Assistive robotic exoskeleton using recurrent neural networks for decision taking for the robust trajectory tracking

Fuentes-Alvarez, Ruben; Hernández, Joel Hernández; Matehuala-Morán, Iván; Alfaro-Ponce, Mariel; Quiñones-Urióstegui, Ivett; Salazar, Sergio; Lozano, Rogelio

doi:10.1016/j.eswa.2021.116482

Cited by 15 publications

(7 citation statements)

References 47 publications

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“…Future work contemplates investigating the capabilities of the present method to encrypt information in n-dimensional cover images generated through an evolutionary algorithm. It is also interesting to assign to the genetic algorithm the task of generating the cover image from the private key S. It would also be interesting to approach our method from the perspective of classification problems through neural networks, such as (Alfaro-Ponce and Chairez, 2020) and (Fuentes-Alvarez et al, 2022).…”

Section: Discussionmentioning

confidence: 99%

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Confidentiality in medical images through a genetic-based steganography algorithm in artificial intelligence

et al. 2022

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Nowadays, image steganography has an important role in hiding information in advanced applications, such as medical image communication, confidential communication and secret data storing, protection of data alteration, access control system for digital content distribution and media database systems. In these applications, one of the most important aspects is to hide information in a cover image whithout suffering any alteration. Currently, all existing approaches used to hide a secret message in a cover image produce some level of distortion in this image. Although these levels of distortion present acceptable PSNR values, this causes minimal visual degradation that can be detected by steganalysis techniques. In this work, we propose a steganographic method based on a genetic algorithm to improve the PSNR level reduction. To achieve this aim, the proposed algorithm requires a private key composed of two values. The first value serves as a seed to generate the random values required on the genetic algorithm, and the second value represents the sequence of bit locations of the secret medical image within the cover image. At least the seed must be shared by a secure communication channel. The results demonstrate that the proposed method exhibits higher capacity in terms of PNSR level compared with existing works.

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Section: Discussionmentioning

confidence: 99%

“…It is also interesting to assign to the genetic algorithm the task of generating the cover image from the private key S . It would also be interesting to approach our method from the perspective of classification problems through neural networks, such as ( Alfaro-Ponce and Chairez, 2020 ) and ( Fuentes-Alvarez et al, 2022 ).…”

Section: Discussionmentioning

confidence: 99%

Confidentiality in medical images through a genetic-based steganography algorithm in artificial intelligence

et al. 2022

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“…Their experimental results demonstrated the effectiveness of the proposed strategy in reducing controller error and supporting the user during walking. In another human-in-the-loop scheme for controlling lower extremity exoskeletons, Fuentes-Alvarez et al [57] constructed an EMG database and trained a recurrent neural network (RNN) for the classification of EMG to recognize user movements. This information was then sent to a robust lower-level control scheme to offer an effective and precise control system suitable for individuals with a high degree of motor disability.…”

Section: Supervisory Controlmentioning

confidence: 99%

Hierarchical Classification of Subject-Cooperative Control Strategies for Lower Limb Exoskeletons in Gait Rehabilitation: A Systematic Review

et al. 2023

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Over the last decade, lower limb exoskeletons have seen significant development, with a particular focus on improving the interaction between the subject and the exoskeleton. This has been achieved by implementing advanced control strategies that enable the safe and efficient use of the exoskeleton. In this work, the control strategies for lower limb exoskeletons are divided into upper-level control (supervisory and high-level control) and lower-level control (the servo layer). Before discussing these control strategies, a brief introduction to lower limb exoskeletons and their control schemes is provided. The control hierarchy for lower limb exoskeletons is then systematically reviewed along with an overview of the techniques used. A Preferred Reporting Items for Systematic Reviews and Meta-Analysis (PRISMA) statement is used to highlight the systematic process of identifying relevant articles with inclusion and exclusion criteria. The details of supervisory control, high-level control, and servo control strategies are presented by citing relevant state-of-the-art studies, particularly from the past five years. The targeted lower limb joint, training mode, and development stage for different control strategies are highlighted in a tabulated form to articulate the overall hierarchy level. Finally, the potential opportunities and limitations of subject-cooperative control are discussed. Overall, this work aims to provide an in-depth understanding of the control strategies used in lower limb exoskeletons, focusing on subject cooperation. This knowledge can be used to improve the safety and efficacy of lower limb exoskeletons, ultimately benefiting individuals with mobility impairments.

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“…Moreover, for complex road conditions with obstacles, the mobile robot may not be able to pass the specified locomotion path smoothing, thus limiting its corresponding functions. Moreover, due to the structural limitations of rigid links, mobile robots such as exoskeleton rehabilitation robots have poor environmental adaptability, safety and reliability [5,6]. Therefore, in order to overcome the shortcomings of the rigid mobile robot and improve the interaction ability with the multi-environment, the robot with high security and reliability and low price has a huge research prospect.…”

Section: Introductionmentioning

confidence: 99%

Finite Element Simulation Analysis of a Novel 3D-FRSPA for Crawling Locomotion

Wang,

2024

CMES

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A novel three-dimensional-fiber reinforced soft pneumatic actuator (3D-FRSPA) inspired by crab claw and human hand structure that can bend and deform independently in each segment is proposed. It has an omni-directional bending configuration, and the fibers twined symmetrically on both sides to improve the bending performance of FRSPA. In this paper, the static and kinematic analysis of 3D-FRSPA are carried out in detail. The effects of fiber, pneumatic chamber and segment length, and circular air chamber radius of 3D-FRSPA on the mechanical performance of the actuator are discussed, respectively. The soft mobile robot composed of 3D-FRSPA has the ability to crawl. Finally, the crawling processes of the soft mobile robot on different road conditions are studied, respectively, and the motion mechanism of the mobile actuator is shown. The numerical results show that the soft mobile robots have a good comprehensive performance, which verifies the correctness of the proposed model. This work shows that the proposed structures have great potential in complex road conditions, unknown space detection and other operations.

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Assistive robotic exoskeleton using recurrent neural networks for decision taking for the robust trajectory tracking

Cited by 15 publications

References 47 publications

Confidentiality in medical images through a genetic-based steganography algorithm in artificial intelligence

Confidentiality in medical images through a genetic-based steganography algorithm in artificial intelligence

Hierarchical Classification of Subject-Cooperative Control Strategies for Lower Limb Exoskeletons in Gait Rehabilitation: A Systematic Review

Finite Element Simulation Analysis of a Novel 3D-FRSPA for Crawling Locomotion

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