Intelligent Robotics and Applications: 15th International Conference, ICIRA 2022, Harbin, China, August 1–3, 2022, Proceedings, Part II (Lecture Notes in Computer Science, 13456)

Preface
Organization
Contents – Part II
Rehabilitation and Assistive Robotics
Design and Control of a Bimanual Rehabilitation System for Trunk Impairment Patients
	1 Introduction
	2 System Overview
	3 Trunk Rehabilitation Trajectory Generation
		3.1 Reference Path Generation
		3.2 Customized Training Trajectory Generation
	4 Robot arms integration and controls
		4.1 Trunk Rehabilitation Trajectory Planning for the Bi-manunal Robots
		4.2 Controls
	5 Simulation and experiment
		5.1 Validation of the System
		5.2 Validation of the customized training trajectory generation and control strategy
	6 Conclusion and Future Work
	References
Study on Adaptive Adjustment of Variable Joint Stiffness for a Semi-active Hip Prosthesis
	1 Introduction
	2 Hip Prosthesis and Variable Stiffness Joint Structure
	3 Control Method
		3.1 Overall Design
		3.2 Kinematics Mapping Model of Healthy Side to Prosthetic Side
		3.3 Modeling of Gait Phase to Stiffness
		3.4 Embedded System Design
	4 Experiments and Discussions
		4.1 Experiments Protocol
		4.2 Results
		4.3 Discussion
	5 Conclusion
	References
A Hip Active Lower Limb Support Exoskeleton for Load Bearing Sit-To-Stand Transfer
	1 Introduction
	2 The Design of Exoskeleton
	3 Load Bearing STS Assistance Strategy Design
		3.1 VMC Based Pulling Force Calculation
		3.2 Control Parameters Optimization
	4 Experiment Setup and Data Process
	5 Experimental Results
	6 Discussion and Conclusions
	References
Generative Adversarial Network Based Human Movement Distribution Learning for Cable-Driven Rehabilitation Robot
	1 Introduction
	2 Method
		2.1 Kinematic and Dynamic Analyses
		2.2 Generative Adversarial Network (GAN)
		2.3 Admittance Controller
		2.4 PID Controller
	3 Experiment and Results of Human Movement Distribution Learning Based on GAN
	4 Conclusion
	References
Learning from Human Demonstrations for Redundant Manipulator
Kinematic Analysis and Optimization of a New 2R1T Redundantly Actuated Parallel Manipulator with Two Moving Platforms
	1 Introduction
	2 Structure Description of the Var2 RAPM
	3 Mobility Analysis
	4 Inverse Kinematics
	5 Kinematic Performance Evaluation
	6 Dimensional Optimization
	7 Conclusions
	References
Control Design for a Planar 2-DOF Parallel Manipulator: An Active Inference Based Approach
	1 Introduction
	2 Active Inference Controller
		2.1 Free Energy Equation
		2.2 Belief Update
		2.3 Control Actions
	3 Dynamic Model of Parallel Manipulator System
		3.1 Dynamic Model of Subsystem Without Constraint
		3.2 Constraint Design for Parallel Manipulator System
		3.3 Dynamic Model of Parallel Manipulator System with Constraints
	4 Simulation
	5 Conclusion
	References
Geometrical Parameter Identification for 6-DOF Parallel Platform
	1 Introduction
	2 Kinematics of 6-DOF Parallel Platform
		2.1 6-DOF Parallel Platform
		2.2 Kinematic Model
	3 Parameter Identification
	4 Simulation
	5 Conclusion
	References
Multi-robot Cooperation Learning Based on Powell Deep Deterministic Policy Gradient
	1 Introduction
	2 Related Work
		2.1 Deep Deterministic Policy Gradient
		2.2 Powell\'s Method
	3 Method
		3.1 PDDPG
	4 Experiments
		4.1 Experiments Setup
		4.2 Results
	5 Conclusions
	References
Model Construction of Multi-target Grasping Robot Based on Digital Twin
	1 Introduction
	2 Related Work
	3 Multi-target Grasping Digital Twin Model of Robot
		3.1 Digital Twin
		3.2 Twin Model of Multi-object Grasping Process for Robot
	4 Robotic Multi-target Fetching Based on Digital Twin
		4.1 Digital Modeling of Key Elements of Robot Multi-target Grasping Process
		4.2 Twin Data Perception
		4.3 Evaluation of Robot Virtual Model Grasping Strategy
	5 Conclusion
	References
Mechanism Design, Control and Sensing of Soft Robots
A New Geometric Method for Solving the Inverse Kinematics of Two-Segment Continuum Robot
	1 Introduction
	2 Design of the Continuum Robot
	3 Geometric Algorithm for Solving Inverse Kinematics
		3.1 Kinematics Model of Continuum Robot
		3.2 Inverse Kinematics of Two-Segment Continuum Robot in Space
	4 Comparison and Experiment of Inverse Kinematics Algorithm
		4.1 Comparison of Geometric Algorithm
		4.2 Experimental Verification of Algorithm
	5 Conclusion
	Appendix
	References
All-in-One End-Effector Design and Implementation for Robotic Dissection of Poultry Meat
	1 Introduction
	2 End-Effector Design for Robotic Dissection of Poultry Meat
		2.1 Configuration-Switching Component
		2.2 Clamping Component and Its Jaw
	3 Experiment and Results Discussion
		3.1 Motion Control
		3.2 Results and Discussion
	4 Conclusion
	References
Motor Imagery Intention Recognition Based on Common Spatial Pattern for Manipulator Grasping
	1 Introduction
	2 Experiments and Methods
		2.1 Experimental Description
		2.2 Pre-processing
		2.3 Feature Extraction
		2.4 Classification Algorithm
	3 Analysis of Experimental Results
	4 Validation of Grasping Experiment
	5 Discussion
	6 Conclusion
	References
Event-Triggered Secure Tracking Control for Fixed-Wing Aircraft with Measurement Noise Under Sparse Attacks
	1 Introduction
	2 Problem Formulation
	3 Main Results
		3.1 Secure SDET Mechanism Design
		3.2 Output Estimation Algorithm Design
		3.3 Extended High-Gain Observer Design
		3.4 Tracking Controller Design
	4 Numerical Simulation
	5 Conclusion
	References
Backstepping Fuzzy Adaptive Control Based on RBFNN for a Redundant Manipulator
	1 Introduction
	2 System Description and Problem Formulation
		2.1 System Description of Redundant Manipulator
		2.2 Problem Formulation
	3 Backstepping Fuzzy Adaptive Control Based on RBFNN
		3.1 Backstepping Control
		3.2 Application of Fuzzy System in Backstepping Control
		3.3 RBFNN Combined with Fuzzy System
		3.4 Stability Analysis
	4 Simulation Experiment and Result Analysis
	References
A Flexible Electrostatic Adsorption Suction Cup for Curved Surface
	1 Introduction
	2 Overall Design
	3 Design of the Flexible Electrostatic Suction Cup
		3.1 Suction Cup Structure Design
		3.2 Adsorption Membranes Design
	4 Experiment
		4.1 Electrostatic Adsorption Membranes Test
		4.2 Electrostatic Adsorption Flexible Suction Cup Test
	5 Conclusion
	References
SCRMA: Snake-Like Robot Curriculum Rapid Motor Adaptation
	1 Introduction
	2 Modeling of Underwater Snake-Like Robots
		2.1 Hydrodynamic Model
		2.2 Training Goal
	3 SCRMA
		3.1 MDP Representation
		3.2 RL-Based Gait Generator
		3.3 SCRMA Framework
		3.4 Curriculum Learning and Save&Load Exploration
	4 Experiment Result
		4.1 Simulation Setup
		4.2 Winning Rate
		4.3 Error Distribution of Winning Sample
		4.4 Wind Histogram of Failed Samples
	5 Conclusion and Future Work
	References
Investigation on the Shape Reconstruction of Cable-Driven Continuum Manipulators Considering Super-Large Deflections and Variable Structures
	1 Introduction
	2 Shape Reconstruction Method Based on Bézier Curve
	3 Simulations of Shape Reconstruction Methods Based on Bézier Curves
	4 Experiment
		4.1 Experimental Setup
		4.2 Experiments on 5 Types of Continuum Manipulators
		4.3 Trajectory Following Experiments
	5 Conclusion
	References
Intelligent Perception and Control of Rehabilitation Systems
An Improved Point-to-Feature Recognition Algorithm for 3D Vision Detection
	1 Instruction
	2 Related Work
		2.1 Drost-PPF
		2.2 Hs-PPF
	3 Improved Pose Estimation Algorithm Based on PPF Feature Voting
		3.1 Improved Point Cloud Downsampling Strategy
		3.2 Improved Scene Voting Ball Strategy
	4 Experimental Results and Analysis
		4.1 Experimental Results of Downsampling Variable Distance
		4.2 Experimental Results of the Ballot Value Size of the Scenario Voting
		4.3 Experimental Results of ACCV Dataset
		4.4 Experimental Results for the Krull Dataset
		4.5 Time-Consuming Experiments
	5 Conclusion
	References
Characteristic Analysis of a Variable Stiffness Actuator Based on a Rocker-Linked Epicyclic Gear Train
	1 Introduction
	2 Mechanism Concept
	3 Characteristic Analysis
		3.1 Stiffness Analysis
		3.2 Clearance Analysis
	4 Mechanical Realization
	5 Conclusions
	References
Facial Gesture Controled Low-Cost Meal Assistance Manipulator System with Real-Time Food Detection
	1 Introduction
	2 System Overview
	3 Stage 1: Real-Time Food Detection
	4 Stage 2: Facial Gesture Detection
	5 Stage 3: Image Servo Based Grasping and Feeding
	6 Experiments and Result
	7 Conclusions and Future Driction
	References
Improved Cascade Active Disturbance Rejection Control for Functional Electrical Stimulation Based Wrist Tremor Suppression System Considering the Effect of Output Noise
	1 Instruction
	2 Modeling of Wrist Musculoskeletal System
	3 Design of Improved Cascade LADRC for Tremor Suppression System
		3.1 Design of Cascade LADRC
		3.2 Performance Analysis of LADRC System Under the Influence of Noise
		3.3 Design of Improved CLADRC
	4 Conclusion
	References
An Anti-sideslip Path Tracking Control Method of Wheeled Mobile Robots
	1 Introduction
	2 Dynamics Model
	3 Controller
		3.1 Prediction Model in Time-Varying Local Coordinate System
		3.2 Optimization Objective Function for Anti-sideslip Path Tracking
	4 Simulation
		4.1 High-Adhesion Ground Simulation
		4.2 Low-Adhesion Ground Simulation
	5 Conclusion
	References
Design of a Practical System Based on Muscle Synergy Analysis and FES Rehabilitation for Stroke Patients
	1 Introduction
	2 System Overview
		2.1 Hardware System
		2.2 Software System
	3 System Design
		3.1 Hardware Design
		3.2 Software Design
	4 System Validation
		4.1 EMG Acquisition Validation
		4.2 FES Validation
		4.3 Muscle Synergy Analysis Validation
	5 Conclusion
	References
Adaptive Force Field Research on Plane Arbitrary Training Trajectory of Upper Limb Rehabilitation Robot Based on Admittance Control
	1 Introduction
	2 Construction of Upper Limb Rehabilitation Robot System
		2.1 Hardware Composition
		2.2 Software Implementation
	3 Compliant Control
		3.1 Acquisition and Transformation of Force/Torque Information
		3.2 Admittance Controller
	4 Realization of Adaptive Force Field for Planar Arbitrary Trajectory
		4.1 Addition of Drag Track Adaptive Force Field
		4.2 Adaptive Force Field of Regular Trajectory Based on Plane Segmentation Method
	5 Experiment and Analysis
		5.1 Experiments with Adaptive Force Fields
		5.2 Compensation Force Test Experiment
		5.3 Visualization and Training Compliance Analysis
	6 Conclusion
	References
FES-Based Hand Movement Control via Iterative Learning Control with Forgetting Factor
	1 Introduction
	2 Method
		2.1 Design of the FES-Based Hand Rehabilitation System
		2.2 Experiment Design
		2.3 Hand Model
		2.4 Iterative Learning Control with Forgetting Factor
	3 Result
	4 Conclusions
	References
Actuation, Sensing and Control of Soft Robots
3D Printing of PEDOT:PSS-PU-PAA Hydrogels with Excellent Mechanical and Electrical Performance for EMG Electrodes
	1 Introduction
	2 Results and Discussion
		2.1 Design Principle and Preparation of PEDOT:PSS-PU-PAA Hydrogel
		2.2 Optimization of PEDOT:PSS-PU-PAA Hydrogels
		2.3 Mechanical Properties of PEDOT:PSS-PU-PAA Hydrogel
		2.4 Electrochemical Performance of PEDOT:PSS-PU-PAA Hydrogel
		2.5 EMG Signal Recording of PEDOT:PSS-PU-PAA Hydrogel Based EMG Electrode
	3 Conclusion
	4 Materials and Experimental
		4.1 Materials
		4.2 Preparation of PEDOT:PSS-PU-PAA Hydrogel
		4.3 Mechanical Characterization of PEDOT:PSS-PU-PAA Hydrogel
		4.4 Electrical and Electrochemical Characterization of PEDOT:PSS-PU-PAA Hydrogel
		4.5 Fabrication of EMG Electrode
		4.6 Detection of EMG Signal
	References
Stretchable, Conducting and Large-Range Monitoring PEDOT: PSS-PVA Hydrogel Strain Sensor
	1 Introduction
	2 Experimental Section
		2.1 Materials
		2.2 Preparation of PEDOT: PSS-PVA Hydrogels
		2.3 Mechanical Measurement
		2.4 Sensing Measurement
		2.5 Conductive Polymer Hydrogel Strain Sensor Assembly and Application
	3 Results and Discussion
		3.1 Preparation of PEDOT: PSS-PVA Hydrogels
		3.2 Mechanical Properties
		3.3 Sensing Properties
		3.4 Human Movement Monitoring
	4 Conclusion
	References
A Virtual Force Sensor for Robotic Manipulators Based on Dynamic Model
	1 Introduction
	2 Problem Formulation
		2.1 Parameter Identification
		2.2 Design of Virtual Force Sensor
	3 Experiment and Analysis
		3.1 Experiment Setup
		3.2 Parameter Identification of UR5
		3.3 Experiments and Discussion of Virtual Force Sensor of UR5
	4 Conclusion and Future Work
	References
A Variable Stiffness Soft Actuator with a Center Skeleton and Pin-Socket Jamming Layers
	1 Introduction
	2 Design and Fabrication
		2.1 Design
		2.2 Fabrication
	3 Experimental Methods
	4 Results
	5 Conclusions
	References
A Parameter Optimization Method of 3D Printing Soft Materials for Soft Robots
	1 Introduction
	2 Printing Platform
	3 Soft Material Analysis
	4 Modeling and Simulation of Soft Material Printing
		4.1 Simulation of Internal Flow Field of Different Needles
		4.2 Simulation of the Internal Flow Field Under Different Pressures
		4.3 Flow Field Simulation of Functional Materials in a Straight Pipe Needle
	5 Parameter Optimization Experiments
		5.1 Embedded 3D Printing of Magnetic Functional Materials
		5.2 Optimization of External Printing Parameters of Soft Materials
	6 Soft Robot Manufacturing and Experiment
		6.1 Embedded 3D Printing Magnetic Drive Gecko Soft Robots
		6.2 Manufacturing and Improvement of Soft Gripper
	7 Conclusions
	References
A Novel Soft Wrist Joint with Variable Stiffness
	1 Introduction
	2 Design and Fabrication
		2.1 Design of the Wrist Joint
		2.2 Fabrication of Soft Actuator
	3 Analysis and Simulation of Soft Actuator
		3.1 Soft Bending Actuator
		3.2 Soft Torsion Actuator
	4 Experiment Validation and Discussion
		4.1 Experiment Validation
		4.2 Discussion
	5 Conclusion
	References
Rangefinder-Based Obstacle Avoidance Algorithm for Human-Robot Co-carrying
	1 Introduction
	2 Co-carrying System
	3 Obstacle Avoidance Algorithm for Co-carrying System
	4 Mobile Robot Control
	5 Simulations
		5.1 Simulation Setup
		5.2 Simulation Results
	6 Conclusion
	References
Design and Analysis of a Novel Magnetic Adhesion Robot with Passive Suspension
	1 Introduction
	2 Overall Design and Modeling of the Robot
	3 Optimization of the Suspension
	4 Safety Adhesion Analysis
		4.1 Non-slip Condition
		4.2 Non-overturning Condition
	5 Prototype and Experiment
		5.1 Prototype Design
		5.2 Locomotion on Different Types of Walls
		5.3 Validation of Weld-crossing Capacity
		5.4 Validation of Payload Capacity
	6 Conclusion
	References
Machine Vision for Intelligent Robotics
Pose Estimation of 3D Objects Based on Point Pair Feature and Weighted Voting
	1 Introduction
	2 Principle of the PPF Algorithm
	3 Improve the Algorithm
		3.1 Weighted Voting
		3.2 Initial Pose Verification
	4 Experimental Results and Analysis
		4.1 Select Appropriate λ
		4.2 Experiments and Analysis on Mian Dataset
		4.3 Experiments and Analysis on Self-collected Dataset
	5 Conclusion
	References
Weakly-Supervised Medical Image Segmentation Based on Multi-task Learning
	1 Introduction
	2 The Proposed Approach
		2.1 Image Classification Generates Better CAMs
		2.2 Cross-Task Similarity Learning
		2.3 Network Training
	3 Experiments
		3.1 Comparison with State-of-the-Art Experiments
		3.2 Ablation Experiments
	4 Conclusion
	References
A Deep Multi-task Generative Adversarial Network for Face Completion
	1 Introduction
	2 Proposed Method
		2.1 DetectionNet
		2.2 CompletionNet
		2.3 DiscriminationNet
		2.4 Loss Function
	3 Experiments
		3.1 Completion Results
		3.2 Model Analysis
	4 Conclusion
	References
Transformer Based Feature Pyramid Network for Transparent Objects Grasp
	1 Introduction
	2 Related Work
		2.1 Robotic Grasping
		2.2 Transparent Dataset
	3 Approach
		3.1 Overview
		3.2 Dataset
		3.3 Network Architecture
		3.4 Loss Function
	4 Experiment
		4.1 Implementation Details
		4.2 Experimental Results on Synthetic Dataset
		4.3 Experimental Results on Real-World Dataset
		4.4 Experimental Results on Cornell and Jacquard
		4.5 Ablation Study
		4.6 Evaluation on Robotic Arm
	5 Conclusion
	References
Building Deeper with U-Attention Net for Underwater Image Enhancement
	1 Introduction
	2 Proposed Method
		2.1 Our Network
		2.2 Training
	3 Experiments
		3.1 Comparison with the State-of-the-Arts
		3.2 Quantitative Comparison
	4 Conclusion
	References
A Self-attention Network for Face Detection Based on Unmanned Aerial Vehicles
	1 Introduction
	2 Related Work
		2.1 Face Detection
		2.2 Object Detection Based on UAV
	3 Face Self-attention Network
		3.1 Base Framework
		3.2 Self-attention Mechanism
		3.3 Training
	4 Experimental Results
		4.1 About WIDER FACE Benchmark and UAV
		4.2 Evaluation on WIDER FACE Datasets
		4.3 Ablation Studies on Self-attention Mechanism
	5 Conclusion
	References
Video Abnormal Behavior Detection Based on Human Skeletal Information and GRU
	1 Introduction
	2 Related Work
		2.1 Recurrent Neural Network
		2.2 Human Pose Estimation Algorithm
	3 Video Abnormal Behavior Detection Model
		3.1 Human Skeletal Features
		3.2 Model Design
		3.3 Loss Function
	4 Experiment
		4.1 ShanghaiTech Data Set
		4.2 Evaluation Index
		4.3 Result
		4.4 Comparison
	5 Conclusion
	References
A Flexible Hand-Eye and Tool Offset Calibration Approach Using the Least Square Method
	1 Introduction
	2 Calibration System Model
		2.1 Hand-Eye Calibration
		2.2 Tool Offset Calibration
	3 Experiment
		3.1 Manipulator Movement Accuracy Verification
		3.2 Calibration Result
		3.3 Hand-Eye Calibration
	References
Weakly Supervised Nucleus Segmentation Using Point Annotations via Edge Residue Assisted Network
	1 Introduction
	2 Method
		2.1 Coarse Mask Estimation via Self-supervised Learning
		2.2 Edge Residue Map Generation
	3 Experiments
		3.1 Dataset Description
		3.2 Evaluation Metrics
		3.3 Implementation Details
		3.4 Results and Comparison
	4 Conclusion
	References
An Analysis of Low-Rank Decomposition Selection for Deep Convolutional Neural Networks
	1 Introduction
	2 Method
		2.1 Preliminary Notations
		2.2 CP Decomposition Layers
		2.3 Tucker Decomposition Layers
		2.4 Parameter Analysis
		2.5 Guidance of Decomposition Selection
	3 Experiment
		3.1 Ablation Study
		3.2 Comparison with Recent Approaches on More Networks
	4 Conclusion
	References
Accurate Crop Positioning Based on Attitude Correction of Weeding Robot
	1 Introduction
	2 Material and Method
		2.1 Mobile Robot Platform and Vision System
		2.2 Vision System Calibration
		2.3 Correction of Knife and Seedling Spacing
	3 Result and Discussion
	4 Conclusion
	References
Low-Rank Tensor Tucker Decomposition for Hyperspectral Images Super-Resolution
	1 Introduction
	2 Notation and Preliminaries
	3 Method
		3.1 Proposed Model
		3.2 Optimization
	4 Experiments
		4.1 Experimental Settings
		4.2 Quantitative Comparison
		4.3 Visual Quality Comparison
	5 Conclusion
	References
Hybrid Deep Convolutional Network for Face Alignment and Head Pose Estimation
	1 Introduction
	2 Method
		2.1 Network
		2.2 Multi-level and Multi-scale Feature Fusion
		2.3 Implementation Details
	3 Experiment and Result
		3.1 Data Set
		3.2 Experiment Result
	4 Conclusion
	References
Research on Multi-model Fusion Algorithm for Image Dehazing Based on Attention Mechanism
	1 Introduction
	2 Related Work
		2.1 Absorption Compensation Haze Imaging Model
		2.2 Multiple Scattering Haze Imaging Model
		2.3 Multi-scale Retinex Model
	3 Our Approach
		3.1 Overall Network Structure
		3.2 Multi-scale Feature Extraction
		3.3 Attention Feature Extraction
		3.4 Loss Function
	4 Our Approach
		4.1 Experiment Setup
		4.2 Experiment Results and Analysis
	5 Conclusion
	References
Study on FTO of Permanent Magnet Synchronous Motor for Electric Aircraft Steering Gear
	1 Introduction
	2 Permanent Magnet Synchronous Motor Model
	3 Three-Phasefour-Switch FTC
		3.1 Three-Phasefour-Switch FT Inverter Topology
		3.2 Conduction Time Calculation
		3.3 “Five-Stage” SVPWM Modulation Strategy
	4 Design of Sliding Mode Controller (SMC)
	5 Simulation Experiment
		5.1 Fault Simulation of Electric Aircraft
		5.2 Simulation Results Under FTC
	6 Conclusion
	References
A Classification Method for Acute Ischemic Stroke Patients and Healthy Controls Based on qEEG
	1 Introduction
	2 Patients and Experimental Diagram
	3 Methods
	4 Results and Analysis
	5 Conclusion
	References
Micro or Nano Robotics and Its Application
Non-destructive Two-Dimensional Motion Measurement of Cardiomyocytes Based on Hough Transform
	1 Introduction
	2 Materials and Method
		2.1 Cell Culture
		2.2 Hough Transform
	3 Results
		3.1 Cardiomyocytes Beating Cycle Measurement
		3.2 Cardiomyocytes Beating Curve Analysis
		3.3 Widely Non-cytotoxic Measurement
	4 Discussion
	5 Conclusion
	References
Bubble Based Micromanipulators in Microfluidics Systems: A Mini-review
	1 Introduction
	2 Results and Discussion
		2.1 Acoustic Bubble-Based Manipulator
		2.2 Optothermal Bubble-Based Manipulator
	3 Summary and Outlook
	References
Fast Locomotion of Microrobot Swarms with Ultrasonic Stimuli in Large Scale
	1 Introduction
	2 Structure and Working Principle
	3 Simulation and Analyses
	4 Experiment
	5 Conclusion
	References
A Novel Acoustic Manipulation Chip with V-shaped Reflector for Effective Aggregation of Micro-objects
	1 Introduction
	2 Experimental Section
		2.1 Structural Design
		2.2 Vibration Measurement
		2.3 Construction of the Experiment Platform
	3 Results and Discussion
		3.1 Influence of Sample Volume on Aggregation
		3.2 Influence of Reflectors’ Angle on the Aggregation Speed
		3.3 Aggregation Process of Microparticles
		3.4 Simulation Analysis
		3.5 Aggregation Effect of Micro/nanomotors
	4 Conclusion
	References
Biosignal Acquisition and Analysis
An Adaptive Robust Student’s t-Based Kalman Filter Based on Multi-sensor Fusion
	1 Introduction
	2 The Dynamic Model of Radar Tracking and the RMNCE-Based UKF
		2.1 Dynamic Model of Radar for Target Tracking
		2.2 The RMNCE-Based UKF
	3 The Proposed Method
		3.1 The Dynamic PDF Switch Frame Base on KLD
		3.2 The Proposed New Student’s t-Based UKF Method
	4 Simulation
		4.1 Simulation Conditions
		4.2 Results
	5 Conclusions
	References
Dynamic Hand Gesture Recognition for Numeral Handwritten via A-Mode Ultrasound
	1 Introduction
	2 Data Acquisition and Pre-processing
	3 Methodology
		3.1 Deep Learning Framework
		3.2 Dynamic Gesture Recognition Strategy
	4 Dataset
	5 Result and Discussion
	6 Conclusion and Outlook
	References
Brain Network Connectivity Analysis of Different ADHD Groups Based on CNN-LSTM Classification Model
	1 Introduction
	2 Methods
		2.1 Data Process
		2.2 Research Procedure
		2.3 CNN-LSTM Model
		2.4 Brain Connectivity Principle
	3 Results
		3.1 CNN-LSTM Classification
		3.2 Brain Functional Connectivity
	4 Discussion
	5 Conclusion
	References
Heterogeneous sEMG Sensing for Stroke Motor Restoration Assessment
	1 Introduction
	2 Heterogeneous sEMG Sensing Integration Solution
		2.1 Raw sEMG Acquisition Module
		2.2 High-Density sEMG Acquisition Module
	3 System Evaluation and Experiments
		3.1 Single-Channel Signal Evaluation
		3.2 Multi-channel Signal Evaluation
		3.3 Gesture Recognition Experiments
	4 Conclusion
	References
Age-Related Differences in MVEP and SSMVEP-Based BCI Performance
	1 Introduction
	2 Methods
		2.1 Participants
		2.2 The Checkerboard Paradigm
		2.3 Experimental Design
		2.4 EEG Data Recording
		2.5 Signal Processing
	3 Results
		3.1 Spectral-Temporal Characteristics of Induced EEG in Younger Subjects and Senior Subjects
		3.2 Classification Accuracies in Young Subjects and Senior Subjects
	4 Discussion and Conclusion
	References
HD-tDCS Applied on DLPFC Cortex for Sustained Attention Enhancement: A Preliminary EEG Study
	1 Introduction
	2 Materials and Methods
		2.1 Participants
		2.2 Study Overview
		2.3 HD-tDCS and EEG
		2.4 Resting State
		2.5 Visual Flanker Task
		2.6 ERP Analysis
	3 Results
		3.1 Behavior Response to Flanker Task
		3.2 Neural Response to Flanker Task
	4 Conclusions
	References
Reconstructing Specific Neural Components for SSVEP Identification
	1 Introduction
	2 Method
		2.1 Point-Position Equivalent Reconstruction
		2.2 SSVEP Recognition Algorithm
		2.3 Performance Evaluation
	3 Data Sources
		3.1 Simulated Mixing Signal
		3.2 SSVEP Data
	4 Results
		4.1 Reconstructing the Target Component from the Simulated Signal
		4.2 SSVEP Identification with One Training Sample
	5 Conclusion
	References
Modeling and Recognition of Movement-Inducing Fatigue State Based on ECG Signal
	1 Introduction
	2 Methodology
		2.1 Data Collection
		2.2 Preprocessing
		2.3 Machine Learning Solution
		2.4 Deep Learning Solution
	3 Experiments and Results
		3.1 Experiments
	4 Conclusion
	References
Neurorobotics
Structural Design and Control of a Multi-degree-of-freedom Modular Bionic Arm Prosthesis
	1 Introduction
	2 Structural Design
		2.1 Forearm Prosthesis
		2.2 Upper Arm Prosthesis
		2.3 Full Arm Prosthesis
	3 Motion Simulation and Control
		3.1 Prosthesis Modeling
		3.2 Motion Simulation
		3.3 Motion Control Test
	4 Conclusion
	References
sEMG-Based Estimation of Human Arm Endpoint Stiffness Using Long Short-Term Memory Neural Networks and Autoencoders
	1 Introduction
	2 Materials and Methods
		2.1 Data Acquisition
		2.2 sEMG Processing
		2.3 Arm Endpoint Stiffness Modeling
		2.4 Feature Extraction Based on Autoencoders
		2.5 Fitting Endpoint Stiffness Based on LSTM Model
		2.6 Performance Evaluation and Statistical Analysis
	3 Experiments and Results Discussion
		3.1 Measurement of Human Arm Endpoint Stiffness
		3.2 Network Structure and Results
		3.3 Results Discussion
	4 Conclusion
	References
Error Related Potential Classification Using a 2-D Convolutional Neural Network
	1 Introduction
	2 The Proposed Method
		2.1 Data Preprocessing
		2.2 AT-CNN Architecture
		2.3 Loss Function
		2.4 Model Training
		2.5 Performance Metrics
	3 Dataset
	4 Experimental Results and Discussions
		4.1 Comparison with Other State of Art Methods
		4.2 Contribution of Different Train Settings
	5 Conclusions and Future Work
	References.
A Multi-sensor Combined Tracking Method for Following Robots
	1 Introduction
	2 Following System Design
	3 Multi-sensor Combined Tracking
		3.1 Fusion Model of UWB and IMU Based on Adaptive Kalman Filter
		3.2 Combined Tracking with Camera Sensor After UWB Fusion
	4 Experiment Verification
		4.1 Following Distance Test
		4.2 Following Occlusion Experiment
		4.3 PTZ Following Experiment
	5 Conclusion
	References
Extracting Stable Control Information from EMG Signals to Drive a Musculoskeletal Model - A Preliminary Study
	1 Introduction
	2 Methodology
		2.1 Subjects
		2.2 Experimental Protocol
		2.3 MM Combined with NMF-HPWH-L2 (NMF-HPWH-L2-MM)
		2.4 Other Algorithms for Comparison
		2.5 Model Calibration and Testing
		2.6 Performance Evaluation and Statistical Analysis
	3 Results
		3.1 Estimation Performance of NMF-HPWH-L2-MM
		3.2 Comparison with MM and NMF-MM
	4 Discussion
		4.1 Estimation Performance of NMF-HPWH-L2-MM
		4.2 Analysis of the Effectiveness of NMF-HPWH-L2-MM
		4.3 Limitations
	5 Conclusion
	References
Construction of Complex Brain Network Based on EEG Signals and Evaluation of General Anesthesia Status
	1 Introduction
	2 Construction of Complex Brain Network Based on EEG Signal
		2.1 Acquisition of EEG Signals
		2.2 EEG Signals Preprocessing Based on EEGLAB
		2.3 Brain Network Construction
	3 Anesthesia State Evaluation Based on Machine Learning
	4 Conclusion
	References
A Hybrid Asynchronous Brain-Computer Interface Combining SSVEP and EOG Signals for Rapid Target Recognition
	1 Introduction
	2 Methods
		2.1 Subjects and Experimental Setup
		2.2 Experimental Design and Protocol
		2.3 Signal Processing
		2.4 Evaluation of Performance
	3 Results
		3.1 Pseudo Synchronous SSVEP Performance
		3.2 Saccade Detection Performance
		3.3 BCI Performance
	4 Discussion
	5 Conclusion and Future Work
	References
Wearable Sensing and Robot Control
ZNN-Based High-Order Model-Free Adaptative Iterative Learning Control of Ankle Rehabilitation Robot Driven by Pneumatic Artificial Muscles
	1 Introduction
	2 Inverse Kinematics of the Ankle Rehabilitation Robot
	3 Design of the ZNN-HOMFAILC Controller
		3.1 MFAILC Algorithm
		3.2 ZNN-HOMFAILC Algorithm
	4 Experiment and Results Discussion
		4.1 Simulation Results
		4.2 Experimental Results
	5 Conclusion
	References
The Calibration of Pre-travel Error and Installation Eccentricity Error for On-Machine Probes
	1 Introduction
	2 Working Principle of Probe
	3 Probe Calibration Method
	4 Experimental Verification and Discussion
		4.1 Probe Calibration by Proposed Method
		4.2 Compensation Experiment
		4.3 Experimental Results and Discussion
	5 Conclusion
	References
A Preliminary Tactile Conduction Model Based on Neural Electrical Properties Analysis
	1 Introduction
	2 Equivalent Models of Tissues Related to Sensory Generation
	3 Establishment of a Preliminary Tactile Conduction Model
		3.1 Physiological Basis of Tactile Feedback
		3.2 A Preliminary Electrotactile Conduction Model
		3.3 Influencing Factors of the Model
		3.4 Description of Electrical Stimulation Parameters
	4 Summary
	References
Author Index