Intelligent Robotics and Applications: 15th International Conference, ICIRA 2022, Harbin, China, August 1–3, 2022, Proceedings, Part IV (Lecture Notes in Computer Science, 13458)

Preface
Organization
Contents – Part IV
Compliant Mechanisms and Robotic Applications
Active Control of Chatter for Five-Axis Milling Based on Piezoelectric Actuator
	1 Introduction
	2 Design of Active Chatter Control Device
		2.1 Active Chatter Control Device for Five-Axis Milling
		2.2 Dynamic Model of the Control Device
		2.3 Dynamic Model of Five-Axis Milling
	3 Design and Simulation of Fuzzy PD Controller
		3.1 The Structure of Active Control System
		3.2 Simulation of Control Systems
	4 Active Control Experiment of Milling Chatter
	5 Conclusions
	References
A Robot-Assisted System for Dental Implantation
	1 Introduction
	2 Materials and Methods
		2.1 A Subsection Sample
		2.2 Selection of the Optical Positioning System
		2.3 Selection of the Control System
		2.4 Application Process of the Robot-Assisted Dental Implant Implantation System
	3 Kinematics Analysis of the Robot-Assisted Dental Implant System
		3.1 Forward Kinematics Analysis
		3.2 Inverse Kinematics Analysis
	4 Coordinate System Conversion and Trajectory Planning
		4.1 Coordinate System Transformation
		4.2 Trajectory Planning
	5 Conclusion and Future Studied
	References
Tri-axial Motion Sensing with Mechanomagnetic Effect for Human-Machine Interface
	1 Introduction
	2 Principle of Mechanomagnetic Sensing
		2.1 Bioinspired Design
		2.2 Mechanomagnetic Sensing and Parameter Optimization
	3 Experimental Validation
		3.1 Sensor Performance and Model Calibration
		3.2 Illustrative Application to HMI
	4 Conclusion
	Appendix
		Fabrication of Magnetic Film
		Fabrication of Elastic Layer and Sensor Assembling
	References
Flexible or Continuum Robots in Clinical Context
Model Predictive 6D Image-Based Visual Servoing for 3C Products Assembly
	1 Introduction
	2 System Description and Problem Statement
		2.1 Depth Problem
		2.2 Local Optimal Solution
	3 Model Predictive Image-Base Visual Servoing for Six-DOF Robot Arm
		3.1 Model Predictive Control
		3.2 Depth Constraint
		3.3 Punishment for the Local Optimal Solution
	4 Simulations
		4.1 Simulation Environment
		4.2 Simulation of Depth Constrain Problems
		4.3 Simulation of the Local Optimal Solution
	5 Conclusion
	References
3D Visual Servo Control of a Flexible Endoscope with RCM Constraint
	1 Introduction
	2 Kinematic Modelling
	3 3D Visual Tracking Scheme
		3.1 Classical Image-Based Visual Servo for Monocular Camera
		3.2 Stereo Vision and 3D Visual Servoing Framework
	4 Control Framework with RCM Constraint
		4.1 Algorithm-Based RCM Constraint
		4.2 Control Framework for 3D Visual Servo with RCM Constraint
	5 Simulation Validations
	6 Conclusion
	References
Automated Vein Segmentation from NIR Images Using a Mixer-UNet Model
	1 Introduction
	2 Research Methods
		2.1 Venipuncture Robotic System
		2.2 Automated Vein Segmentation from NIR Images
	3 Experiments and Results
		3.1 Experiments
		3.2 Results
	4 Conclusions
	References
A Novel Cable-Driven Manipulator with Constant-Curvature Deflections and Equal Displacements of the Antagonistic Cables
	1 Introduction
	2 Modeling
		2.1 Structure
		2.2 Kinematic Modeling
		2.3 Simplification of Mapping Between Cable Length Change and Segment Angle
	3 Motion Analysis
		3.1 Working Space
		3.2 The Linear Mapping Between Cable Length and Segment Angle
	4 Experiment
	5 Conclusion
	References
Vessel Site Selection for Autonomous Cannulation Under NIR Image Guidance
	1 Introduction
	2 Methods
		2.1 Mechanical System
		2.2 Data Composition
		2.3 Image Preprocessing
		2.4 Image Post-processing
		2.5 Vessel Site Selection
	3 Experiments and Results
	4 Conclusions
	References
Data Processing and Image Analysis
Open-Set Fault Diagnosis Method for Industrial Process Based on Semi-supervised Learning
	1 Introduction
	2 Distribution Alignment
	3 Open-Set Semi-supervised Process Fault Diagnosis Strategy Based on Uncertainty Distribution Alignment
	4 Experiment
		4.1 Numerical Simulation
		4.2 Tennessee-Eastman Process
	5 Conclusions
	References
The Geometric Transformation Model of Two Views Based on the Line-Scan Camera Imaging Model
	1 Introduction
	2 The Geometric Transformation Model of Linear Array Image
		2.1 The Imaging Model of Line-Scan Camera
		2.2 The Geometric Transformation Model of Two Views for Line-Scan Camera
	3 Verification Method of the Geometric Transformation Model of Linear Array Image
		3.1 Verification Method
		3.2 Experimental Data
	4 Experimental Results
	5 Conclusion
	References
Group Sparsity Regularized High Order Tensor for HSIs Super-Resolution
	1 Introduction
	2 Preliminaries
	3 Model
	4 Algorithm
	5 Experiments
		5.1 Dataset
		5.2 Compared Methods and Evaluation Indexes
		5.3 Qualitative and Quantitative Results
	6 Conclusion
	References
Bearing Fault Diagnosis Method Based on Multi-sensor Feature Fusion Convolutional Neural Network
	1 Introduction
	2 Flowchart of the Proposed Model
		2.1 Dilated Convolution Block
		2.2 Multi-layer Fusion Network
		2.3 Attention Fusion Network
		2.4 Network Parameter Settings
	3 Experimental Verification
		3.1 Experimental Platform Setup for Data Acquisition
		3.2 Performance Analysis of Different Sensor Signals
		3.3 The Accuracy of Time Domain and Frequency Domain Signals
		3.4 Network Visualization
		3.5 Attention Fusion Network Analysis
		3.6 Comparisons of Different Methods
	4 Conclusion
	References
Effect of Foot Shape on Walking Performance of a Biped Robot Controlled by State Machine
	1 Introduction
	2 Simulation Model
		2.1 Robot Model
		2.2 Foot Shape
	3 Control Method
		3.1 Control Framework
		3.2 Low-Level Controllers
	4 Result
		4.1 Walking Performance
		4.2 Walking Gait
		4.3 Discussion
	5 Conclusion
	References
Research on Part Image Segmentation Algorithm Based on Improved DeepLabV3+ 
	1 Introduction
	2 DeepLabV3+ Model
	3 Improved DeepLabV3+ structure
		3.1 Channel Attention
		3.2 Adaptive Spatial Feature Fusion
		3.3 Asymmetric Convolution
	4 Experimental
		4.1 Experimental Platform and Parameter
		4.2 Datasets and Evaluation Metrics
		4.3 Comparison of Results from Different Algorithms
	5 Conclusion
	References
Multiple Object Tracking by Joint Head, Body Detection and Re-Identification
	1 Introduction
	2 Related Work
		2.1 Tracking-By-Detection MOT Approaches
		2.2 Joint-Detection-and-Tracking MOT Approaches
		2.3 Head Detection and Tracking
	3 HBR: Joint Head, Body Detection and Re-ID Model
		3.1 Backbone Network
		3.2 Head and Body Detection
		3.3 Re-ID Task
		3.4 Total Loss of Training
		3.5 Online Association and Tracking
	4 Experiments
		4.1 Datasets and Metrics
		4.2 Implementation Details
		4.3 Evaluation on MOT Challenge
	5 Summary and Future Work
	References
Recognition of Blinding Diseases from Ocular OCT Images Based on Deep Learning
	1 Introduction
	2 Related Research
	3 Method
		3.1 Crop and Adjust the Volume
		3.2 Data Enhancement
		3.3 Inception V3 Model
	4 Experiment General Overview
		4.1 Data Sets
		4.2 Process and Result
		4.3 Comparative Experiment
	5 Conclusion
	References
CTooth: A Fully Annotated 3D Dataset and Benchmark for Tooth Volume Segmentation on Cone Beam Computed Tomography Images
	1 Introduction
	2 CTooth Dataset: Fully Annotated Cone Beam Computed Tomography Tooth Dataset
		2.1 Dataset Summary
		2.2 Expert Annotation
	3 Attention-Based Tooth Volume Segmentation
		3.1 Framework Design
		3.2 Loss Function
	4 Experiments and Results
		4.1 Evaluation Metrics on the CTooth
		4.2 Experimental Results
	5 Conclusion
	References
DU-Net Based Unsupervised Contrastive Learning for Cancer Segmentation in Histology Images
	1 Introduction
	2 Methods
		2.1 Data Augmentation
		2.2 Network Structure
		2.3 Post-processing
	3 Experiments
		3.1 Dataset
		3.2 Preprocessing
		3.3 Network Training Details
		3.4 Post-processing
		3.5 Result Evaluation
	4 Conclusions
	References
Dual Path DNN Based Heterogenous Reference Image Quality Assessment via Decoupling the Quality Difference and Content Difference
	1 Introduction
	2 Related Works
		2.1 DNN Based Blind Image Qquality Assessment
		2.2 IQA Using Similar Scene as Reference
	3 Proposed Methods
		3.1 Quality Difference Invariance and Content Difference Invariance
		3.2 Implementation Details and Training Pipeline
		3.3 Training Sample Generating Procedure
	4 Experiments
		4.1 Preconditions
		4.2 Performance Comparison
		4.3 Ablation Experiments
	5 Conclusion
	References
Automatic Segmentation of Kidney Computed Tomography Images Based on Generative Adversarial Networks
	1 Introduction
	2 Materials and Methods
		2.1 SegKGAN Architecture
		2.2 Objective Function
		2.3 Experimental Configuration and Evaluation Criteria
	3 Result
		3.1 Qualitative Evaluation
		3.2 Quantitative Evaluation
	4 Conclusion
	References
Engineering Drawing Manager: A Smart Data Extractor and Management Software
	1 Introduction
	2 Overview of ED Manager
		2.1 Software Framework
		2.2 Workflow of Information Processing Layer
	3 Key Algorithms
		3.1 Image Preprocessing
		3.2 Structure Information
		3.3 Content Information
	4 Improvement
		4.1 Improvement of the Histogram Projection Method
		4.2 Dots-Connection Method
	5 Experiements and Analysis
	6 Conclusion
	References
Advanced Key Technologies in Intelligent Interactive Robots
Micro Vision-based Sharpening Quality Detection of Diamond Tools
	1 Introduction
	2 Structure of the DDN
		2.1 An Overview of DDN
		2.2 DDN’s Structure and Optimization
	3 Experiment Setup
	4 Result and Discussion
	5 Conclusions
	References
Visual Alignment Method by Merging 2D/3D Data in Robot Automatic Drilling
	1 Introduction
	2 Datum Location and Alignment Algorithm Based on 2D/3D Data Fusion
		2.1 Datum Hole Edge Extraction
		2.2 Point Cloud Centroid Extraction
		2.3 Matching of Homonym Center Point and Calculation of Datum Hole Location
		2.4 Coordinate System Transformation
	3 Experiments
	4 Conclusion
	References
CPC: Cable Parameters Calculation Based on 3D Point Cloud
	1 Introduction
	2 Design of the Algorithm
		2.1 Point Cloud Segmentation
		2.2 Diameter Calculation
		2.3 Length Calculation
	3 Experiments
		3.1 Curve Fitting
		3.2 Parameter Calculation
	4 Conclusion
	References
Jacobian Estimation with Adaptive Kalman Filter for Uncalibrated Visual Servoing
	1 Introduction
	2 Theoretical Background
		2.1 Geometry of Homography
		2.2 Projective Jacobian Matrix Construction
	3 AKF Based Projective Jacobian Estimation
		3.1 Linear System Construction
		3.2 Jacobian Estimation with AKF Using Recursive Estimation
	4 Simulations and Analysis
		4.1 Jacobian Estimation Under Static Positioning
		4.2 Jacobian Estimation Under Dynamic Tracking
	5 Conclusions
	References
Design of Wireless Synchronous sEMG Information Acquisition System
	1 Introduction
		1.1 The Overview of sEMG
		1.2 The Overview of Wireless Synchronization
	2 Related Works
	3 Design of Wireless sEMG and IMU Acquisition System
		3.1 Overall System Architecture
		3.2 Electrode Design
		3.3 Hardware Design
		3.4 Program Design
	4 System Performance Verification
		4.1 Synchronization Performance Verification
		4.2 sEMG Performance Test
		4.3 Data Transfer Performance Test
		4.4 Transmission Distance Test
		4.5 sEMG Test Verification
	5 Conclucion
	References
Augmented Graph Attention with Temporal Gradation and Reorganization for Human Motion Prediction
	1 Introduction
	2 Related Work
		2.1 RNN Based Human Motion Prediction
		2.2 Other Feed-Forward Methods
	3 Approach
		3.1 Network Structure
		3.2 Temporal Gradation and Reorganization Mechanism
		3.3 Augmented Graph Attention with Temporal Convolution Block
		3.4 Training
	4 Experiments
		4.1 DataSets
		4.2 Baselines
		4.3 Results
		4.4 Ablation Study
	5 Conclusions
	References
Highlight Detection and Removal Method Based on Bifurcated-CNN
	1 Introduction
	2 Specular Highlight Image Formation
	3 Bifurcated Feature Selection-Based Two-Stage Network
		3.1 Network Framework
		3.2 Stage I: Rough Extraction Process of Specular Highlight Feature Based on BFSS
		3.3 Stage 2: Delicate Removal Process of Specular Highlight Feature
		3.4 Network Training
		3.5 Implementation Details
	4 Experimental Results and Discussion
		4.1 Self-built Dataset
		4.2 Comparisons
	5 Conclusion
	References
Two-Stream Adaptive Weight Convolutional Neural Network Based on Spatial Attention for Human Action Recognition
	1 Introduction
	2 Related Work
	3 Multimodal-Based Human Action Recognition
		3.1 Feature Extraction Module
		3.2 Spatial Attention Module
		3.3 Feature Fusion Module
	4 Experiments
		4.1 Implementation Details
		4.2 Ablation Experiments
		4.3 Comparison Experiments
	5 Conclusion
	References
Sensing and Decoding of Biosignals for Human-Machine Interface
Desktop-Sized Lithium Battery Protection Printed Circuit Board Detection System Based on Visual Feedback Manipulator
	1 Introduction
	2 System Composition and Detection Process
		2.1 System Composition
		2.2 Detection Process
	3 System Principle and Corresponding Algorithm
		3.1 The Detection Algorithm of Detected Point Based on YOLOv5
		3.2 The Hand-Eye Calibration Algorithm Based on Neural Network Fitting
		3.3 The Algorithm of the Approximate Double-Parallel Scatters Classification Based on Dynamic Relaxation Voting
	4 System Experiment and Effect Analysis
		4.1 Experiment Platform
		4.2 Experimental Metrics
		4.3 Experiment and Result Analysis
	5 Conclusion
	References
Continuous Finger Kinematics Estimation Based on sEMG and Attention-ConvGRU Network
	1 Introduction
	2 Method
		2.1 Dataset
		2.2 Data Preprocessing
		2.3 Model
	3 Results
	4 Conclusion
	References
Nonlinear Methods on HD-sEMG Signals for Aging Effect Evaluation During Isometric Contractions of the Biceps Brachii
	1 Introduction
	2 Material and Methods
		2.1 Participants
		2.2 Torque and HD-sEMG Recording
		2.3 Methods
	3 Results
		3.1 Torque
		3.2 Root Mean Square Amplitude (RMSA)
		3.3 Nonlinear Measures
	4 Results
	5 Discussion
	References
A Novel Preprocessing Approach with Soft Voting for Hand Gesture Recognition with A-Mode Ultrasound Sensing
	1 Introduce
	2 Related Work
	3 Method and Experiment
		3.1 Dataset
		3.2 Methods
		3.3 Evaluation Method
	4 Result and Discussion
		4.1 Hyperparameter Tuning
		4.2 Single-Feature Results
		4.3 Multi-feature Results
	5 Conclusion
	References
Hand Gesture Recognition and Biometric Authentication Using a Multi-day Dataset
	1 Introduction and Background Summary
	2 Methods
		2.1 Participants
		2.2 Experimental Setup
		2.3 Experimental Protocol
		2.4 NinaPro Database
		2.5 Signal Processing
		2.6 Statistical Analysis
	3 Results
	4 Discussion
		4.1 Limitations of the Study
		4.2 Future Use of the Dataset
	5 Conclusion
	References
EEG Generation of Virtual Channels Using an Improved Wasserstein Generative Adversarial Networks
	1 Introduction
	2 The Proposed Method
		2.1 The Improved Wasserstein GAN
		2.2 Network Structure
	3 Experiments
		3.1 Datasets
		3.2 Implementation Details
		3.3 Evaluation Metrics
	4 Results and Discussion
		4.1 Loss Variation of the Improved WGAN
		4.2 Visualization of the Generated EEG
		4.3 Classification Results
	5 Conclusion
	References
Research on Compliant Rehabilitation Strategy of Upper Limb Rehabilitation Robot Based on sEMG
	1 Introduction
	2 sEMG-Based Compliant Rehabilitation Method
		2.1 Experimental Paradigm
		2.2 Force Estimation
		2.3 Impedance Control Strategy
	3 Results and Analysis
	4 Conclusion
	References
Trajectory Tracking Control Based on RBF Neural Network Learning Control
	1 Introduction
	2 Problem Formulation and Preliminaries
		2.1 3-DOF Manipulator Model
		2.2 RBF Neural Network and Deterministic Learning
	3 Methods to Improve Training Speed
		3.1 Change the Structure of the Network
		3.2 Change the Distribution Strategy of Nodes
	4 Experiment and Analysis
		4.1 Experimental Result
		4.2 Experimental Analysis
	5 Conclusion
	References
Intelligent Vision and Learning
A Knowledge-Embedded End-to-End Intelligent Reasoning Method for Processing Quality of Shaft Parts
	1 Introduction
	2 Methodology
		2.1 Proposed Method
		2.2 State Space Mode
		2.3 Adaptive Network-Based Fuzzy Inference System
	3 Model Construction and Dataset Acquisition
		3.1 Construction of SSM and Simulation of Dataset
		3.2 End-to-End Intelligent Reasoning Models Based on ANFIS
	4 Results and Analysis
		4.1 Results of the SSM for Shaft Parts
		4.2 Results of the End-to-end Intelligent Reasoning Models Based on ANFIS
	5 Conclusions and Future Work
	References
Robotic Grasp Detection Based on Transformer
	1 Introduction
	2 Related Work
	3 Method
		3.1 Grasp Representation
		3.2 Overview
		3.3 Encoder
		3.4 Decoder
		3.5 Loss Function
	4 Experiment Set
		4.1 Dataset
		4.2 Metric
		4.3 Implementation Details
	5 Results and Analysis
		5.1 Results for Single-Object Grasp
		5.2 Results for Multi-object Grasp
	6 Conclusion and Future Work
	References
An Improved Off-Policy Actor-Critic Algorithm with Historical Behaviors Reusing for Robotic Control
	1 Introduction
	2 Preliminaries
		2.1 Notation
		2.2 Maximum Entropy Reinforcement Learning
	3 Main Results
		3.1 Off-Policy Policy Gradient with Historical Behaviors Reusing
		3.2 A Unified Critic Network Model
		3.3 Practical Algorithm
	4 Experiments
	5 Conclusion
	References
MIA-Net: An Improved U-Net for Ammunition Segmentation
	1 Introduction
		1.1 Traditional Object Segmentation Methods
		1.2 Object Segmentation Based on Deep Learning
	2 Method
		2.1 Multi-scale Input Module
		2.2 Weighted Attention Module
	3 Experiments
		3.1 Dataset Construction
		3.2 Implementation Details
		3.3 Evaluation Metrics
		3.4 Experimental Results and Analysis
	4 Conclusion
	References
A Method for Robust Object Recognition and Pose Estimation of Rigid Body Based on Point Cloud
	1 Introduction
	2 Overall Scheme
		2.1 Feature Matching Based on SHOT Descriptor
		2.2 Our Key Improvements
	3 Methodology
		3.1 Adaptive Voxel Filter Based on Local Resolution
		3.2 MSG-SHOT Feature
		3.3 Non-maximum Suppression Based on Point Cloud
	4 Experiment
		4.1 Experiment on Public Datasets
		4.2 Experiment on Our Own Datasets
		4.3 Ablation Studies
	5 Conclusion
	References
Machine Learning in Human-Robot Collaboration
Motion Regulation for Single-Leader-Dual-Follower Teleoperation in Flipping Manipulation
	1 Introduction
	2 Fundamentals of Teleoperation System
		2.1 Position Matching
		2.2 Direction Matching
	3 Box Flipping Task Based on Force Control
		3.1 Force Controller Design
		3.2 Force Analysis of Box Flipping Task
	4 Experiment
		4.1 Experimental Setup
		4.2 Experimental Results
	5 Conclusion
	References
An Autonomous Obstacle Avoidance Method for Dual-Arm Surgical Robot Based on the Improved Artificial Potential Field Method
	1 Introduction
	2 Modeling
		2.1 Kinematics Modeling of Dual Manipulators
		2.2 Workspace with Dual Robotic Arms
		2.3 Convex Hull Algorithm to Build Obstacle Model
	3 Autonomous Obstacle Avoidance
		3.1 Improved Artificial Potential Field Method Function
		3.2 The Improved Splicing Path Algorithm Handles the Local Minima Problem
		3.3 Collision Detection Algorithm
		3.4 Trajectory Preprocessing
	4 Simulation Test
	5 Virtual Machine Experiment
	6 Conclusion
	References
UAV Path Planning Based on DDQN for Mountain Rescue
	1 Introduction
	2 DDQN Configuration for Path Planning in Mountain Rescue
	3 Path Planning Reinforcement Learning Algorithm Design
		3.1 Environmental Model Construction
		3.2 State Space Design
		3.3 Action Space Design
		3.4 Action Strategy Design
		3.5 Reward Function Design
	4 Simulation
		4.1 Static Target
		4.2 Dynamic Target
	5 Conclusion
	References
Online Safe Trajectory Generation of Quadrotors Autonomous Landing in Complex Dynamic Environments
	1 Introduction
	2 Related Work
	3 Move-RRT and Move-B-RRT Algorithms
		3.1 Sampling Algorithm for Moving Target
		3.2 Move-RRT Algorithm
		3.3 Move-B-RRT Algorithm
	4 Flight Corridor and Safe Trajectory Generation
	5 Implementation Details and Results
		5.1 MATLAB Implementation Details
		5.2 ROS Implementation Details
	6 Conclusions
	References
Revised Discrete Control Barrier Functions for Safe Control of a Redundant DoF Manipulator
	1 Introduction
	2 Background
		2.1 Discrete-time Control Lyapunov and Barrier Functions
		2.2 Task-space Kinematic Control for Robotic System
	3 Construct Constraints for Safe HRI
		3.1 Distance to a Human on the Link
		3.2 Construction of Safety and Stability Constraints
	4 Simulation
	5 Conclusions
	References
Multimodal Sensing and Understanding
Precision Peg-In-Hole Assembly Based on Multiple Sensations and Cross-Modal Prediction
	1 Introduction
	2 Multimodal Fusion Network
		2.1 Self-supervised Learning to Extract Visual and Depth Features
		2.2 Multimodal Decision-Level Fusion Algorithm Framework
	3 Cross-Modal Prediction Network
		3.1 Reference Image and Image Encoder
		3.2 Cross-Modal Image Prediction
		3.3 Action-Generation System
		3.4 Reward Function
	4 Experiments and Results
		4.1 Hybrid Position/Force Control
		4.2 Environment Setup
		4.3 Results and Discussion
	5 Conclusion
	References
An Improved YOLOX for Detection in Urine Sediment Images
	1 Introduction
	2 Related Work
		2.1 Object Detection
		2.2 Attention Mechanism
	3 Proposed Approach
		3.1 YOLOX
		3.2 Attention Module
		3.3 Loss
	4 Experiments
		4.1 Implementation
		4.2 Comparison with Other Object Detection Algorithms
		4.3 Ablation Study
	5 Conclusion
	References
Multi-scale Feature Based Densely Channel Attention Network for Vision-Based Haze Visibility Detection
	1 Introduction
	2 Related Works
	3 The Proposed Method
		3.1 Overview
		3.2 Image Entropy
		3.3 Multi-scale Feature Method
		3.4 Channel Attention Method
		3.5 Densely Channel Network
	4 Experiments
		4.1 Datasets
		4.2 Implementation Details
		4.3 Performance Comparison
	5 Conclusions
	References
Generative Unknown-Aware Object Detection
	1 Introduction
	2 Related Work
	3 Proposed Method
		3.1 Method Overview
		3.2 Consistently Auto-labelling Unknowns
		3.3 Leverage the Overlooked Components
	4 Experiments and Resutls
		4.1 Evaluation Protocol
		4.2 State-of-the-Art Comparison
		4.3 Ablation Studies
		4.4 Qualitative Analysis
	5 Conclusions
	References
Super-Resolution Based on Degradation Learning and Self-attention for Small-Scale Pedestrian Detection
	1 Introduction
	2 Related Works
	3 The Proposed Method
		3.1 Super Resolution Model
		3.2 Degradation Learning
		3.3 MSAF Module
	4 Experiments
		4.1 Datasets and Evaluation Metrics
		4.2 Implementation Details
		4.3 Ablation Studies
	5 Conclusion
	References
Context Dual-Branch Attention Network for Depth Completion of Transparent Object
	1 Introduction
	2 Related Work
		2.1 Depth Completion of Transparent Objects
		2.2 Attention Mechanism
	3 Method
		3.1 Overview
		3.2 Multi-scale Spatial Attention
		3.3 Context-Gated Convolution
	4 Experiments
		4.1 Dataset and Implement Detail
		4.2 Comparison to State-of-the-art Methods
		4.3 Ablation Studies
	5 Conclusion
	References
Bio-inspired Healthcare Robotics and Technology
Theoretical Calculation and Analysis of Microdroplet Evaporation on Micropipette Force Sensor
	1 Introduction
	2 Theoretical Analysis
		2.1 CCR Model of Droplet Evaporation
		2.2 Adaptive Pressure Regulation Method
		2.3 Stability Analysis of Droplet
	3 Conclusion
	References
Evaluation of Muscle Activation Reaction on Fore-Aft Dynamic Interference During Load-Carrying Level Walking
	1 Introduction
	2 Methods
		2.1 Experiment Protocol
		2.2 Data Acquisition
		2.3 Data Processing
	3 Experimental Results and Discussions
		3.1 Muscle Activation
		3.2 RMS of Muscle Activation
		3.3 Pearson Correlation Coefficients
	4 Conclusion and Future Work
	References
Effects of Different Resistance Schemes Applied by Hip Exoskeleton on Lower-Limb Muscle Recruitment and Coordination
	1 Introduction
	2 Method
		2.1 Test Setup
		2.2 Experimental Protocol
		2.3 Data Recording
		2.4 Data and Statistical Analysis
	3 Results
		3.1 Muscle Activity and Co-contraction
		3.2 Muscle Synergy
	4 Discussion and Limitation
	5 Conclusion
	References
A Biologically Inspired Lower Limb Cable Driven Exoskeleton
	1 Introduction
	2 Musculoskeletal-Model-Based Simulation and Exoskeleton Design
		2.1 Principles of Human Walking Pattern
		2.2 Exoskeleton Structure and Arrangement Design Based on Biomechanical
	3 Gait Detection System
	4 Evaluation of Exoskeleton Performance Through Human Experiment
		4.1 MVIC Manual Test
		4.2 MVIC Treadmill Walking Test
	5 Conclusion
	References
A Novel Compliant Actuator, ISSA and the Applications on a Robotic Arm
	1 Introduction
	2 Design of the ISSA
	3 Workflow
		3.1 Force-Tendon Displacement Relationship
		3.2 Joint Stiffness-Tendon Displacement Relationship
		3.3 Joint Output Torque-Displacement Relationship
	4 Prototype and Evaluation
		4.1 Prototype
		4.2 Force-Displacement Relationship
		4.3 Joint Stiffness-Displacement Relationship
		4.4 Application on a Biomimetic Robotic Arm
	5 Conclusion
	References
A New 3D Printed Passive Flexible Prosthesis Based on the Human Foot
	1 Introduction
	2 Production Process
	3 Experimental Process
		3.1 Test Platform Construction and Marking Point Layout
		3.2 Test Subjects
		3.3 Introduction to the Body Wear Test Process
	4 Results
	5 Comparative Analysis of Other Prostheses
	6 Discussion
	References
Robot Vision and Applications
The Improved YOLOV5 Algorithm and Its Application in Small Target Detection
	1 Introduction
	2 Introduction to YOLOV5 Network
	3 Modified Model of YOLOV5
		3.1 Cluster-Based Data Collection Object Framework
		3.2 Improved YOLOV5 Detection Model
	4 Experimental Results and Analysis
		4.1 Training of the Network
		4.2 Network Test
	5 Epilogue
	References
Workpiece Detection of Robot Training Platform Based on YOLOX
	1 Introduce
	2 YOLOX Algorithm Model
		2.1 Input
		2.2 Trunk Network
		2.3 The Neck
		2.4 Predict End
	3 YOLOX Algorithm Improvement
		3.1 Activation Function Improvement
		3.2 Improved Multi-scale Detection
	4 Data Collection and Preprocessing
		4.1 The Data Collection
		4.2 Data Preprocessing
	5 Results Analysis
		5.1 The Evaluation Index
		5.2 Experimental Results and Analysis
	6 Conclusion
	References
Detecting Temporal Pain Status of Postoperative Children from Facial Expression
	1 Introduction
	2 Related Works
		2.1 Pain Assessment Method of Children Facial Expression
		2.2 Deep Facial Pain Expression Recognition
		2.3 Multi-head Attention Mechanism
	3 Method
		3.1 Facial Image Acquisition
		3.2 Pain Expression Analysis
	4 Experiments
		4.1 Datasets
		4.2 Experiment Setup
		4.3 Ablation Experiment
		4.4 Test Results and Comparison with Volunteers
	5 Conclusion
	References
Detection of Response to Instruction in Autistic Children Based on Human-Object Interaction
	1 Introduction
	2 Related Work
		2.1 Detection of Autistic Children Based on Computer Vision
		2.2 Human-Object Interaction
	3 Method
		3.1 Overview
		3.2 Feature Extraction
		3.3 Feature Transformer
		3.4 Human-Object Interaction Prediction and Matching
	4 Experiments
		4.1 Dataset and Evaluation Metrics
		4.2 Implementation Details
		4.3 Results and Discussion
	5 Conclusion
	References
A Monocular Vision-Based Human-Following Approach for Mobile Robots
	1 Introduction
	2 Method
		2.1 Human Detection
		2.2 Visual Servoing Control
	3 Experiments
		3.1 Velocity of Robot
		3.2 Angle of Robot
		3.3 Process of Following
	4 Conclusions
	References
Learning Grasp Ability Enhancement Through Deep Shape Generation
	1 Introduction
	2 Related Work
		2.1 Grasping Dataset
		2.2 Data Augmentation
	3 Object Shape Encoding
		3.1 Network Architecture
		3.2 Network Training
	4 Data Augmentation
		4.1 Shape Rarity and Graspness Metrics
		4.2 Shape Generation
	5 Experiments
		5.1 Experiment Setup
		5.2 Different Network Comparison
		5.3 Improvement from Generated Data
		5.4 Augmentation Ratio and Limitation
	6 Discussion and Conclusion
		6.1 Discussion
		6.2 Conclusion
	References
A Grasp Pose Detection Network Based on the DeepLabv3+ Semantic Segmentation Model
	1 Introduction
	2 Method
		2.1 Representation of Grasp Pose
		2.2 Dataset
		2.3 The DeepLabv3+ Semantic Segmentation Network
		2.4 Minimum Bounding Directed Rectangle Fitting and Calculation of Grasp Pose
	3 Experiment
		3.1 Model Training
		3.2 Prediction and Evaluation
		3.3 Grasp Simulation
	4 Conclusion
	References
Topology Reconstruction of High-Reflective Surfaces Based on Multi-modality Data
	1 Introduction
	2 Method
		2.1 Multi-modality Sensor System
		2.2 Fringe Projection Profilometry
		2.3 Photometric Stereo
		2.4 Fusion
	3 Experiment
	4 Conclusion
	References
Position-Pose Measurement Algorithm Based on Geometrical Characteristics
	1 Introduction
	2 Algorithm
		2.1 Target Structure
		2.2 Coordinate System Conventions
		2.3 Transformation from Base Coordinate System to Auxiliary Coordinate System
		2.4 Transformation from Auxiliary Coordinate System to Target Coordinate System
	3 Experiments
	4 Conclusion
	References
Safety-Oriented Teleoperation of a Dual-Arm Mobile Manipulation Robot
	1 Introduction
	2 Related Work
		2.1 Teleoperation Forms
		2.2 Teleoperation Algorithms
	3 Overview of the Robot Design
	4 Teleoperation Strategy
		4.1 Teleoperation Framework
		4.2 Workspace Protection
		4.3 Self-collision Protection
		4.4 Configuration-Switch Protection
	5 Simulation and Experimental Results
		5.1 Workspace Constraints
		5.2 Self-collision Protection
		5.3 Configuration Switch
	6 Conclusion
	References
Author Index