite, Zhongyu Wang, John Paulin Hansen, Marcin Zajączkowski, Mikolaj Patalan

Subject: Computer Science And Mathematics, Robotics Keywords: odometry; camera; positioning; navigation; indoor; robot

Online: 13 May 2020 (04:45:54 CEST)

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Preprint CONCEPT PAPER | doi:10.20944/preprints202008.0661.v1

What Is Life? Are Viruses Living Entities?

Jaime Gomez-Marquez

Subject: Biology And Life Sciences, Virology Keywords: life definition; living being definition; robot definition; living viruses; extraterrestrial life

Online: 30 August 2020 (11:33:48 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201912.0237.v1

Development of Continuum Robot Arm and Gripper for Harvesting Cherry Tomatoes

Azamat Yeshmukhametov, Koichi Koganezawa, Zholdas Buribayev, Yedilkhan Amirgaliyev, Yoshio Yamamoto

Subject: Engineering, Mechanical Engineering Keywords: tomato harvesting; gripper; continuum robot; tomato detection; design; agricultural robot

Online: 18 December 2019 (04:34:30 CET)

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Preprint REVIEW | doi:10.20944/preprints202010.0008.v1

Ethics of Biohybrid Robotic Jellyfish Modification and Invertebrate Research

Nicole Xu, Olga Lenczewska, Sarah Wieten, Carole Federico, John Dabiri

Subject: Biology And Life Sciences, Animal Science, Veterinary Science And Zoology Keywords: ethics; jellyfish; biohybrid robot; modification; enhancement

Online: 1 October 2020 (09:10:35 CEST)

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The ethics of invertebrate research have largely been ignored compared to the consideration of higher order animals, but more recent focus has questioned this trend. Using biohybrid robotic jellyfish as a case study, we examine the ethical considerations of invertebrate work and provide recommendations for future guidelines. This paper starts with an overview of philosophical views of animal ethics, the current state of knowledge for invertebrate pain and nociception, and current ethical guidelines. Next, we delve into the case study and analogous precedents. Specifically, in prior studies, we developed biohybrid robotic jellyfish, which modified live moon jellyfish with microelectronic swim controllers for future applications in ocean monitoring. Although jellyfish possess no central nervous system, pain receptors, or nociceptors, we closely monitored their stress responses, using the precautionary and minimization principles in consideration of the 4Rs: reduction, replacement, refinement, and reproducibility. We also discuss ethical considerations related to our studies and suggest that public opinion of invertebrate research relies heavily on repugnance, including fears of ‘playing God’ or limiting the ‘free will’ of animals. These issues are also examined for prior bioethics cases, such as the RoboRoach, cyborg beetle, ‘microslavery’ of microbes, biohybrid robots incorporating tissues from sea slugs (which are known to possess nociceptors), and other tissue cutting experiments involving soft-bodied invertebrates. However, biohybrid robotic jellyfish pose further ethical questions of potential ecological consequences as ocean monitoring tools, such as the impact of electronic waste in the ocean. To conclude these evaluations, we recommend that publishers require brief ethical statements for invertebrate research, which can include the following: a scientific justification for the research, discussion of the 4Rs, and cost-benefit analysis. We also delineate the need for more research on pain and nociception in invertebrates, which can then be used to revise or validate current research standards. These actions provide a stronger basis for the ethical study of invertebrate species, with implications for individual, species-wide, and ecological impacts on animals, as well as for interdisciplinary studies in science, engineering, and philosophy.

Preprint ARTICLE | doi:10.20944/preprints201806.0149.v1

Motion Intention Estimation for Active Power-Assist Lower Limb Exoskeleton Robot (APAL)

Mantian Li, Jing Deng, Fusheng Zha, Shiyin Qiu, Xin Wang

Subject: Engineering, Mechanical Engineering Keywords: motion intention estimation; active power-assist; exoskeleton robot; inverse dynamics

Online: 11 June 2018 (10:08:47 CEST)

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Preprint REVIEW | doi:10.20944/preprints202304.0373.v1

Challenges and Solutions for Autonomous Ground Robot Scene Understanding and Navigation in Unstructured Outdoor Environments: A Review

Liyana Wijayathunga, Alexander Rassau, Douglas Chai

Subject: Engineering, Transportation Science And Technology Keywords: unstructured environments; mobile robots; robot navigation; perception; scene understanding; path planning; autonomous robots; ground robots

Online: 17 April 2023 (02:57:09 CEST)

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The capabilities of autonomous mobile robotic systems have been steadily improving due to recent advancements in computer science, engineering, and related disciplines such as cognitive science. In controlled environments, autonomous robots have been able to achieve relatively high levels of autonomy. In more unstructured environments, however, the realisation of autonomous mobile robots remains challenging due to limitations in the robots’ external environment understanding. Many autonomous mobile robots use classical, learning-based or hybrid approaches for navigation. The classical navigation approach typically includes robot perception, localisation, environmental mapping, path planning and motion control stages. More recent learning-based methods may replace the complete navigation pipeline or selected stages of the classical approach. For effective deployment, autonomous robots need to be able to understand their external environments at a sophisticated level according to their intended applications. Therefore, in addition to robot perception, scene analysis and higher-level scene understanding (e.g., traversable/non-traversable, and rough or smooth terrain) are required for autonomous robot navigation in unstructured outdoor environments. A wide number of alternative approaches have been proposed in recent years to attempt to address these scene understanding requirements. This paper provides a comprehensive review and critical analysis of these methods in the context of their applications to the problems of robot perception and scene understanding in unstructured environments, and the related problems of localisation, environment mapping and path planning. State-of-the-art sensor fusion methods and multimodal scene understanding approaches are also discussed and evaluated within this context. The paper concludes with an in-depth discussion regarding the current state of the autonomous ground robot navigation challenge in unstructured outdoor environments and the most promising future research directions to overcome these challenges.

Preprint ARTICLE | doi:10.20944/preprints201812.0296.v1

Staircase Recognition and Localization Using Convolution Neural Network (CNN) for Cleaning Robot Application

Muhammad Ilyas, Anirudh Krishna Lakshmanan, Anh Vu Le, Mohan Rajesh Elara

Subject: Engineering, Electrical And Electronic Engineering Keywords: staircase recognition; Convolutional Neural Networks (CNN); re-configurable robot; contour detection

Online: 25 December 2018 (05:33:12 CET)

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Preprint ARTICLE | doi:10.20944/preprints201712.0099.v1

Bio-Inspired Optimal Control Framework to Generate Walking Motions for the Humanoid Robot iCub Using Whole Body Models

Yue Hu, Katja Mombaur

Subject: Computer Science And Mathematics, Robotics Keywords: humanoid robot; bipedal locomotion; optimal control; optimization

Online: 15 December 2017 (05:02:00 CET)

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Working Paper ARTICLE

Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles

Moritz Schappler, Svenja Tappe, Tobias Ortmaier

Subject: Engineering, Industrial And Manufacturing Engineering Keywords: parallel robot; five-DoF task; 3T2R task; functional redundancy; task redundancy; redundancy resolution; reciprocal Euler angles; inverse kinematics

Online: 1 July 2019 (12:17:56 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202202.0179.v2

Research on 4-UPUS Parallel Mechanism Ankle Joint Rehabilitation Training Robot

Ao Hu, Qiang Yin, Chengcai He, Xiaohong Dun, Jia Ai

Subject: Engineering, Mechanical Engineering Keywords: Ankle joint rehabilitation robot; Parallel mechanism; Statics analysis; Kinematics analysis; Workspace

Online: 18 February 2022 (13:06:23 CET)

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Preprint ARTICLE | doi:10.20944/preprints201812.0324.v1

Gesture-Based Control of a Robot Arm with Neuromorphic Haptic Feedback

Francesca Sorgini, Giuseppe Airò Farulla, Nikola Lukic, Ivan Danilov, Bozica Bojovic, Milos Milivojevic, Terrin Babu Pulikottil, Loris Roveda, Paolo Prinetto, Tullio Tolio, Maria Chiara Carrozza, Petar Petrovic, Calogero Maria Oddo

Subject: Engineering, Control And Systems Engineering Keywords: telepresence; neuromorphic vibrotactile feedback; human-robot interaction; hand tracking; gesture-based teleoperation

Online: 28 December 2018 (03:53:18 CET)

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Preprint REVIEW | doi:10.20944/preprints202303.0428.v1

Does Artificial Intelligence help Journalists: A Boon or Bane?

Bharat Dhiman

Subject: Arts And Humanities, Other Keywords: Artificial Intelligence; OpenAI’s ChatGPT; Robot Journalism; Hallucinate data

Online: 24 March 2023 (08:04:12 CET)

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Preprint ARTICLE | doi:10.20944/preprints201712.0010.v1

Dynamic Gesture Recognition Using a Smart Glove in Hand-Assisted Laparoscopic Surgery

Lidia Santos, Nicola Carbonaro, Alessandro Tognetti, José Luis González, Eusebio de la Fuente, Juan Carlos Fraile, Javier Pérez-Turiel

Subject: Engineering, Automotive Engineering Keywords: Hand Assisted Laparoscopic Surgery (HALS); sensing glove; wearable; collaborative surgical robot, gesture recognition.

Online: 1 December 2017 (16:32:22 CET)

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Preprint ARTICLE | doi:10.20944/preprints201808.0362.v1

The Limpet: A ROS-Enabled Multi-Sensing Platform for the ORCA Hub

Mohammed E. Sayed, Markus P. Nemitz, Simona Aracri, Alistair C. McConnell, Ross M. McKenzie, Adam A. Stokes

Subject: Engineering, Electrical And Electronic Engineering Keywords: Communication Fail-Over, Fault Diagnosis, Limpet, On-board Processing, ORCA Hub, Real-time Condition Monitoring, Remote Sensing, Robots, Robot Sensing Systems, ROS Interface.

Online: 20 August 2018 (19:24:46 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201905.0112.v1

Mechanical and Control Design of an Industrial Exoskeleton for Advanced Human Empowering in Heavy Parts Manipulation Tasks

Alessandro Mauri, Jacopo Lettori, Giovanni Fusi, Davide Fausti, Maurizio Mor, Francesco Braghin, Giovanni Legnani, Loris Roveda

Subject: Engineering, Industrial And Manufacturing Engineering Keywords: industrial exoskeleton design; industrial exoskeleton control; human-robot collaboration; optimal control; empowering fuzzy control

Online: 9 May 2019 (12:53:59 CEST)

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Preprint ESSAY | doi:10.20944/preprints201801.0060.v1

Some Potentially Strategic Considerations for the Sex-Bot Industry

Glenn W. Smith

Subject: Social Sciences, Gender And Sexuality Studies Keywords: sexually-enable robot; sex-bot

Online: 8 January 2018 (09:56:06 CET)

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Preprint ARTICLE | doi:10.20944/preprints201910.0155.v1

A Function-as-a-Service Based Fog Robotic System for Cognitive Robots

Hyunsik Ahn

Subject: Engineering, Control And Systems Engineering Keywords: robot cloud; cognition as a service; cognitive robots; sentential cognitive system; cloud service; human–robot interaction

Online: 14 October 2019 (06:26:52 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201908.0024.v1

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

Saad Kashem, Shariq Jawed, Jubaer Ahmed, Uvais Qidwai

Subject: Engineering, Control And Systems Engineering Keywords: amphibious robot; duck feet; quadruped; Klann linkage; webbed feet

Online: 2 August 2019 (09:20:14 CEST)

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Roaming complexity in terrains and unexpected environments poses significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration namely walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates webbed duck feet design to walk on different terrains, swim in water and tackle obstructions on its way. The designed robot is compact and easy-to-use and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Due to the design, the webbed feet are able to open and close with the help of water pressure. The Klann linkage has been used to convert rotational motion to walking and swimming as an animal’s gait. Because of its amphibian nature, the designed robot can be used for exploring the tight caves, closed spaces and moving on uneven challenging terrains such as sand, mud or water. The presented model and design of the amphibious robot has been inspired by the working principle of duck feet. The propulsion generated through this feet system has been observed to be better and more controlled then the initial design and prototype of designed duck feet robot reported in [1]. The direction of movement can be managed, and the speed can be controlled using a larger contact area with water. Since duck is able to roam on both land and water, their feet movement during walking and swimming is adopted in designing the robot’s four legs. Klann linkage is used to mimic such duck feet motion and the control mechanism of the feet is driven by DC motors and DC servo motors which are governed by an Arduino microcontroller. The robot is capable of sensing the presence of water through conductive sensors and detects obstacles using ultrasonic sensor while walking. Due to its amphibian nature and other features in movement, the robot is capable of traversing diversified terrains. It is envisaged that the proposed design will be appreciated in the industry to design amphibious robots in near future.

Working Paper ARTICLE

Simultaneous Estimation and Planning for Differential Drive Robot - Technical Report

Tai Hoang

Subject: Computer Science And Mathematics, Robotics Keywords: SLAM; Trajectory Optimization; Motion Planning; Gaussian Process; STEAP; GPMP2; Mobile Robot; Differential Drive Robot

Online: 7 January 2020 (05:25:17 CET)

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Preprint TECHNICAL NOTE | doi:10.20944/preprints202103.0782.v1

Low-cost Delivery and Telepresence Robot for COVID-19 Crisis

Arnon Jumlongkul

Subject: Computer Science And Mathematics, Robotics Keywords: COVID-19; delivery robot; healthcare robot; telepresence robot; Smart hospital

Online: 31 March 2021 (16:04:54 CEST)

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Preprint REVIEW | doi:10.20944/preprints201911.0385.v1

Teamwork for Multi-Robot Systems in Dynamic Environments

Kurt Geihs

Subject: Computer Science And Mathematics, Robotics Keywords: autonomous robots; multi-robot systems; teamwork; coordination

Online: 30 November 2019 (09:47:30 CET)

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Preprint ARTICLE | doi:10.20944/preprints201808.0416.v1

Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Ruiqin Li, Hongwei Meng, Shaoping Bai, Yinyin Yao, Jianwei Zhang

Subject: Computer Science And Mathematics, Robotics Keywords: hexapod walking robot; 3-UPU parallel mechanism; kinematics; stability; gait planning

Online: 23 August 2018 (13:31:36 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201907.0263.v1

Open LabBot and RmsiGUI: Community Development Kit for Sampling Automation and Ambient Imaging

Ignacio Rosas-Román, Cesaré Ovando-Vázquez, Abigail Moreno-Pedraza, Héctor Guillén-Alonso, Robert Winkler

Subject: Chemistry And Materials Science, Analytical Chemistry Keywords: ambient ionization; mass spectrometry; high-throughput sampling; imaging; modular robot; open hardware; lab automation; peer production; open software; low-temperature plasma

Online: 23 July 2019 (15:20:38 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202001.0021.v1

Robot-Assisted Therapy Influence on Kinematic and EMG Activity in the Upper Limb for Children with Cerebral Palsy

Sana Raouafi, Maxime Raison, Sofiane Achiche

Subject: Public Health And Healthcare, Physical Therapy, Sports Therapy And Rehabilitation Keywords: cerebral palsy; robot assisted therapy; EMG; kinematic

Online: 3 January 2020 (02:38:16 CET)

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Preprint ARTICLE | doi:10.20944/preprints202012.0078.v1

A Wire-Driven Discrete Continuum Robot Sliding and Non-sliding Backbone Design Analysis and Validation of Kinematics/Kinetics

Azamat Yeshmukhametov, Zholdas Buribayev, Beibut Amirgaliyev, Yedilkkhan Amirgaliyev

Subject: Engineering, Automotive Engineering Keywords: sliding disc; continuum robot; robot backbone; wire-driven; kinematics and kinetics; wire-tension; design analysis

Online: 3 December 2020 (10:00:49 CET)

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Preprint REVIEW | doi:10.20944/preprints201905.0251.v1

A Survey of Behavioural Models for Social Robots

Olivia Nocentini, Laura Fiorini, Giorgia Acerbi, Alessandra Sorrentino, Gianmaria Mancioppi, Filippo Cavallo

Subject: Computer Science And Mathematics, Robotics Keywords: social robots; behavioural models; assistive robotics; cognitive architectures; empathy; human-robot interaction

Online: 20 May 2019 (12:31:23 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202010.0455.v1

Industrial Robot Control by Means of Gestures and Voice Commands in Off-Line and On-Line Mode

Wojciech Kaczmarek, Jarosław Panasiuk, Szymon Borys, Patryk Banach

Subject: Engineering, Automotive Engineering Keywords: KINECT; industrial robot; vision system; RobotStudio; Visual Studio; gesture control; voice control

Online: 22 October 2020 (09:57:07 CEST)

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Preprint REVIEW | doi:10.20944/preprints202104.0203.v1

From Gantry-Based Machine to Robot-Based Fused Deposition Modelling: A State-of-the-Art

Mohamed Habibi, Marwa Ziadia

Subject: Engineering, Automotive Engineering Keywords: Additive manufacturing; Fused Deposition Modelling; Robot-based additive manufacturing; Polylactic acid (PLA) and PLA-based composite.

Online: 7 April 2021 (12:24:16 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201902.0094.v1

Designing an Engaging Robotic Teaching Assistant for Adults Using the Engagement Profile

Martin Cooney, Wolfgang Leister

Subject: Computer Science And Mathematics, Robotics Keywords: robot; robotic teaching assistant; teaching; user engagement; evaluation

Online: 11 February 2019 (16:30:51 CET)

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Preprint ARTICLE | doi:10.20944/preprints201809.0301.v1

Adaptive Balancing of Robots and Mechatronic Systems

Liviu Ciupitu

Subject: Engineering, Mechanical Engineering Keywords: adaptive; balancing; counterweight; mechatronic system; robot

Online: 17 September 2018 (11:00:54 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202008.0711.v1

Do They Really Try to Save Their Buddy? Anthropomorphism about Animal Epimeletic Behaviours

Cedric Sueur, Marie-Amélie Forin-Wiart, Marie Pelé

Subject: Social Sciences, Cognitive Science Keywords: Empathy; comparative thanatology; cognitive biases; animal ethics; mentaphobia; primates; elephants; birds; robot

Online: 31 August 2020 (06:13:03 CEST)

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Working Paper ARTICLE

Design and Stability Analysis of a Robust-Adaptive Sliding Mode Control Applied on a Robot Arm with Flexible Links

Çağlar Uyulan

Subject: Engineering, Control And Systems Engineering Keywords: flexible robot arm; robust-adaptive control, sliding mode variable structure control; actuator dynamics; zero dynamics

Online: 15 September 2021 (10:22:41 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202305.2010.v1

Implementing a Prototype Autonomous Fire Detecting and Firefighting Robot

Joseph Azeta, Idowu Ayoade, Cosmas Nwakanma, Timileyin Akande

Subject: Engineering, Control And Systems Engineering Keywords: Autonomous Robot; Firefighting Robot; Intelligent Robot; Fire Detection

Online: 29 May 2023 (12:34:10 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202007.0217.v2

A Quadruped Robot with the Wooden Body for Static Locomotion in a Controlled Environment

Muhammad Bilal Khan, Ahmad Kamal Khan

Subject: Engineering, Mechanical Engineering Keywords: Bio inspired robot; legged Robot; locomotion; position control; walk gait; wooden robot

Online: 20 July 2020 (04:13:18 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201909.0208.v1

Sensors for Expert Grip Force Profiling: Towards Benchmarking Manual Control of a Robotic Device for Surgical Tool Movements

Michel de Mathelin, Florent Nageotte, Philippe Zanne, Birgitta Dresp-Langley

Subject: Social Sciences, Psychology Keywords: surgical robotics; wearable force-sensor systems; grip-force profiling; surgical expertise; robot-assisted surgery training

Online: 18 September 2019 (13:07:40 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201906.0182.v1

Methods for Simultaneous Robot-World Hand-Eye Calibration: A Comparative Study

Ihtisham Ali, Olli Suominen, Atanas Gotchev, Emilio Ruiz Morales

Subject: Engineering, Control And Systems Engineering Keywords: robot–world-hand-eye calibration; hand-eye calibration; optimization

Online: 19 June 2019 (09:52:57 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202302.0231.v1

Design and Characterization of a Low-Cost and Efficient Torsional Spring for Lumbar Support Exoskeletons

Omar Sabah Al-Dahiree, Raja Ariffin Raja Ghazilla, Mohammad Osman Tokhi, Hwa Jen Yap, Mustabshirha Gul

Subject: Engineering, Mechanical Engineering Keywords: Force sensor; series elastic actuator; SEA; torsion spring; lumbar support; wearable robot exoskeleton; lifting task; FEM

Online: 14 February 2023 (03:35:57 CET)

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Preprint ARTICLE | doi:10.20944/preprints202007.0326.v1

A Distributed Vision-Based Navigation System for Khepera IV Mobile Robots

Gonzalo Farias, Ernesto Fabregas, Enrique Torres, Gaetan Bricas, Sebastián Dormido-Canto, Sebastian Dormido

Subject: Engineering, Control And Systems Engineering Keywords: mobile robot; vision-based navigation; cascade classifiers

Online: 15 July 2020 (09:16:44 CEST)

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Working Paper ARTICLE

A Mixed Perception Approach for Safe Human-Robot Collaboration in Industrial Automation

Fatemeh Mohammadi Amin, Maryam Rezayati, Hans Wernher van de Venn, Hossein Karimpour

Subject: Engineering, Automotive Engineering Keywords: Safe physical Human-Robot Collaboration; collision detection; human action recognition; artificial intelligence; industrial automation

Online: 5 November 2020 (11:08:19 CET)

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Preprint ARTICLE | doi:10.20944/preprints202010.0130.v1

Robaru, Mini Underwater Robot for Survey of Reactor

Rafiuddin Syam, Syaiful Bakhri, Azwar Hayat, Faizal A. Samman, Hamdani Hamdani

Subject: Engineering, Automotive Engineering Keywords: underwater robot; control system; reactor; survey

Online: 6 October 2020 (13:52:02 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201808.0430.v1

Real-Time Whole-Body Imitation by Humanoid Robots and Task-Oriented Teleoperation Using an Analytical Mapping Method and Quantitative Evaluation

Zhijun Zhang, Yaru Niu, Ziyi Yan, Shuyang Lin

Subject: Computer Science And Mathematics, Robotics Keywords: Humanoid robot; whole-body imitation; social learning; motion mapping; teleoperation for tasks; similarity evaluation

Online: 24 August 2018 (09:59:54 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201911.0235.v1

Fuzzy Analytic Hierarchy Process-Based Mobile Robot Path Planning

Changwon Kim, Yeesock Kim, Hak Yi

Subject: Engineering, Mechanical Engineering Keywords: fuzzy based AHP (FAHP); multi-objective decision making; path planning; mobile robot

Online: 20 November 2019 (07:34:53 CET)

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Preprint ARTICLE | doi:10.20944/preprints201808.0554.v1

A Robotic Context Query-processing Framework based on Spatio-temporal Context Ontology

Seok-Jun Lee, In-Cheol Kim

Subject: Computer Science And Mathematics, Robotics Keywords: intelligent service robot; robotic context query; context ontology

Online: 31 August 2018 (16:12:54 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202102.0096.v1

Motion Planning and Control of Redundant Manipulators for Dynamical Obstacle Avoidance

Giacomo Palmieri, Cecilia Scoccia, Matteo-Claudio Palpacelli, Massimo Callegari

Subject: Engineering, Automotive Engineering Keywords: Collision avoidance; redundant manipulators; human-robot collaboration

Online: 2 February 2021 (16:38:53 CET)

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Preprint ARTICLE | doi:10.20944/preprints202011.0711.v1

Laser-Based People Detection and Obstacle Avoidance for a Hospital Transport Robot

Kuisong Zheng, Feng Wu, Xiaoping Chen

Subject: Engineering, Automotive Engineering Keywords: service robot; navigation; people detection; obstacle avoidance

Online: 30 November 2020 (09:11:57 CET)

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This paper describes the development of a laser-based people detection and obstacle avoidance algorithm for a differential-drive robot, which is used for transporting materials along a reference path in hospital domains. Detecting humans from laser data is an important functionality for the safety of navigation in the shared workspace with people. Nevertheless, traditional methods normally utilize machine learning techniques on hand-crafted geometrical features extracted from individual clusters. Moreover, the datasets used to train the models are usually small and need to manually label every laser scan, increasing the difficulty and cost of deploying people detection algorithms in new environments. To tackle these problems, (1) we propose a novel deep learning-based method, which uses the deep neural network in a sliding window fashion to effectively classify every single point of a laser scan. (2) To increase the speed of inference without losing performance, we use a jump distance clustering method to decrease the number of points needed to be evaluated. (3) To reduce the workload of labeling data, we also propose an approach to automatically annotate datasets collected in real scenarios. In general, the proposed approach runs in real-time, performs much better than traditional methods, and can be straightforwardly extended to 3D laser data. Secondly, conventional pure reactive obstacle avoidance algorithms can produce inefficient and oscillatory behaviors in dynamic environments, making pedestrians confused and possibly leading to dangerous reactions. To improve the legibility and naturalness of obstacle avoidance in human crowded environments, we introduce a sampling-based local path planner, similar to the method used in autonomous driving cars. The key idea is to avoid obstacles by switching lanes. We also adopt a simple rule to decrease the number of unnecessary deviations from the reference path. Experiments carried out in real-world environments confirmed the effectiveness of the proposed algorithms.

Preprint ARTICLE | doi:10.20944/preprints201908.0079.v1

Emergency Service Provision using a Novel Hybrid SOM-Spiral STC Model for Group Decision Support Under Dynamic Uncertainty

Hai Van Pham, Philip Moore

Subject: Physical Sciences, Applied Physics Keywords: self organizing maps; fuzzy rules; emergency planning and management; group decision support; autonomous robot control; smart-environments

Online: 6 August 2019 (12:53:49 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202001.0002.v1

Safety Lighting Sensor Robots Communicate in the Middle of the Highway/Roads

Mingu Lee, Jongyoun Won, Jimi Kim, Hyejin Jeon, InKyoung Hong, Eunji Jung, Taehwan Jin, Seowoo Jeong, Seok-Hyun Ga, Chan-Jong Kim, Juhyune Eune

Subject: Environmental And Earth Sciences, Environmental Science Keywords: sensor robot; causal inference; robot communication; safety lighting; mobile application; ad-hoc network

Online: 1 January 2020 (15:07:58 CET)

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Preprint ARTICLE | doi:10.20944/preprints202011.0672.v1

Citation review of Human-Machine Collaboration in Virtual Reality for Adaptive Production Engineering by de Giorgio et al.

Andrea de Giorgio, Mauro Onori

Subject: Engineering, Automotive Engineering Keywords: Virtual Reality; Simulation; Industry 4.0; Human-Robot Collaboration; Citation Review; Citation Metrics

Online: 26 November 2020 (11:26:09 CET)

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Preprint ARTICLE | doi:10.20944/preprints201807.0558.v1

ERIKA – Early Robotics Introduction at Kindergarten Age

Stefan Schiffer, Alexander Ferrein

Subject: Computer Science And Mathematics, Robotics Keywords: robotics; kindergarten; education; robot operating system; ROS; Pepper; , human-robot interaction; HRI

Online: 30 July 2018 (05:31:12 CEST)

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Preprint ARTICLE | doi:10.20944/preprints201807.0614.v1

A Novel Multirobot System for Distributed Phenotyping

Tianshuang Gao, Homagni Saha, Hamid Emadi, Jiaoping Zhang, Alec Lofquist, Arti Singh, Baskar Ganapathysubramanian, Soumik Sarkar, Asheesh Singh, Sourabh Bhattacharya

Subject: Engineering, Control And Systems Engineering Keywords: Field Robotics; Multi-robot System

Online: 31 July 2018 (09:49:06 CEST)

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Preprint REVIEW | doi:10.20944/preprints202212.0305.v1

Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: Present, Challenges, and Future Prospects

Halid Kadi, Kasim Terzic

Subject: Computer Science And Mathematics, Robotics Keywords: robotics; cloth-like deformable objects; deep reinforcement learning; deep imitation 12 learning; human-robot interaction; knot theory; general embodied AI

Online: 16 December 2022 (12:51:23 CET)

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Preprint ARTICLE | doi:10.20944/preprints202107.0530.v1

Recognition of Tactile Attribute Strength and Category Using Convolutional Neural Network

Peng Zhang, Guoqi Yu, Dongri Shan, Zhenxue Chen, Xiaofang Wang

Subject: Computer Science And Mathematics, Computer Science Keywords: robot tactile; convolution neural network; attribute strength identification; category identification; robot operating system

Online: 23 July 2021 (09:27:35 CEST)

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Preprint REVIEW | doi:10.20944/preprints202009.0199.v1

Robust Dynamics of Synthetic Molecular Systems as A Consequence of Broken Symmetry

Yoshiyuki Kageyama

Subject: Physical Sciences, Atomic And Molecular Physics Keywords: dissipative structure; energy conversion; mechanical work; self-oscillation; collective dynamics; autonomous motion; self-replication; autocatalysis; molecular motor; molecular robot

Online: 9 September 2020 (05:24:42 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202103.0189.v1

Facial Emotion Recognition from an Unmanned Flying Social Robot for Home Care of Dependent People

Anselmo Martínez, Lidia Belmonte, Arturo S. García, Antonio Fernández-Caballero, Rafael Morales

Subject: Computer Science And Mathematics, Robotics Keywords: Flying Social Robot; Autonomous Unmanned Aerial Vehicle (UAV); Emotion Recognition; Convolution Neural Network (CNN); Virtual Reality (VR); Unity; MATLAB/Simulink; Python

Online: 5 March 2021 (11:52:50 CET)

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Preprint REVIEW | doi:10.20944/preprints202306.0131.v1

Human Factors Considerations for Quantifiable Human States in Physical Human-Robot Interaction: A Literature Review

Nourhan Abdulazeem, Yue Hu

Subject: Computer Science And Mathematics, Robotics Keywords: physical human-robot interaction; human factors; robot manipulators

Online: 2 June 2023 (04:58:29 CEST)

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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.

Preprint ARTICLE | doi:10.20944/preprints202104.0797.v1

Health Indicator Evaluation for Condition Monitoring of Industrial Robot Gears

Corbinian Nentwich, Gunther Reinhart

Subject: Engineering, Automotive Engineering Keywords: industrial robot; condition monitoring; health indicator

Online: 30 April 2021 (15:46:07 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202111.0241.v1

Collaborative Workplace Design: a Knowledge-Based Approach to Promote Human-Robot Integration and Multi-Objective Layout Optimization

Andrea Rega, Castrese Di Marino, Agnese Pasquariello, Ferdinando Vitolo, Stanislao Patalano, Alessandro Zanella, Antonio Lanzotti

Subject: Engineering, Marine Engineering Keywords: Collaborative robotics; Human-Robot Collaboration (HRC); Knowledge-Based Approach (KBA); collaborative workplace design; systematic layout planning; digital layout optimization; what-if analysis.

Online: 12 November 2021 (17:17:02 CET)

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Preprint ARTICLE | doi:10.20944/preprints202106.0037.v1

Implementation of NAO Robot Maze Navigation Based on Computer Vision and Collaborative Learning

Daniela Magallán-Ramirez, Areli Rodriguez-Tirado, Jorge David Martínez-Aguilar, Carlos Francisco Moreno-García, David Balderas, Edgar Omar López-Caudana

Subject: Computer Science And Mathematics, Robotics Keywords: robot navigation; computer vision; camera calibration; mapping; path planning; communication; NAO robot; educational innovation; higher education

Online: 1 June 2021 (14:49:11 CEST)

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Preprint REVIEW | doi:10.20944/preprints202111.0065.v1

Upper Limb Robotic Rehabilitation for Patients With Cervical Spinal Cord Injury: A Comprehensive Review

Giovanni Morone, Alessandro De Sire, Alex Martino Cinnera, Matteo Paci, Luca Perrero, Marco Invernizzi, Lorenzo Lippi, Marialuisa Gandolfi, Michela Agostini, Irene Aprile, Emanuela Casanova, Dario Marino, Giuseppe La Rosa, Federica Bressi, Silvia Sterzi, Daniele Giansanti, Alberto Battistini, Sandra Miccinilli, Serena Filoni, Monica Sicari, Salvatore Petrozzino, Claudio Marcello Solaro, Stefano Gargano, Paolo Benanti, Paolo Boldrini, Donatella Bonaiuti, Enrico Castelli, Francesco Draicchio, Vincenzo Falabella, Silvia Galeri, Francesca Gimigliano, Mauro Grigioni, Stefano Mazzoleni, Stefano Mazzon, Franco Molteni, Maurizio Petrarca, Alessandro Picelli, Federico Posteraro, Michele Senatore, Giuseppe Turchetti, Sofia Straudi

Subject: Medicine And Pharmacology, Neuroscience And Neurology Keywords: Cervical spinal cord injury; Arm function; Exoskeleton; Robot-assisted therapy; Robotic therapy; Rehabilitation.

Online: 3 November 2021 (08:35:46 CET)

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The upper extremities limitation represents one of the essential functional impairments in patients with cervical spinal cord injury. Electromechanics assisted devices and robots are increasingly used in neurorehabilitation to help functional improvement in patients with neurological diseases. This review aimed to systematically report the evidence-based, state-of-art on clinical applications and robotic-assisted arm training (RAT) in motor and functional recovery in subjects affected by cervical spinal cord injury. The present study has been carried out within the framework of the Italian Consensus Conference on "Rehabilitation assisted by robotic and electromechanical devices for persons with disability of neurological origin" (CICERONE). PubMed/MEDLINE, Cochrane Library, and Physiotherapy Evidence Database (PEDro) databases were systematically searched from inception to September 2021. The 10-item PEDro scale assessed the study quality for the RCT and the AMSTAR-2 for the systematic review. Two different authors rated the studies included in this review. If consensus was not achieved after discussion, a third reviewer was interrogated. The 5-item Oxford CEBM scale was used to rate the level of evidence. A total of 11 studies were included. The selected studies were: two systematic reviews, two RCTs, one parallel-group controlled trial, one longitudinal intervention study and five case series. One RCT was scored as a high-quality study, while the systematic review was of low quality. RAT was reported as feasible and safe. Initial positive effects of RAT were found for arm function and quality of movement in addition to conventional therapy. The high clinical heterogeneity of treatment programs and the variety of robot devices could severely affect the generalizability of the study results; therefore, future studies are warranted to standardize the type of intervention and evaluate the role of robotic-assisted training in subjects affected by cervical spinal cord injury.

Preprint ARTICLE | doi:10.20944/preprints201811.0184.v1

On-Board Correction of Systematic Odometry Errors in Differential Robots

Saturnino Maldonado-Bascón, Roberto J. López Sastre, Fco. Javier Acevedo-Rodríguez, Pedro Gil Jiménez

Subject: Engineering, Electrical And Electronic Engineering Keywords: differential drive robot; calibration; systematic error

Online: 8 November 2018 (03:50:39 CET)

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Preprint ARTICLE | doi:10.20944/preprints202102.0454.v1

Autonomous Learning of New Environments With a Robotic Team Employing Hyper-Spectral Remote Sensing, Comprehensive In-Situ Sensing and Machine Learning

David J. Lary, David Schaefer, John Waczak, Adam Aker, Aaron Barbosa, Lakitha O.H. Wijeratne, Shawhin Talebi, Bharana Fernando, John Sadler, Tatiana Lary, Matthew D. Lary

Subject: Environmental And Earth Sciences, Atmospheric Science And Meteorology Keywords: Machine Learning; Hyper-spectral Imaging; Robot Team; Autonomous; UAV; Robotic Boat

Online: 22 February 2021 (11:06:36 CET)

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Working Paper ARTICLE

Preliminary Clinical Application of Domestically Produced Chinese Minimally Invasive Surgical Robot System “Micro Hand S ” in Colon Cancer

Jianmin Li, Jiang Juan, Shaihong Zhu, Bo Yi

Subject: Medicine And Pharmacology, Gastroenterology And Hepatology Keywords: Micro Hand S surgical robot system; robot-assisted complete mesocolic excision; colon cancer; safety; feasibility

Online: 28 February 2020 (16:10:11 CET)

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Preprint ARTICLE | doi:10.20944/preprints202206.0171.v1

Design and Manufacture of a Flexible Pneumatic Soft Gripper

Jing Lei, Zhenghao Ge, Pengju Fan, Wang Zou, Tao Jiang, Liang Dong

Subject: Engineering, Mechanical Engineering Keywords: soft robot; pneumatic drive; soft gripper; 3D printing

Online: 13 June 2022 (08:09:27 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202010.0174.v1

Feeling of Safety and Comfort Towards a Socially Assistive Unmanned Aerial Vehicle That Monitors People in a Virtual Home

Lidia Maria Belmonte, Arturo Simón García, Rafael Morales, José Luis de la Vara, Antonio Fernández-Caballero

Subject: Computer Science And Mathematics, Robotics Keywords: Unmanned Aerial Vehicle (UAV); Social Robot; Feeling of Safety and Comfort; Trajectory Planning; Virtual Reality; MATLAB/Simulink®; MQTT

Online: 8 October 2020 (11:06:18 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202203.0311.v1

Feasibility and Usability Study of a Robot-Assisted Complex Upper and Lower Limb Rehabilitation System in Patients with Stroke

Kyoung Tae Kim, Yongmin Choi, Jang Hyuk Cho, Soyoung Lee

Subject: Medicine And Pharmacology, Orthopedics And Sports Medicine Keywords: robot-assisted gait training; rehabilitation; stroke; cardiorespiratory fitness; robotics; disability; locomotion

Online: 23 March 2022 (08:40:16 CET)

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Preprint ARTICLE | doi:10.20944/preprints202204.0253.v1

Research on Monitoring and Operation and Maintenance Technology of Far-Reaching Sea Smart Wind Farm

Zhen Wang, Yaohua Guo, Haijun Wang

Subject: Engineering, Marine Engineering Keywords: Offshore Wind power; Operation and maintenance management; Intelligent operation and maintenance robot; Smart wind farm technology; 5g technology

Online: 27 April 2022 (08:57:55 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202103.0492.v2

Design, Modelling and Tests of a Barycenter Offset Locomotion Mechanism for Cylindrical Robots

Océane Patiny

Subject: Engineering, Automotive Engineering Keywords: Education Robotics; Mechanism Design; Motion Control; Barycenter Offset Robot

Online: 1 March 2022 (06:46:27 CET)

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Preprint ARTICLE | doi:10.20944/preprints202109.0007.v1

Robot-Enhanced Language Learning for Children in Norwegian Day-Care Centers

Till Halbach, Trenton Schulz, Wolfgang Leister, Ivar Solheim

Subject: Computer Science And Mathematics, Robotics Keywords: Social robot; mobile app; e-learning; language education; kindergarden, pre-school

Online: 1 September 2021 (11:46:18 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202012.0061.v1

Robot Tutoring Multiplications: Over One-Third Learning Gain for Most, Learning Loss for Some

Johan F. Hoorn, Ivy S. Huang, Elly A. Konijn, Lars van Buuren

Subject: Business, Economics And Management, Accounting And Taxation Keywords: robot-tutelage; social robots; multiplications; experience design

Online: 2 December 2020 (11:46:37 CET)

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Preprint ARTICLE | doi:10.20944/preprints202306.0743.v1

Development of a Robot Arm System for Additive Manufacturing Applications

Laurentiu Stamorean, Anamaria Feier, Adrian Ciprian Firu

Subject: Engineering, Industrial And Manufacturing Engineering Keywords: additive manufacturing applications; 3D printing platform for additive manufacturing; FDM; robot arm

Online: 12 June 2023 (03:18:03 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202208.0075.v1

Waste Plastic Direct Extrusion Hangprinter

Aliaksei Petsiuk, Bharath Lavu, Rachel Dick, Joshua M. Pearce

Subject: Engineering, Mechanical Engineering Keywords: 3D printing; additive manufacturing; big area additive manufacturing; BAAM; hanging printer; hangprinter; plastic waste; recycling; sustainable manufacturing; wire robot

Online: 3 August 2022 (07:17:07 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202308.1153.v1

Using TAM and Maslow’s Needs Theory to Evaluate the Intention of Adoption of Home-Based Intelligent Exercise System: The Example of Golf Croquet

Yu-Li Zhou, Chia-Li Chen, Shih-Jui Chang, And Bo-Sheng Wu

Subject: Social Sciences, Tourism, Leisure, Sport And Hospitality Keywords: Technology Acceptance Model, Maslow's Hierarchy of Needs, Golf Croquet, Mobile Applications, Companion Robot, AIoT, Senior

Online: 16 August 2023 (20:28:42 CEST)

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Working Paper ARTICLE

Communication with Self-growing Character to Develop Physically Growing Robot Toy Agent

Mingu Lee, Jiyong Kim, Hyunsu Jeong, Azure Pham, Changhyeon Lee, Pilwoo Lee, Thiha Soe, Seong-Woo Kim, Juhyun Eune

Subject: Social Sciences, Education Keywords: motivation; children; learning; entertainment robot; interaction; synthetic character

Online: 13 January 2020 (09:52:02 CET)

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Preprint ARTICLE | doi:10.20944/preprints202209.0490.v1

Shoulder Musculoskeletal Disorder Rehabilitation Using a Robotic Device Based on Emg Biofeedback: A Retrospective Cohort Study

Martin Lavallière, Mathieu Tremblay, Etienne Ojardias, Maxime Turpin, Anaick Perrochon, Philippe Rigoard, Lisa Goudman, Maarten Moens, Romain David, Maxime Billot

Subject: Medicine And Pharmacology, Orthopedics And Sports Medicine Keywords: rehabilitation; shoulder; electromyography feedback; visual biofeedback; assistive robot; musculoskeletal disorder

Online: 30 September 2022 (15:04:05 CEST)

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While shoulder injuries represent the musculoskeletal disorders (MSDs) most encountered in physical therapy, there is no consensus on their management. As attempts to provide standardized and personalized treatment, a robot-ic-assisted device combined with EMG biofeedback specifically dedicated to shoulder MSDs has been developed. The aim of this study was to determine the efficacy of an 8-week rehabilitation program (≈3 sessions a week) using a ro-botic-assisted device combined with EMG biofeedback (RA-EMG group) in comparison with a conventional program (CONV group) in patients presenting with shoulder MSDs. This study is a retrospective cohort study including data from 2010 to 2013 on patients initially involved in a physical rehabilitation program in a private clinic of Chicoutimi (Canada) for shoulder MSDs. Shoul-der flexion strength and range of motion were collected before and after the rehabilitation program. Forty-four patients participated in a conventional pro-gram using dumbbell (CONV group) while 72 of them completed a program on robot-assisted device with EMG and visual biofeedback (RA-EMG group), whereby both programs consisted in 2 sets of 20 repetitions at 60% of maximal capacity. Results showed that the RA-EMG had significantly greater benefits than the Conv group for shoulder flexion strength (+103.1% vs 67%, p = 0.016) and range of motion (+14.4% vs 6.1%, p = 0.046). The current retrospective co-hort study showed that a specific and tailored rehabilitation program with constant effort by automatic adjustment of the level of resistance was able to potentiate strength and range of motion shoulder flexion after an 8-week reha-bilitation period in comparison with a conventional approach in patients with shoulder MSDs. This study provides new insight on shoulder MSD rehabilita-tion and future research should be pursued to determine the added potential of this approach for abduction and external rotation with a randomized controlled design.

Preprint ARTICLE | doi:10.20944/preprints202009.0237.v2

Toward Evaluation of The Subjective Experience of A General Class of User-Controlled, Robot-Mediated Rehabilitation Technologies for Children with Neuromotor Disability

Manon Maitland Schladen, Kevin Cleary, Yiannis Koumpouros, Reza Monfaredi, Tyler Salvador, Hadi Fooladi Talari, Jacob Slagle, Catherine Coley, Staci Kovelman, Justine Belschner, Sarah Helen Evans

Subject: Social Sciences, Behavior Sciences Keywords: Game-based therapy; robot-mediated therapy; neuromotor disability; cerebral palsy; subjective assessment; patient-centered assessment; caregiver burden; ankle range of motion; ankle strengthening; home exercise program

Online: 12 October 2020 (10:09:19 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202011.0494.v3

Improved RRT-Connect Algorithm Based on Triangular Inequality for Robot Path Planning

Jin-Gu Kang, Dong-Woo Lim, Yong-Sik Choi, Woo-Jin Jang, Jin-Woo Jung

Subject: Engineering, Automotive Engineering Keywords: RRT-Connect; triangular inequality; rewiring; optimality; robot path planning

Online: 29 December 2020 (12:10:47 CET)

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Preprint ARTICLE | doi:10.20944/preprints202103.0044.v1

Presentation of the Transmission Functions to the Mechanism of a 2T6R Robot in Direct Kinematics, Deduced by Two Original Methods

Liviu Marian Ungureanu, Florian Ion Petrescu

Subject: Engineering, Automotive Engineering Keywords: Mechanical transmissions; 2T6R robot; kinematic; direct kinematics.

Online: 2 March 2021 (09:04:51 CET)

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Preprint ARTICLE | doi:10.20944/preprints202203.0023.v1

Contributions on Highlighting an Energy Method Used for Constructive Optimization of the Mechanical Structure of a Mobile Robot Implemented in Humanitarian Demining Operations

Silviu Mihai Petrişor, Mihaela Simion

Subject: Engineering, Mechanical Engineering Keywords: robotics; tracked robot; dynamic modeling; constructive optimization; human-artificial partnership; humanitarian demining

Online: 1 March 2022 (12:56:18 CET)

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Modularity in the construction of industrial robots is becoming increasingly popular, as the modules can be assembled in different ways so as to obtain various architectures of industrial robots determined by the requirements of specific applications. Such a robot with modular structure is considered in this paper. The tracked mobile robot, with translation – rotation – translation – translation – rotation (TRTTR) modular serial structure, is the subject of national invention patent number RO132301 B1/2021, granted by the State Office for Inventions and Trademarks of Bucharest, to “Nicolae Bălcescu” Land Forces Academy of Sibiu, Romania [1]. The tracked mobile robot has been designed to perform the task of humanitarian demining operations and the mechanical structure, respectively the kinematic analysis were described in detail in papers [1,2]. A first general objective of this paper is to highlight a dynamic-organological method to achieve an architectural structure of mobile robot on tracks, able to replace the human element in areas with high risk for health and life, for detection and demining anti-personnel and anti-armor minefields in countries where military conflicts have taken place. For this scope it was performed the dynamic modeling using the Lagrange’s formalism and to achieve the constructive optimization of the TRTTR mechanical structure, in order to obtain a minimum energy consumption through an optimal arrangement of the modules in its structure. A second objective is to improve the action flexibility of the technological product in humanitarian detection and demining operations, as well as for educational purposes, by training highly educated and specialized human resources in the field of advanced military technologies. The differential equations of motion of the robot has obtained and respectively the mechanical design equations, which lead to the optimal choice of the drive motors of the modules in the robot structure. Also, it is presented the mathematical model for obtaining the driving motor of base translation modulus (MTB SIL) of the modular serial tracked robot and the constructive solution of the MTB SIL module.

Preprint ARTICLE | doi:10.20944/preprints202207.0011.v1

Optimization Methodology of the Magnetic Navigation System with Gradient and Uniform Saddle Coils

Sungjun Kim, Mingyu Cho, Seyeong Im, Joongho Yun, Jaekwang Nam

Subject: Engineering, Electrical And Electronic Engineering Keywords: magnetic navigation system; saddle coil; optimization; magnetic robot; magnetic field

Online: 1 July 2022 (09:43:12 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202107.0254.v1

An Enhancement Method of Rapidly-exploring Random Tree Robot Path Planning using Midpoint Interpolation

Jin-Gu Kang, Yong-Sik Choi, Jin-Woo Jung

Subject: Engineering, Automotive Engineering Keywords: robot path planning; RRT; midpoint interpolation; triangular rewiring; path smoothness

Online: 12 July 2021 (12:05:01 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202205.0331.v1

Educational Play-Based Activities with Coderbot in a Pediatric Short-Term Recovery Ward: A Case Study Intervention

Marco Castiglioni, Cristina Liviana Caldiroli, Alessandro Antonietti

Subject: Social Sciences, Psychology Keywords: Robot-based activities; hospitalized children; psychological health; well-being; CoderBot; positive emotion; single-setting

Online: 24 May 2022 (10:16:05 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202312.0314.v1

Precision Pest and Disease Detection System using Agricultural Robot

Rohan Inamdar, Sushant R Bhalerao, Gopal U Shinde, Omkar Gupta

Subject: Computer Science And Mathematics, Computer Vision And Graphics Keywords: YOLO; Object tracking and Counting; Pink Bollworm; ROS; UGV; Agricultural Robot

Online: 6 December 2023 (08:01:56 CET)

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Preprint ARTICLE | doi:10.20944/preprints202306.0296.v1

Dynamic Output Feedback and Neural Network Control of a Non-Holonomic Mobile Robot

Manuel Cardona, Fernando E. Serrano

Subject: Computer Science And Mathematics, Robotics Keywords: Mobile Robot; Non-holonomy; Driftless Control

Online: 5 June 2023 (10:00:22 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202011.0425.v1

Are They Really Trying to Save Their Buddy? The Anthropomorphism of Animal Epimeletic Behaviours

Cedric Sueur, Marie-Amélie Forin-Wiart, Marie Pelé

Subject: Biology And Life Sciences, Anatomy And Physiology Keywords: Empathy; comparative thanatology; cognitive biases; animal ethics; mentaphobia; primates; elephants; birds; robot

Online: 16 November 2020 (14:23:45 CET)

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Preprint ARTICLE | doi:10.20944/preprints202204.0081.v1

How do Roboticists Imagine a Robotised Future? A Case Study on a Japanese HRI Research Project

Yu-Hsin Chang, Felix Carros, Mehrbod Manavi, Martin Rathmann

Subject: Computer Science And Mathematics, Robotics Keywords: Social Robot; Empirical Research; Human-Robot Interaction; Human-Computer Interaction; Ethnomethodology; Robot development; HCI; HRI; Qualitative Research

Online: 8 April 2022 (12:48:04 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202304.0415.v2

Assessing the Value of Multimodal Interfaces: A Study on Human-Machine Interaction in Weld Inspection Workstations

Paul Chojecki, Dominykas Strazdas, David Przewozny, Niklas Gard, Detlef Runde, Niklas Hoerner, Ayoub Al-Hamadi, Peter Eisert, Sebastian Bosse

Subject: Computer Science And Mathematics, Robotics Keywords: human–machine interaction; multimodal interface; human–robot interaction; spatial computing

Online: 10 May 2023 (09:42:13 CEST)

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Preprint REVIEW | doi:10.20944/preprints202309.0527.v1

Research Hotspots and Trends of Social Robot Interaction Design: A Bibliometric Analysis

Jianmin Wang, Yongkang Chen, Fusheng Jia, Fang You

Subject: Computer Science And Mathematics, Robotics Keywords: social robot; Interaction design; Bibliometric; VOSviewer; Citespace

Online: 7 September 2023 (09:27:28 CEST)

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Preprint REVIEW | doi:10.20944/preprints202310.0049.v2

Human-Robot Collaboration in Manufacturing Assembly Tasks

Hribhu Chowdhury

Subject: Engineering, Industrial And Manufacturing Engineering Keywords: Human-Robot Collaboration (HRC); manufacturing assembly; task allocation, reinforcement learning; Cyber-Physical Systems (CPS); Industry 4.0; robotic assembly sequence planning; collaborative robotics

Online: 7 October 2023 (09:25:01 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202111.0181.v1

Human-Following Motion Planning and Control Scheme for Collaborative Robots Based on Human Motion Prediction

Fahad Iqbal Khawaja, Akira Kanazawa, Jun Kinugawa, Kazuhiro Kosuge

Subject: Engineering, Control And Systems Engineering Keywords: human-robot interaction; human-robot collaboration; collaborative robots; motion planning; robot control; human motion prediction; human-following robots

Online: 9 November 2021 (14:12:17 CET)

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Preprint ARTICLE | doi:10.20944/preprints202107.0072.v1

Analysis and Control of Vibrations of a Cartesian Cutting Machine Using an Equivalent Robotic Model

Matteo Bottin, Giulio Cipriani, Domenico Tommasino, Alberto Doria

Subject: Engineering, Automotive Engineering Keywords: Vibrations; Cartesian robot; cutting machine

Online: 2 July 2021 (15:50:06 CEST)

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Preprint ARTICLE | doi:10.20944/preprints202111.0530.v1

Building 2D Model of Compound Eye Vision for Machine Learning

Leonid B. Sokolinsky, Artem E. Starkov

Subject: Computer Science And Mathematics, Robotics Keywords: robot vision; compound eye; two-dimensional model; distance measurement; azimuth measurement; deep learning; training data set generation; deep neural network

Online: 29 November 2021 (12:28:15 CET)

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Working Paper ARTICLE

Preliminary Clinical Application of Domestically Produced Chinese Minimally Invasive Surgical Robot System “Micro Hand S” in Colon Cancer

Jianmin Li, Juan Jiang, Shaihong Zhu, Bo Yi

Subject: Medicine And Pharmacology, Clinical Medicine Keywords: Micro Hand S surgical robot system; robot-assisted complete mesocolic excision; colon cancer; safety; feasibility

Online: 1 March 2020 (02:54:29 CET)

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Preprint ARTICLE | doi:10.20944/preprints202305.0535.v1

Design Path for a Social Robot for Emotional Communication for Children with Autism Spectrum Disorder (ASD)

Sandra Cano, Jaime Díaz-Arancibia, Jeferson Arango-López, Julia Elena Libreros, Matías García

Subject: Computer Science And Mathematics, Robotics Keywords: Human-Robot Interaction; Autism Spectrum Disorder; User-Centered Design

Online: 8 May 2023 (11:57:31 CEST)

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