Search results for: Kai-Tai Song

Items from 1 to 20 out of 88 results

article

Shared‐control design for robot‐assisted surgery using a skill assessment approach

Kai‐Tai Song, Ping‐Jui Hsieh

Asian Journal of Control > 24 > 3 > 1042 - 1058

In this article, a shared‐control system with skill‐based share weight allocation is proposed for a robot‐assisted minimally invasive surgery (MIS) procedure. A convolution neural network (CNN) is trained for online skill assessment, and the result is used to generate the share weights of robot autonomy and the user remote control. The control system can ensure synchronization of the two commands...

article

Coordinating multiple mobile robots for obstacle avoidance using cloud computing

Kai‐Tai Song, Yu‐Xuan Sun

Asian Journal of Control > 23 > 3 > 1225 - 1236

This study presents a motion planning method for coordinating multiple mobile robots for collision‐free navigation. A control architecture that uses cloud computing is proposed for the acquisition of real‐time robotic data and to coordinate multiple robots in an unstructured environment. The system consists of collision‐free path planning for multiple robots, obstacle avoidance, and navigation control...

article

Shared Control Design of a Walking-Assistant Robot

Sin-Yi Jiang, Chen-Yang Lin, Ko-Tung Huang, Kai-Tai Song

IEEE Transactions on Control Systems Technology > 2017 > 25 > 6 > 2143 - 2150

This brief presents a control design for a walking-assistant robot in a complex indoor environment, such that it can assist a walking-impaired person to walk and avoid unexpected obstacles. In this design, the robot motion is a resultant of autonomous navigation and compliant motion control. The compliance motion controller allows the robot to possess passive behavior following the motion intent of...

chapter

Design for walking rehabilitation of a lower limb exoskeleton based on interaction torque

Agus Lesmana, Kai-Tai Song

2017 17th International Conference on Control, Automation and Systems (ICCAS) > 685 - 690

2017 17th International Conference on Control, Automation and Systems (ICCAS)

In this research, an adaptive lower limb exoskeleton (AEXO) has been designed and constructed as a rehabilitation device. It is important during the rehabilitation that a user obtains assistance from the exoskeleton in an adaptive manner, as the user may improve his/her walking during rehabilitation. The assistance from the machine will be less or more according to the current situation of the user...

chapter

Voice control design of a mobile robot using shared-control approach

Yao-Hsiang Chen, Kai-Tai Song

2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC) > 105 - 110

2017 IEEE International Conference on Systems, Man and Cybernetics (SMC)

Human voice provides a convenient and natural way to control a service robot. However, in practice simple voice commands are not sufficient to give continuous and safe motion of a mobile service robot in a complex environment. This paper presents a shared-control approach for voice remote control of a mobile robot. A remote control scheme for an omnidirectional mobile robot is proposed to overcome...

article

Safe Guidance for a Walking-Assistant Robot Using Gait Estimation and Obstacle Avoidance

Kai-Tai Song, Sin-Yi Jiang, Shang-Yang Wu

IEEE/ASME Transactions on Mechatronics > 2017 > 22 > 5 > 2070 - 2078

This paper presents a motion control design for a walking-assistant robot by combining passive-compliant behavior and active obstacle avoidance. The proposed method recognizes the intended motion for a user using gait movement and the applied force of a hand. A passive-compliant motion control is developed that allows the user to safely walk with the robot. The obstacle avoidance controller actively...

chapter

Robot trajectory modification using human-robot force interaction

Hung-Shen Liu, Kai-Tai Song

2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) > 1417 - 1420

2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)

This paper presents a method to teach a humanoid robot arm a new trajectory by using human-robot shared control. The robot trajectory is first taught by using the technique of programming by demonstration (PbD). If the environment changes for the learned trajectory, a user can intervene and modify the trajectory by using the proposed control method. We propose a method to modify part of the trajectory...

article

A Study on Speech Recognition Control for a Surgical Robot

Kateryna Zinchenko, Chien-Yu Wu, Kai-Tai Song

IEEE Transactions on Industrial Informatics > 2017 > 13 > 2 > 607 - 615

Speech recognition is common in electronic appliances and personal services, but its use for industrial and medical purposes is rare because of the presence of motion ambiguity. For minimally invasive surgical robotic assistants, this ambiguity arises because the robotic motion is not calibrated to the camera images. This paper presents a design for a speech recognition interface for an HIWIN robotic...

article

CAD-based Pose Estimation Design for Random Bin Picking using a RGB-D Camera

Kai-Tai Song, Cheng-Hei Wu, Sin-Yi Jiang

Journal of Intelligent & Robotic Systems > 2017 > 87 > 3-4 > 455-470

This paper presents a CAD-based six-degrees-of-freedom (6-DoF) pose estimation design for random bin picking for multiple objects. A virtual camera generates a point cloud database for the objects using their 3D CAD models. To reduce the computational time of 3D pose estimation, a voxel grid filter reduces the number of points for the 3D cloud of the objects. A voting scheme is used for object recognition...

article

Interactive Teleoperation of a Mobile Manipulator Using a Shared-Control Approach

Kai-Tai Song, Sin-Yi Jiang, Ming-Han Lin

IEEE Transactions on Human-Machine Systems > 2016 > 46 > 6 > 834 - 845

This paper presents a shared-control-based design for teleoperation of a dual-arm omnidirectional mobile robot—a robot that can execute tasks commanded by a remotely user, or that can operate autonomously by adapting to its immediate environment, or that can operate in both modes simultaneously. To achieve this capability for the robot and for its effective remote control, a shared-control method...

chapter

Hybrid visual servoing design for a continuum robot under visibility constraint and voice commands

Chien-Yu Wu, Kai-Tai Song

2016 16th International Conference on Control, Automation and Systems (ICCAS) > 1255 - 1260

2016 16th International Conference on Control, Automation and Systems (ICCAS)

This paper presents a method to combine voice control and hybrid visual servoing for a continuum robot. In this design, the continuum robot autonomously tracks the element of interest and maintains its position in the safe region based on image information. A method of hybrid visual servoing is proposed to integrate 2D image-based visual servoing (IBVS) to ensure the elements of interests under visibility...

chapter

Design of assistive torque for a lower limb exoskeleton based on motion prediction

Susanto, Riska Analia, Kai-Tai Song

2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) > 172 - 177

2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)

This paper presents a method to generate assistive torque to a lower limb exoskeleton using a predictive approach. A control scheme is proposed to predict the suitable force of next movement of legs using gait information. By using human walking gait cycle and Center of Pressure (CoP), it is expected that the exoskeleton can provide an assistive force to people and help them to walk normally. In order...

chapter

Instrument contact force estimation using endoscopic image sequence and 3D reconstruction model

Wei-Che Lin, Kai-Tai Song

2016 International Conference on Advanced Robotics and Intelligent Systems (ARIS) > 1 - 6

2016 International Conference on Advanced Robotics and Intelligent Systems (ARIS)

This paper presents a method to estimate contact force for minimally invasive surgery (MIS) using endoscopic imagery. In order to provide surgeons the information of contact force as surgical instruments get contact to human tissue, we developed a method to calculate tissue deformation by reconstructing 3D model using real-time image processing. The force information will be fed back to a haptic device...

chapter

Development of an assistive torque generation system for a lower limb exoskeleton

Kai-Tai Song, Yu-Lin Chien, Susanto

2016 International Conference on System Science and Engineering (ICSSE) > 1 - 4

2016 International Conference on System Science and Engineering (ICSSE)

This paper presents a design for generating assistive torque of a lower limb exoskeleton to increase user's strength during walking. It can be used for walking assistance as well as for rehabilitation. Pressure sensors were set under both feet to detect the user's center of pressure(COP). The COP is included in the control loop to improve balance in walking. In the control design, the assist torque...

chapter

Fuzzy+PID attitude control of a co-axial octocopter

Riska Analia, Susanto, Kai-Tai Song

2016 IEEE International Conference on Industrial Technology (ICIT) > 1494 - 1499

2016 IEEE International Conference on Industrial Technology (ICIT)

The study of Unmanned Aerial Vehicles (UAVs) has grown fast recently, and various applications have been developed. This paper presents a design and implementation of attitude control of a co-axial octocopter (CAO). The dynamic model of a CAO is obtained from making the configuration similar to a quadcopter. In order to stabilize the attitude control of CAO, we propose a Fuzzy+PID design of the attitude...

chapter

A study on motion control of a robotic endoscope holder using speech recognition

Kateryna Zinchenko, Chien-Yu Wu, Kai-Tai Song

2016 IEEE International Conference on Industrial Technology (ICIT) > 1472 - 1475

2016 IEEE International Conference on Industrial Technology (ICIT)

This paper presents a design of speech recognition interface for a robotic endoscope holder for abdominal Minimally Invasive Surgery(MIS). A set of seven voice commands are used to control 3 degree of freedom(DOF) robotic arm with remote center of motion(RCM). Speech recognition algorithm was implemented on Ubuntu OS using Pocket Sphinx and achieved 90% success rate. Command signal was delivered to...

chapter

CAD-based pose estimation for random bin-picking of multiple objects using a RGB-D camera

Cheng-Hei Wu, Sin-Yi Jiang, Kai-Tai Song

2015 15th International Conference on Control, Automation and Systems (ICCAS) > 1645 - 1649

2015 15th International Conference on Control, Automation and Systems (ICCAS)

In this paper, we propose a CAD-based 6-DOF pose estimation design for random bin-picking of multiple different objects using a Kinect RGB-D sensor. 3D CAD models of objects are constructed via a virtual camera, which generates a point cloud database for object recognition and pose estimation. A voxel grid filter is suggested to reduce the number of 3D point cloud of objects for reducing computing...

chapter

A novel flag-language remote control design for a laparoscopic camera holder using image processing

Kateryna Zinchenko, Wayne Shin-Wei Huang, Kai-Che Liu, Kai-Tai Song

2015 15th International Conference on Control, Automation and Systems (ICCAS) > 959 - 963

2015 15th International Conference on Control, Automation and Systems (ICCAS)

Minimally invasive surgeries(MIS) possess obvious advantages for patients but require more specially trained personnel than common, open procedure. With modern advances in robotics, it becomes possible to ease these requirements by introducing robotized assistants into operation. However, for robot-assisted solo MIS, it is crucial to have appropriate methods for robot control. This work presents a...

chapter

Design and experiment of a human-touch robot

Kai-Tai Song, Sin-Yi Jiang, Ming-Han Lin, Cheng-Hei Wu, more

2014 CACS International Automatic Control Conference (CACS 2014) > 275 - 280

2014 International Automatic Control Conference (CACS)

In this paper we propose a shared-control based teleoperation design for a dual-arm omnidirectional mobile robot. The robot not only can adapt its motion to environment autonomously, but also move according to the user's remote commands. To achieve this goal, a shared-control scheme for effective remote control of the mobile robot is developed. For tele-presence and remote control, a user interface...

chapter

Robust facial emotion recognition using a temporal-reinforced approach

Kai-Tai Song, Chao-Yu Lin

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) > 804 - 807

2014 14th International Conference on Control, Automation and Systems (ICCAS)

In this paper, a temporal-reinforced approach to enhancing emotion recognition from facial images is presented. Shape and texture models of facial images are computed by using active appearance model (AAM), from which facial feature points and geometrical feature values are extracted. The extracted features are used by relevance vector machine (RVM) to recognize emotional states. We propose a temporal...

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MOBILE ROBOTS (26)
ROBOT VISION (18)
ROBOT SENSING SYSTEMS (16)
HUMAN-ROBOT INTERACTION (15)
FEATURE EXTRACTION (13)
ROBOTS (13)
FACE RECOGNITION (10)
CAMERAS (9)
COLLISION AVOIDANCE (9)
ROBOT KINEMATICS (9)
MANIPULATORS (8)
ROBOT VISION SYSTEMS (8)
FACE (7)
LEGGED LOCOMOTION (7)
MOBILE ROBOT (7)
MOTION CONTROL (7)
NAVIGATION (7)
OBJECT DETECTION (7)
SERVICE ROBOTS (7)
SHARED CONTROL (7)
SPEECH RECOGNITION (7)
FACIAL EXPRESSION RECOGNITION (6)
FORCE (6)
IMAGE MATCHING (6)
IMAGE PROCESSING (6)
IMAGE RECOGNITION (6)
OBSTACLE AVOIDANCE (6)
VISUAL TRACKING CONTROL (6)
EMOTION RECOGNITION (5)
IMAGE COLOR ANALYSIS (5)
KALMAN FILTERS (5)
MAN-MACHINE SYSTEMS (5)
IMAGE COLOUR ANALYSIS (4)
IMAGE SEGMENTATION (4)
MOBILE COMMUNICATION (4)
POSE ESTIMATION (4)
ROBUST CONTROL (4)
SENSOR FUSION (4)
TRACKING (4)
ZIGBEE (4)
ACTIVE APPEARANCE MODEL (3)
AUTONOMOUS NAVIGATION (3)
CLOSED LOOP SYSTEMS (3)
CLOSED-LOOP VISUAL TRACKING SYSTEM (3)
COMPUTER VISION (3)
CONTROL SYSTEM SYNTHESIS (3)
DATA MINING (3)
ENDOSCOPES (3)
EXTENDED KALMAN FILTER (3)
FUZZY NEURAL NETS (3)
GRASPING (3)
IMAGE MOTION ANALYSIS (3)
LOCATION AWARE SYSTEM (3)
MOBILE MANIPULATOR (3)
MOBILE ROBOT NAVIGATION (3)
OBJECT RECOGNITION (3)
PROTOTYPES (3)
ROBUSTNESS (3)
SENSOR NETWORK (3)
SHAPE (3)
SIMULTANEOUS LOCALIZATION AND MAPPING (3)
SLAM (ROBOTS) (3)
SOLID MODELING (3)
SUPPORT VECTOR MACHINES (3)
SURGERY (3)
SYSTEM CONVERGENCE (3)
VISUAL SERVOING (3)
VISUAL TRACKING (3)
WIRELESS SENSOR NETWORKS (3)
6-DOF POSE ESTIMATION (2)
ADAPTIVE CONTROL (2)
ADAPTIVE FILTERING (2)
ARTIFICIAL NEURAL NETWORK (2)
ASYMPTOTIC STABILITY (2)
BODY POSE RECOGNITION (2)
CALIBRATION (2)
CLUSTERING ALGORITHMS (2)
CMOS IMAGE SENSOR (2)
COLOR ARTIFACTS (2)
COLOR REPRODUCTION (2)
COMPLIANT MOTION CONTROL (2)
CONTROL DESIGN (2)
CONTROL ENGINEERING COMPUTING (2)
CONVERGENCE (2)
EMOTIONAL MODEL (2)
EXOSKELETON (2)
FACE DETECTION (2)
FACE TRACKING (2)
FACIAL EXPRESSION GENERATION (2)
FUZZY-NEURO NETWORK (2)
GLOBAL ASYMPTOTIC STABILITY (2)
HANDICAPPED AIDS (2)
HUMANOID ROBOTS (2)
HUMANS (2)
IMAGE CLASSIFICATION (2)
IMAGE PLANE (2)
IMAGE REPRESENTATION (2)
INDUSTRIAL ROBOT (2)
ITERATIVE METHODS (2)
LYAPUNOV METHODS (2)
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INFONA - science communication portal

Search results for: Kai-Tai Song

Shared‐control design for robot‐assisted surgery using a skill assessment approach

Coordinating multiple mobile robots for obstacle avoidance using cloud computing

Shared Control Design of a Walking-Assistant Robot

Design for walking rehabilitation of a lower limb exoskeleton based on interaction torque

Voice control design of a mobile robot using shared-control approach

Safe Guidance for a Walking-Assistant Robot Using Gait Estimation and Obstacle Avoidance

Robot trajectory modification using human-robot force interaction

A Study on Speech Recognition Control for a Surgical Robot

CAD-based Pose Estimation Design for Random Bin Picking using a RGB-D Camera

Interactive Teleoperation of a Mobile Manipulator Using a Shared-Control Approach

Hybrid visual servoing design for a continuum robot under visibility constraint and voice commands

Design of assistive torque for a lower limb exoskeleton based on motion prediction

Instrument contact force estimation using endoscopic image sequence and 3D reconstruction model

Development of an assistive torque generation system for a lower limb exoskeleton

Fuzzy+PID attitude control of a co-axial octocopter

A study on motion control of a robotic endoscope holder using speech recognition

CAD-based pose estimation for random bin-picking of multiple objects using a RGB-D camera

A novel flag-language remote control design for a laparoscopic camera holder using image processing

Design and experiment of a human-touch robot

Robust facial emotion recognition using a temporal-reinforced approach

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