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The FinRay soft gripper achieves passive enveloping grasping through its functional flexible structure, adapting to the contact configuration of the object to be grasped. However, variations in beam position and thickness lead to different behaviors, making it important to research the relationship between structure and force. Conventional research using FEM simulations has tested various virtual FinRay models but replicating phenomena such as buckling and slipping has been challenging. While hardware-based methods that involve installing sensors on the gripper and the object to analyze their states have been attempted, no studies have focused on the tangential contact force related to slipping. Therefore, we developed a 16-way object contact force measurement device incorporating two-axis force sensors into each of the 16 segmented objects and compared the normal and tangential components of the enveloping grasping force of the FinRay soft gripper under two types of contact friction conditions. In the first experiment, the proposed device was compared with a device containing a six-axis force sensor in one segmented object, confirming that the proposed device has no issues with measurement performance. In the second experiment, comparisons of the proposed device were made under various conditions: two contact friction states, three object contact positions, and two object motion states. The results demonstrated that the proposed device could decompose and analyze the grasping force into its normal and tangential components for each segmented object. Moreover, low friction conditions result in a wide contact area with lower tangential frictional force and a uniform normal pushing force, achieving effective enveloping grasping.

Autonomous driving system (ADS) is anticipated to revolutionize travel by reclaiming lost time and improve safety on the roads. With automation, user-engagements that enhances road monitoring should be considered to maintain vigilance and safety. From the literature, virtual reality (VR) usage in cars offer productivity and increased privacy. This paper explores the efficacy of passenger use of VR headsets to enhance user-engagement during transit. User-engagement was quantified using physiological measures (pupillary response and electrodermal activity) during an in-car VR game/activity experiment. Further, the impacts of engaging with secondary tasks was evaluated using reaction time of pop-up objects. We designed a driving simulation with inbuilt entertaining activities, no-task, game-task, video-task, and mixed-task, played in a real car with a FOVE VR headset on the perimeter track of the Gifu University campus with 15 subjects (average 25.6 years, SD = 6.4). From reaction time, significant difference between tasks was found using one-way ANOVA (F(3,231) = 2.75, p = .0437). A post-hoc test revealed that game and mixed task reaction times were significantly different (p = .0126 and p = .016, respectively) suggesting that task design should consider hazard recognition in a real car. From physiological measures, an increased/sustained effect of user engagement was noted compared with baseline (no-task) suggesting effectiveness in maintaining vigilance. The results also reported a 10-fold improvement in sitting posture compared to baseline. The methodology employed is applicable as an indirect measure of engagement that would find use in productivity and vigilance study in an ADS.

Road traffic accidents (RTA) are a prevalent cause of fatality with African countries having the highest fatality index (25–34 per quota). The World Health Organization estimates Kenya's fatality rate due to RTA at 28 per quota. From literature, the country's fatality and injuries have increased by 26% and 46.5%, respectively, since the year 2015. The country is faced with incomplete RTA data capturing, hindering effective planning and policy adjustments to curb the menace. In this paper, we scrapped user-generated data (Twitter) and national transport and safety authority's (NTSA) reports to shed light on traffic safety, practices, and cultures in the country. To this end, we gathered 1,000,000 tweets and 8000 speeding entries between 2015 and 2021 and performed natural language processing (NLP) and quantitative study of the data. We applied NLP and n-gram search of keywords to categorize data into 8 topics: traffic, public service vehicle (PSVs), policing, accident, infrastructure, recklessness, robbery, and corruption. From the data, policing, which touches on all police and law-enforcement-related activity was found to be highly correlated with PSVs, recklessness, accidents, traffic congestion, robbery, infrastructure, and corruption with indices of r(76) = 0.92, 0. 91, 0.87, 0.82, 0.81, 0.76, and 0.70, respectively with p < 0.001. The topic modeling confirmed the identified topics to be the latent discussion issues affecting the public. From the study, PSVs, policing and traffic flow were isolated as key issues that ought to be addressed immediately. The research recommended the integration of driver monitoring systems to strengthen policing. The research, which utilized unstructured data, points to the utility of data mining which would greatly benefit traffic research, particularly African-based studies, that suffer from data inadequacy.

Welfare robots, as a category of robotics, seeks to improve the quality of life of the elderly and patients by availing a control mechanism to enable the participants to be self-dependent. This is achieved by using man-machine interfaces that manipulate certain external processes like feeding or communicating. This research aims to realize a man-machine interface using brainwave combined with object recognition applicable to patients with locked-in syndrome. The system utilizes a camera with pretrained object-detection system that recognizes the environment and displays the contents in an interface to solicit a choice using P300 signals. Being a camera-based system, field of view and luminance level were identified as possible influences. We designed six experiments by adapting the arrangement of stimuli (triangular or horizontal) and brightness/colour levels. The results showed that the horizontal arrangement had better accuracy than the triangular method. Further, colour was identified as a key parameter for the successful discrimination of target stimuli. From the paper, the precision of discrimination can be improved by adopting a harmonized arrangement and selecting the appropriate saturation/brightness of the interface.

The Fin Ray-type soft gripper (FRSG) is a typical soft gripper structure and applies the deformation characteristics of the Fin Ray structure. This structure functions to stabilize the grasping of an object by passive deformation due to external forces. To analyze the performance of detailed force without compromising the actual FRSG characteristics, it is effective to incorporate multiple force sensors into the grasping object without installing them inside the Fin Ray structure. Since the grasping characteristics of the FRSG are greatly affected by the arrangement of the crossbeams, it is also important to understand the correspondence between the forces and the geometry. In addition, the grasping characteristics of an angular object have not been verified in actual equipment. Therefore, in this study, a contact force measurement device with 16 force sensors built into the grasping object and a structural deformation measurement device using camera images were used to analyze the correspondence between force and structural deformation on an actual FRSG. In the experiment, we analyzed the influence of the crossbeam arrangement on the grasping force and the grasping conditions of the square (0°) and rectangular (45°) shapes, and state that an ideal grasp in a square-shaped (45°) grasp is possible if each crossbeam in the FRSG is arranged at a different angle.

Due to impaired mobility caused by aging, it is very important to employ early detection and monitoring of gait parameters to prevent the inevitable huge amount of medical cost at a later age. For gait training and potential tele-monitoring application outside clinical settings, low-cost yet highly reliable gait analysis systems are needed. This research proposes using a single LiDAR system to perform automatic gait analysis with polynomial fitting. The experimental setup for this study consists of two different walking speeds, fast walk and normal walk, along a 5-m straight line. There were ten test subjects (mean age 28, SD 5.2) who voluntarily participated in the study. We performed polynomial fitting to estimate the step length from the heel projection cloud point laser data as the subject walks forwards and compared the values with the visual inspection method. The results showed that the visual inspection method is accurate up to 6 cm while the polynomial method achieves 8 cm in the worst case (fast walking). With the accuracy difference estimated to be at most 2 cm, the polynomial method provides reliability of heel location estimation as compared with the observational gait analysis. The proposed method in this study presents an improvement accuracy of 4% as opposed to the proposed dual-laser range sensor method that reported 57.87 cm ± 10.48, an error of 10%. Meanwhile, our proposed method reported ±0.0633 m, a 6% error for normal walking.

In recent years, industries have increasingly emphasized the need for high-speed, energy-efficient, and cost-effective solutions. As a result, there has been growing interest in developing flexible link manipulator robots to meet these requirements. However, reducing the weight of the manipulator leads to increased flexibility which, in turn, causes vibrations. This research paper introduces a novel approach for controlling the vibration and motion of a two-link flexible manipulator using reinforcement learning. The proposed system utilizes trust region policy optimization to train the manipulator’s end effector to reach a desired target position, while minimizing vibration and strain at the root of the link. To achieve the research objectives, a 3D model of the flexible-link manipulator is designed, and an optimal reward function is identified to guide the learning process. The results demonstrate that the proposed approach successfully suppresses vibration and strain when moving the end effector to the target position. Furthermore, the trained model is applied to a physical flexible manipulator for real-world control verification. However, it is observed that the performance of the trained model does not meet expectations, due to simulation-to-real challenges. These challenges may include unanticipated differences in dynamics, calibration issues, actuator limitations, or other factors that affect the performance and behavior of the system in the real world. Therefore, further investigations and improvements are recommended to bridge this gap and enhance the applicability of the proposed approach.

In recent years, surface Electromyography (sEMG) signals have been effectively applied in various fields such as control interfaces, prosthetics, and rehabilitation. We propose a neck rotation estimation from EMG and apply the signal estimate as a game control interface that can be used by people with disabilities or patients with functional impairment of the upper limb. This paper utilizes an equation estimation and a machine learning model to translate the signals into corresponding neck rotations. For testing, we designed two custom-made game scenes, a dynamic 1D object interception and a 2D maze scenery, in Unity 3D to be controlled by sEMG signal in real-time. Twenty-two (22) test subjects (mean age 27.95, std 13.24) participated in the experiment to verify the usability of the interface. From object interception, subjects reported stable control inferred from intercepted objects more than 73% accurately. In a 2D maze, a comparison of male and female subjects reported a completion time of 98.84 s. ± 50.2 and 112.75 s. ± 44.2, respectively, without a significant difference in the mean of the one-way ANOVA (p = 0.519). The results confirmed the usefulness of neck sEMG of sternocleidomastoid (SCM) as a control interface with little or no calibration required. Control models using equations indicate intuitive direction and speed control, while machine learning schemes offer a more stable directional control. Control interfaces can be applied in several areas that involve neck activities, e.g., robot control and rehabilitation, as well as game interfaces, to enable entertainment for people with disabilities.

The purpose of this paper is to quickly and stably achieve grasping objects with a 3D robot arm controlled by electrooculography (EOG) signals. A EOG signal is a biological signal generated when the eyeballs move, leading to gaze estimation. In conventional research, gaze estimation has been used to control a 3D robot arm for welfare purposes. However, it is known that the EOG signal loses some of the eye movement information when it travels through the skin, resulting in errors in EOG gaze estimation. Thus, EOG gaze estimation is difficult to point out the object accurately, and the object may not be appropriately grasped. Therefore, developing a methodology to compensate, for the lost information and increase spatial accuracy is important. This paper aims to realize highly accurate object grasping with a robot arm by combining EMG gaze estimation and the object recognition of camera image processing. The system consists of a robot arm, top and side cameras, a display showing the camera images, and an EOG measurement analyzer. The user manipulates the robot arm through the camera images, which can be switched, and the EOG gaze estimation can specify the object. In the beginning, the user gazes at the screen’s center position and then moves their eyes to gaze at the object to be grasped. After that, the proposed system recognizes the object in the camera image via image processing and grasps it using the object centroid. The object selection is based on the object centroid closest to the estimated gaze position within a certain distance (threshold), thus enabling highly accurate object grasping. The observed size of the object on the screen can differ depending on the camera installation and the screen display state. Therefore, it is crucial to set the distance threshold from the object centroid for object selection. The first experiment is conducted to clarify the distance error of the EOG gaze estimation in the proposed system configuration. As a result, it is confirmed that the range of the distance error is 1.8–3.0 cm. The second experiment is conducted to evaluate the performance of the object grasping by setting two thresholds from the first experimental results: the medium distance error value of 2 cm and the maximum distance error value of 3 cm. As a result, it is found that the grasping speed of the 3 cm threshold is 27% faster than that of the 2 cm threshold due to more stable object selection.

Abstract The yips, an involuntary movement impediment that affects performance in skilled athletes, is commonly described as a form of task-specific focal dystonia or as a disorder lying on a continuum with focal dystonia at one end (neurological) and chocking under pressure at the other (psychological). However, its etiology has been remained to be elucidated. In order to understand sensorimotor cortical activity associated with this movement disorder, we examined electroencephalographic oscillations over the bilateral sensorimotor areas during a precision force task in athletes with yips, and compared them with age-, sex-, and years of experience-matched controls. Alpha-band event-related desynchronization (ERD), that occurs during movement execution, was greater in athlete with yips as compared to controls when increasing force output to match a target but not when adjusting the force at around the target. Event-related synchronization that occurs after movement termination was also greater in athletes with yips. There was no significant difference in task performance between groups. The enhanced ERD is suggested to be attributed to dysfunction of inhibitory system or increased allocation of attention to the body part used during the task. Our findings indicate that sensorimotor cortical oscillatory response is increased during movement initiation in athletes with yips.

Assistive exoskeleton robots are being widely applied in neurorehabilitation to improve upper-limb motor and somatosensory functions. During robot-assisted exercises, the central nervous system appears to highly attend to external information-processing (IP) to efficiently interact with robotic assistance. However, the neural mechanisms underlying this process remain unclear. The rostromedial prefrontal cortex (rmPFC) may be the core of the executive resource allocation that generates biases in the allocation of processing resources toward an external IP according to current behavioral demands. Here, we used functional near-infrared spectroscopy to investigate the cortical activation associated with executive resource allocation during a robot-assisted motor task. During data acquisition, participants performed a right-arm motor task using elbow flexion-extension movements in three different loading conditions: robotic assistive loading (ROB), resistive loading (RES), and non-loading (NON). Participants were asked to strive for kinematic consistency in their movements. A one-way repeated measures analysis of variance and general linear model-based methods were employed to examine task-related activity. We demonstrated that hemodynamic responses in the ventral and dorsal rmPFC were higher during ROB than during NON. Moreover, greater hemodynamic responses in the ventral rmPFC were observed during ROB than during RES. Increased activation in ventral and dorsal rmPFC subregions may be involved in the executive resource allocation that prioritizes external IP during human-robot interactions. In conclusion, these findings provide novel insights regarding the involvement of executive control during a robot-assisted motor task.

Models trained with Deep Reinforcement learning (DRL) have been deployed in various areas of robotics with varying degree of success. To overcome the limitations of data gathering in the real world, DRL training utilizes simulated environments and transfers the learned policy to real-world scenarios, i.e., sim–real transfer. Simulators fail to accurately capture the entire dynamics of the real world, so simulation-trained policies often fail when applied to reality, termed a reality gap (RG). In this paper, we propose a search (mapping) algorithm that takes in real-world observation (images) and maps them to the policy-equivalent images in the simulated environment using a convolution neural network (CNN) model. The two-step training process, DRL policy and a mapping model, overcomes the RG problem with simulated data only. We evaluated the proposed system with a gripping task of a custom-made robot arm in the real world and compared the performance against a conventional DRL sim–real transfer system. The conventional system achieved a 15–57% success rate in gripping operation depending on the position of the target object while the mapping-based sim–real system achieved 100%. The experimental results demonstrated that the proposed DRL with mapping method appropriately corresponded the real world to the simulated environment, confirming that the scheme can achieve high sim–real generalization at significantly low training costs.

Abstract Flexible manipulators have numerous advantages such as lightweight, high operation speed, and low power consumption. However, they suffer from link vibrations, especially when operated at high speeds followed by sudden stops. This limitation has been addressed using techniques such as adaptive filters, adaptive strain feedback gain, state feedback control, etc. This article presents a filtered inverse controller for the mitigation of link vibrations in a multi-link flexible manipulator. To this end, the plant model, developed and linearized in Maple/Maplesim was inverted in MATLAB. The internal dynamics of the inverse model were stabilized using the state feedback technique. For safe and high-speed operations, the inverse model was augmented with a low pass filter to form the filtered inverse which was used as feedforward controller. Practical experiments were carried out in the dSPACE environment. Results show that filtered inverse controller yield not only faster response but relatively minimal link vibration when compared with the manipulator without vibration controller.

Abstract Introduction It has been suggested that transcranial alternating current stimulation (tACS) at both alpha and beta frequencies promotes motor function as well as motor learning. However, limited information exists on the aftereffects of tACS on motor learning and neurophysiological profiles such as entrainment and neural plasticity in parallel. Therefore, in the present study, we examined the effect of tACS on motor learning and neurophysiological profiles using an off‐line tACS condition. Methods Thirty‐three healthy participants were randomly assigned to 10 Hz, 20 Hz, or the sham group. Participants performed visuomotor learning tasks consisting of a baseline task (preadaptation task) and training task (adaptation task) to reach a target with a lever‐type controller. Electroencephalography was recorded from eight locations during the learning tasks. tACS was performed between the preadaptation task and adaptation task over the left primary motor cortex for 10 min at 1 mA. Results As a result, 10 Hz tACS was shown to be effective for initial angular error correction in the visuomotor learning tasks. However, there were no significant differences in neural oscillatory activities among the three groups. Conclusion These results suggest that initial motor learning can be facilitated even when 10 Hz tACS is applied under off‐line conditions. However, neurophysiological aftereffects were recently demonstrated to be induced by tACS at individual alpha frequencies rather than fixed alpha tACS, which suggests that the neurophysiological aftereffects by fixed frequency stimulation in the present study may have been insufficient to generate changes in oscillatory neural activity.

It has been suggested that resting-state functional connectivity (rs-FC) between the primary motor area (M1) region of the brain and other brain regions may be a predictor of motor learning, although this suggestion is still controversial. In the work reported here, we investigated the relationship between M1 seed-based rs-FC and motor learning. Fifty-three healthy volunteers undertook random button-press and sequential motor learning tasks. Five-minute resting-state data acquisition was performed between the two tasks. Oscillatory neural activities during the random task and the rest period were measured using magnetoencephalography. M1 seed-based rs-FC was calculated for the alpha and beta bands using amplitude envelope correlation, in which the seed location was defined as an M1 position with peak event-related desynchronization value. The relationship between rs-FC and the performance of motor learning was examined using whole brain correlation analysis. The results showed that beta-band resting-state cross-network connectivity between the sensorimotor network and the core network, particularly the theory of mind network, affected the performance of subsequent motor learning tasks. Good learners could be distinguished from poor learners by the strength of rs-FC between the M1 and the left superior temporal gyrus, a part of the theory of mind network. These results suggest that cross-network connectivity between the sensorimotor network and the theory of mind network can be used as a predictor of motor learning performance.

With increasing population and motorization, Kenya as well as other African countries are faced with a tragic road traffic accidents (RTA). This paper looks at 5-year (2015–2020) data downloaded from National Transport and Safety Authority (NTSA) website, to identify trends and review progress of the traffic accidents in the country. The objective is to assess the prevalence of accidents within affected groups and location to identify trends and generalized causative agency from the reported data. From literature review, research activity focused on RTA in the country is minimal compared to the social significance accidents poses. The data were extracted and classified using Latent Dirichlet Allocation, a machine learning algorithm modelled in Matlab to group reported accident briefs into general categories/topic which are closely related. Four categories were identified as leading causes of fatality in the country: Knocking down victims, hit-and-run, losing control and head on collision. The identified causes point to preventable driver’s errors which agrees with other researchers. From trend analysis, fatalities and injuries have increased by 26% and 46.5%, respectively since January 2015 to January 2020. This paper found that injuries in vulnerable road users: pedestrians, pillion passengers and motorcyclist, has seen a foldfold increment compared to 2015 data. From the discussion, urgent fine-tuning of policing to protect vulnerable road user as well as curb the overly decried driver behavior is needed. The paper recommends fine-tuning of data collection, capturing details of accident that will be useful in modeling and data analysis for future planning.

Background: As Automated Driving Systems (ADS) technology gets assimilated into the market, the driver’s obligation will be changed to a supervisory role. A key point to consider is the driver’s engagement in the secondary task to maintain the driver/user in the control loop. This paper aims to monitor driver engagement with a game and identify any impacts the task has on hazard recognition. Methods: We designed a driving simulation using Unity3D and incorporated three tasks: No-task, AR-Video, and AR-Game tasks. The driver engaged in an AR object interception game while monitoring the road for threatening road scenarios. Results: There was a significant difference in the tasks (F(2,33) = 4.34, p = 0.0213), identifying the game-task as significant with respect to reaction time and ideal for the present investigation. Game scoring followed three profiles/phases: learning, saturation, and decline profile. From the profiles, it is possible to quantify/infer drivers’ engagement with the game task. Conclusion: The paper proposes alternative monitoring that has utility, i.e., entertaining the user. Further experiments with AR-Games focusing on the real-world car environment will be performed to confirm the performance following the recommendations derived from the current test.

This paper examines the effect of instructions on parts' positions during an assembly task having numerous parts for someone to remember where they are located. Hypothesizing that instructions relating to the positions of the parts would enhance work efficiency and reduce workload, we designed an experimental method to test this theory. In this experiment using educational blocks, visual instructions were given by illuminating the space where the parts are kept, while auditory instructions were provided to aid locating the parts to compare the efficiency of visual and auditory instructions. Experiments with six participants showed that the visual instruction significantly shortened not only the search time but also the assembly time (which was one way in which efficiency was assessed in this study). The use of parts' positions instructions tended to reduce the workload as evaluated with NASA-TLX compared with the cases without instructions.

This research focuses on the minimum process of classifying three upper arm movements (elbow extension, shoulder extension, combined shoulder and elbow extension) of humans with three electromyography (EMG) signals, to control a 2-degrees of freedom (DoF) robotic arm. The proposed minimum process consists of four parts: time divisions of data, Teager–Kaiser energy operator (TKEO), the conventional EMG feature extraction (i.e., the mean absolute value (MAV), zero crossings (ZC), slope-sign changes (SSC), and waveform length (WL)), and eight major machine learning models (i.e., decision tree (medium), decision tree (fine), k-Nearest Neighbor (KNN) (weighted KNN, KNN (fine), Support Vector Machine (SVM) (cubic and fine Gaussian SVM), Ensemble (bagged trees and subspace KNN). Then, we compare and investigate 48 classification models (i.e., 47 models are proposed, and 1 model is the conventional) based on five healthy subjects. The results showed that all the classification models achieved accuracies ranging between 74–98%, and the processing speed is below 40 ms and indicated acceptable controller delay for robotic arm control. Moreover, we confirmed that the classification model with no time division, with TKEO, and with ensemble (subspace KNN) had the best performance in accuracy rates at 96.67, recall rates at 99.66, and precision rates at 96.99. In short, the combination of the proposed TKEO and ensemble (subspace KNN) plays an important role to achieve the EMG classification.

This article sought to address issues related to human-robot cooperation tasks focusing especially on robotic operation using bio-signals. In particular, we propose to develop a control scheme for a robot arm based on electromyography (EMG) signal that allows a cooperative task between humans and robots that would enable teleoperations. A basic framework for achieving the task and conducting EMG signals analysis of the motion of upper limb muscles for mapping the hand motion is presented. The objective of this work is to investigate the application of a wearable EMG device to control a robot arm in real-time. Three EMG sensors are attached to the brachioradialis, biceps brachii, and anterior deltoid muscles as targeted muscles. Three motions were conducted by moving the arm about the elbow joint, shoulder joint, and a combination of the two joints giving a two degree of freedom. Five subjects were used for the experiments. The results indicated that the performance of the system had an overall accuracy varying from 50% to 100% for the three motions for all subjects. This study has further shown that upper-limb motion discrimination can be used to control the robotic manipulator arm with its simplicity and low computational cost.

Brain–machine interfaces (BMIs) are promising devices that can be used as neuroprostheses by severely disabled individuals. Brain surface electroencephalograms (electrocorticograms, ECoGs) can provide input signals that can then be decoded to enable communication with others and to control intelligent prostheses and home electronics. However, conventional systems use wired ECoG recordings. Therefore, the development of wireless systems for clinical ECoG BMIs is a major goal in the field. We developed a fully implantable ECoG signal recording device for human ECoG BMI, i.e., a wireless human ECoG-based real-time BMI system (W-HERBS). In this system, three-dimensional (3D) high-density subdural multiple electrodes are fitted to the brain surface and ECoG measurement units record 128-channel (ch) ECoG signals at a sampling rate of 1 kHz. The units transfer data to the data and power management unit implanted subcutaneously in the abdomen through a subcutaneous stretchable spiral cable. The data and power management unit then communicates with a workstation outside the body and wirelessly receives 400 mW of power from an external wireless transmitter. The workstation records and analyzes the received data in the frequency domain and controls external devices based on analyses. We investigated the performance of the proposed system. We were able to use W-HERBS to detect sine waves with a 4.8-μV amplitude and a 60–200-Hz bandwidth from the ECoG BMIs. W-HERBS is the first fully implantable ECoG-based BMI system with more than 100 ch. It is capable of recording 128-ch subdural ECoG signals with sufficient input-referred noise (3 μVrms) and with an acceptable time delay (250 ms). The system contributes to the clinical application of high-performance BMIs and to experimental brain research.

This paper considers the balance control of a biped robot under a constant external force or on a sloped ground. We have proposed a control method with feedback of the ground reaction forces and have realized adaptive posture changes that ensure the stability of the robot. However, fast responses have not been obtained because effective control is achieved by an integral feedback that accompanies a time delay necessary for error accumulation. To improve this response, here, we introduce gravity compensation in a feedforward manner. The stationary state and its stability are analyzed based on dynamic equations, and the robustness as well as the response is evaluated using computer simulations. Finally, the adaptive behaviors of the robot are confirmed by standing experiments on the slope.

This paper sought to improve the precision of the Alternating Current Electro-Occulo-Graphy (AC-EOG) gaze estimation method. The method consisted of two core techniques: To estimate eyeball movement from EOG signals and to convert signals from the eyeball movement to the gaze position. In conventional research, the estimations are computed with two EOG signals corresponding to vertical and horizontal movements. The conversion is based on the affine transformation and those parameters are computed with 24-point gazing data at the calibration. However, the transformation is not applied to all the 24-point gazing data, but to four spatially separated data (Quadrant method), and each result has different characteristics. Thus, we proposed the conversion method for 24-point gazing data at the same time: To assume an imaginary center (i.e., 25th point) on gaze coordinates with 24-point gazing data and apply an affine transformation to 24-point gazing data. Then, we conducted a comparative investigation between the conventional method and the proposed method. From the results, the average eye angle error for the cross-shaped electrode attachment is x = 2.27 ° ± 0.46 ° and y = 1.83 ° ± 0.34 ° . In contrast, for the plus-shaped electrode attachment, the average eye angle error is is x = 0.94 ° ± 0.19 ° and y = 1.48 ° ± 0.27 ° . We concluded that the proposed method offers a simpler and more precise EOG gaze estimation than the conventional method.

Flexible manipulators capable of high speed operations with low energy consumption have high potential uses for large-scale deployment in industrial works. However, for such systems, simultaneous control of trajectory and vibration still remains a challenge. This paper describes the development of a controller that enables trajectory and vibration control. The controller performance was tested and verified through simulations and actual experiments with a laboratory grade 3D 2-link, flexible manipulator. As a baseline, trajectory tracking using inverse kinematics was observed to have poor tracking due to selfweight deflection. Inverse kinematics results was used to acquire a model of the manipulator using canonical variate analysis system identification. Further, an inverse system was modeled for simultaneous trajectory and vibration control. Compared against the inverse kinematic and the traditional direct strain feedback (DSFB) controller, the inverse system model was found to have 9-fold decrease in trajectory error tracking as well as vibration suppression. The validation experiments on the actual manipulator showed that the inverse system based controller was superior to the inverse kinematics and DSFB method of tracking as it followed the ideal trajectory by overcoming the gravitational pull, and suppressed the link vibrations. [ABSTRACT FROM AUTHOR]

This paper compares force and strain feedback for a contact force controller implemented in a constrained flexible manipulator for three-dimensional motion. In the experiments, force inputs of -1, -2 and -3 N were supplied as targets along z-axis direction and the feedback methods compared for their ability in tracking the supplied force. From the results, strain feedback was able to correct for slippage on the contact surface due to increased input force. It was thus concluded that strain feedback is better than force feedback for the constrained flexible manipulator. As a general guideline, it was also found that recordings should be collected at tip of the manipulator instead of the root to reduce noise levels. [ABSTRACT FROM AUTHOR]