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A partition approach for robust gait recognition based on gait template fusion Research Articles

Kejun Wang, Liangliang Liu, Xinnan Ding, Kaiqiang Yu, Gang Hu,heukejun@126.com,liuliangliang@hrbeu.edu.cn,dingxinnan@hrbeu.edu.cn,yukaiqiang@hrbeu.edu.cn,hugang@hrbeu.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 5,   Pages 615-766 doi: 10.1631/FITEE.2000377

Abstract: has significant potential for remote human identification, but it is easily influenced by identity-unrelated factors such as clothing, carrying conditions, and view angles. Many have been presented that can effectively represent gait features. Each gait template has its advantages and can represent different prominent information. In this paper, gait template fusion is proposed to improve the classical representative gait template (such as a ) which represents incomplete information that is sensitive to changes in contour. We also present a partition method to reflect the different gait habits of different body parts of each pedestrian. The fused template is cropped into three parts (head, trunk, and leg regions) depending on the human body, and the three parts are then sent into the convolutional neural network to learn merged features. We present an extensive empirical evaluation of the CASIA-B dataset and compare the proposed method with existing ones. The results show good accuracy and robustness of the proposed method for .

Keywords： 步态识别；分块算法；步态模板；步态分析；步态能量图；深度卷积神经网络；生物特征识别；模式识别    

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Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral knee-injured people Research Articles

Donghai WANG

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 6,   Pages 920-936 doi: 10.1631/FITEE.2000465

Abstract:

This paper presents a gait-synchronization system to help potential unilateral knee-injured people walk normally with a ed (LEE). This relieves the body weight loading on the knee-injured leg and synchronizes its motion with that of the healthy leg during the swing phase of walking. The gait-synchronization system is integrated with a designed to sense the motion/gait of the healthy leg. Guided by the measured joint-angle trajectories, the motorized hip joint lifts the links during walking and synchronizes the knee-injured gait with the healthy gait by a half-cycle delay. The effectiveness of the LEE is illustrated experimentally. We compare the measured joint-angle trajectories between the healthy and knee-injured legs, the simulated knee forces, and the human-exoskeleton interaction forces. The results indicate that the motorized hip-controlled LEE can synchronize the motion/gait of the combined body-ed LEE and injured leg with that of the healthy leg.

Keywords： Sensor-guided     Lower-extremity-exoskeleton     Body sensor network     Gait synchronization     Weight-support    

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Recognition of walking environments and gait period by surface electromyography Special Feature on Intelligent Robats

Seulki KYEONG, Wonseok SHIN, Minjin YANG, Ung HEO, Ji-rou FENG, Jung KIM

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 3,   Pages 342-352 doi: 10.1631/FITEE.1800601

Abstract:

Recognizing and predicting the movement and intention of the wearer in control of an exoskeleton robot is very challenging. It is difficult for exoskeleton robots, which measure and drive human movements, to interact with humans. Therefore, many different types of sensors are needed. When using various sensors, a data design is needed for effective sensing. An electromyographic (EMG) signal can be used to identify intended motion before the actual movement, and the delay time can be shortened via control of the exoskeleton robot. Before using a lower limb exoskeleton to help in walking, the aim of this work is to distinguish the walking environment and gait period using various sensors, including the surface electromyography (sEMG) sensor. For this purpose, a gait experiment was performed on four subjects using the ground reaction force, human–robot interaction force, and position sensors with sEMG sensors. The purpose of this paper is to show progress with the use of sEMG when recognizing walking environments and the gait period with other sensors. For effective data design, we used a combination of sensor types, sEMG sensor locations, and sEMG features. The results obtained using an individual mechanical sensor together with sEMG showed improvement compared to the case of using an individual sensor, and the combination of sEMG and position information showed the best performance in the same number of combinations of three sensors. When four sensor combinations were used, the environment classification accuracy was 96.1%, and the gait period classification accuracy was 97.8%. Vastus medialis (VM) and gastrocnemius (GAS) were the most effective combinations of two muscle types among the five sEMG sensor locations on the legs, and the results were 74.4% in pre-heel contact (preHC) and 71.7% in pre-toe-off (preTO) for environment classification, and 68.0% for gait period classification, when using only the sEMG sensor. The two effective sEMG feature combinations were “mean absolute value (MAV), zero crossings (ZC)” and “MAV, waveform length (WL)”, and the “MAV, ZC” results were 80.0%, 77.1%, and 75.5%. These results suggest that the sEMG signal can be effectively used to control an exoskeleton robot.

Keywords： Walking environment     Gait Period     Surface electromyography (sEMG)     Exoskeleton    

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DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking Article

Hongfei Wang, Shimeng Li, Yuan F. Zheng

Engineering 2015, Volume 1, Issue 1,   Pages 36-45 doi: 10.15302/J-ENG-2015006

Abstract:

In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency (DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge. As members of team DRC-HUBO, we propose different approaches for the Rough-Terrain task, such as enlarged foot pedals and a transformation into quadruped walking. We also introduce a new gait for humanoid robot locomotion to improve stability performance, called the Ski-Type gait. We analyze the stability performance of this gait and use the stability margin to choose between two candidate step sequences, Crawl-1 and Crawl-2. Next, we perform a force/torque analysis for the redundant closed-chain system in the Ski-Type gait, and determine the joint torques by minimizing the total energy consumption. Based on the stability and force/torque analysis, we design a cane length to support a feasible and stable Crawl-2 gait on the HUBO2 humanoid robot platform. Finally, we compare our experimental results with biped walking to validate the Ski-Type gait. We also present our team performance in the trials of the Robotics Challenge.

Keywords： humanoid robot     DARPA robotics challenge (DRC)     rough-terrain walking     Ski-Type gait    

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Control strategy for gait transition of an underactuated 3Dbipedal robot Research Articles

Hai-hui YUAN, Yi-min GE, Chun-biao GAN

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 8,   Pages 1026-1035 doi: 10.1631/FITEE.1800206

Abstract: Significant research interest has recently been attracted to the study of bipedal robots due to the wide variety of their potential applications. In reality, bipedal robots are often required to perform gait transitions to achieve flexible walking. In this paper, we consider the gait transition of a five-link underactuated three-dimensional (3D) bipedal robot, and propose a two-layer control strategy. The strategy consists of a unique, event-based, feedback controller whose feedback gain in each step is updated by an adaptive control law, and a transition controller that guides the robot from the current gait to a neighboring point of the target gait so that the state trajectory can smoothly converge to the target gait. Compared with previous works, the transition controller is parameterized and its control parameters are obtained by solving an optimization problem to guarantee the physical constraints in the transition process. Finally, the effectiveness of the control strategy is illustrated on the underactuated 3D bipedal robot.

Keywords： Gait transition     Underactuated three-dimensional biped     Event-based feedback controller     Adaptive control law    

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Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture point theory Research Article

Mei-ying Deng, Zhang-yi Ma, Ying-nan Wang, Han-song Wang, Yi-bing Zhao, Qian-xiao Wei, Wei Yang, Can-jun Yang,ycj@zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 10,   Pages 1322-1330 doi: 10.1631/FITEE.1800777

Abstract: We study the balance problem caused by forward leaning of the wearer’s upper body during rehabilitation training with a lower limb rehabilitation exoskeleton. The instantaneous is obtained by modeling the human-exoskeleton system and using the theory. By comparing the stability region with instantaneous s of different gait phases, the balancing characteristics of different gait phases and changes to the equilibrium state in the gait process are analyzed. Based on a model of the human-exoskeleton system and the condition of balance of different phases, a trajectory correction strategy is proposed for the instability of the human-exoskeleton system caused by forward leaning of the wearer’s upper body. Finally, the reliability of the trajectory correction strategy is verified by carrying out experiments on the Zhejiang University . The proposed trajectory correction strategy can respond to forward leaning of the upper body in a timely manner. Additionally, in the process of the center of gravity transferred from a double-support phase to a single-support phase, the ratio of gait cycle to zero moment point transfer is reduced correspondingly, and the gait stability is improved.

Keywords： 下肢机器人；捕获点；步态相位；人机系统平衡    

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An untethered cable-driven ankle exoskeleton with plantarflexion-dorsiflexion bidirectional movement assistance Research

Tian-miao Wang, Xuan Pei, Tao-gang Hou, Yu-bo Fan, Xuan Yang, Hugh M. Herr, Xing-bang Yang,hherr@media.mit.edu,xingbang@mit.edu

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 5,   Pages 723-739 doi: 10.1631/FITEE.1900455

Abstract: Lower-limb assisted exoskeletons are widely researched for movement assistance or rehabilitation training. Due to advantages of compliance with human body and lightweight, some prototypes have been developed, but most of these can assist only unidirectional movement. In this paper we present an untethered that can achieve plantarflexion-dorsiflexion bidirectional motion bilaterally using a pair of single motors. The main weights of the exoskeleton, i.e., the motors, power supplement units, and control units, were placed close to the proximity of the human body, i.e., the waist, to reduce the redundant rotation inertia which would apply on the wearer’s leg. A cable force transmission system based on gear-pulley assemblies was designed to transfer the power from the motor to the end-effector effectively. A cable self-tension device on the power output unit was designed to tension the cable during walking. The system based on a foot pressure sensor and an inertial measurement unit (IMU) could identify the gait cycle and gait states efficiently. To validate the power output performance of the exoskeleton, a torque tracking experiment was conducted. When the subject was wearing the exoskeleton with power on, the muscle activity of the soleus was reduced by 5.2% compared to the state without wearing the exoskeleton. This preliminarily verifies the positive assistance effect of our exoskeleton. The study in this paper demonstrates the promising application of a lightweight exoskeleton on human motion augmentation or rehabilitation.

Keywords： Ankle exoskeleton     Plantarflexion-dorsiflexion bidirectional assistance     Biological gait torque     Cable-driven     Gait detection    

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Physical human-robot interaction estimation based control scheme for a hydraulically actuated exoskeleton designed for power amplification None

Yi LONG, Zhi-jiang DU, Wei-dong WANG, Long HE, Xi-wang MAO, Wei DONG

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 9,   Pages 1076-1085 doi: 10.1631/FITEE.1601667

Abstract:

We proposed a lower extremity exoskeleton for power amplification that perceives intended human motion via humanexoskeleton interaction signals measured by biomedical or mechanical sensors, and estimates human gait trajectories to implement corresponding actions quickly and accurately. In this study, torque sensors mounted on the exoskeleton links are proposed for obtaining physical human-robot interaction (pHRI) torque information directly. A Kalman smoother is adopted for eliminating noise and smoothing the signal data. Simultaneously, the mapping from the pHRI torque to the human gait trajectory is defined. The mapping is derived from the real-time state of the robotic exoskeleton during movement. The walking phase is identified by the threshold approach using ground reaction force. Based on phase identification, the human gait can be estimated by applying the proposed algorithm, and then the gait is regarded as the reference input for the controller. A proportional-integral-derivative control strategy is constructed to drive the robotic exoskeleton to follow the human gait trajectory. Experiments were performed on a human subject who walked on the floor at a natural speed wearing the robotic exoskeleton. Experimental results show the effectiveness of the proposed strategy.

Keywords： Exoskeleton     Physical human-robot interaction     Torque sensor     Human gait     Kalman smoother    

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A survey of malware behavior description and analysis Review

Bo YU, Ying FANG, Qiang YANG, Yong TANG, Liu LIU

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 5,   Pages 583-603 doi: 10.1631/FITEE.1601745

Abstract: Behavior-based malware analysis is an important technique for automatically analyzing and detecting malware, and it has received considerable attention from both academic and industrial communities. By considering how malware behaves, we can tackle the malware obfuscation problem, which cannot be processed by traditional static analysis approaches, and we can also derive the as-built behavior specifications and cover the entire behavior space of the malware samples. Although there have been several works focusing on malware behavior analysis, such research is far from mature, and no overviews have been put forward to date to investigate current developments and challenges. In this paper, we conduct a survey on malware behavior description and analysis considering three aspects: malware behavior description, behavior analysis methods, and visualization techniques. First, existing behavior data types and emerging techniques for malware behavior description are explored, especially the goals, principles, characteristics, and classifications of behavior analysis techniques proposed in the existing approaches. Second, the inadequacies and challenges in malware behavior analysis are summarized from different perspectives. Finally, several possible directions are discussed for future research.

Keywords： Malware behavior     Static analysis     Dynamic Analysis     Behavior data expression     Behavior analysis     Machine learning     Semantics-based analysis     Behavior visualization     Malware evolution    

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Finite element analysis of transmission test rig based on ANSYS

Liu Penghao,Fu Sheng,Zhu Xiaomin

Strategic Study of CAE 2014, Volume 16, Issue 8,   Pages 74-78

Abstract:

Three-dimensional modeling of automotive transmission test rig is established based on Solidworks in this paper. The stress nephogram, modal parameters, the natural frequencies and vibration features of automotive transmission test rig are identified through transient Analysis and modal analysis based on ANSYS. The results lay the foundation to further study on vibration, fatigue, noise and also provide reference for structural optimization design of automotive transmission test rig.

Keywords： transmission test rig     ANSYS     FEA     transient Analysis     mode analysis    

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Analysis on the Machined Surface Profile Error Using Fractals and Wavelet

Liao Xiaoyun,Tang Qian,Zhao Ying,Zheng Shize

Strategic Study of CAE 2002, Volume 4, Issue 5,   Pages 75-78

Abstract:

An analysis method based on fractals and wavelet for machined surface profile error was presented. It can be employed to analyze the machined surface in details, and reconstruct the surface profile for doing some related work, such as performance-tolerance analysis and process quality control. The fractal dimension algorithms, the analysis and reconstruction algorithms of surface profile based on wavelets theories were developed. The given example showed that this method and related algorithms were very effective.

Keywords： machining     machined error analysis     fractal geometry     wavelet analysis    

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Analysis of Influencing Factor of Brand Competitiveness

Bing Hongyan

Strategic Study of CAE 2002, Volume 4, Issue 5,   Pages 79-83

Abstract:

Transnational corporations carry out the global strategy, from product export, capital export to brand export. This kind of multipurpose export which relies on abundant capital and is guaranteed by the advanced technology, as a flag with brand ,impacts greatly the national brand and gives it a severe challenge. Facing the foreign brand large-scale entering, the problem appears gradually that national brands are short of competitiveness. The author tries to discuss countermeasures to improve brand competitiveness by analyzing the influencing factor of brand competitiveness.

Keywords： brand competitiveness     influencing factor     analysis     countermeasure    

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Technical Analysis and Construction of National Lightning Detecting Network

Xu Xiaofeng

Strategic Study of CAE 2002, Volume 4, Issue 5,   Pages 7-13

Abstract:

Lightning is a natural phenomenon that seriously affects the natural environment and human activities. Therefore, it is of important social, economical and scientific value to detect the lightning effectively. Comparing with the developed countries, China has some gaps in the fields of lightning studying, forecasting and detecting. In this article, the mechanism of lightning and its influence are described. The present situation and the direction of lightning detecting technology at home and abroad are also analyzed. Several suggestions and issues have been proposed for constructing the national lightning detecting network.

Keywords： lightning detecting     technical analysis     system construction    

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Application of Big Data Analysis Methods for Technology Foresight in Strategic Emerging Industries

Liu Yufei, Zhou Yuan, Liao Ling

Strategic Study of CAE 2016, Volume 18, Issue 4,   Pages 121-128 doi: 10.15302/J-SSCAE-2016.04.018

Abstract:

As an innovative strategic management tool, technology foresight has received increasing interest. There is a large number of related scholarship on technology foresight and its application. The theoretical difficulty is how to conduct technology foresight for different kinds of emerging industries, especially for targeted types of industry innovation in a developing country. Delphi expert analysis is currently the most popular method for technology foresight. This method is undermined by a lack of reliabe and valid big data to support expert experience. The authors propose a new method for patent and technical document analysis for the use of technology foresight for China’s emerging industries.

Keywords： technology foresight     bibliometric     patent analysis     big data analysis     emerging industry    

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Development of Microfabrication Techniques for Production of Analysis Chip

Wei Shoushui,Zhang Yulin,Cui Dafu

Strategic Study of CAE 2004, Volume 6, Issue 10,   Pages 90-94

Abstract:

Fabrication of micro-channels is a key technique for production of analysis chip. The principles of selecting material, the fabrication of mold used in molding replication and every directly fabricating methods were compared and discussed. Some available methods of microfabrication for production of analysis chip were proposed.

Keywords： analysis chip     microfabrication     μ-TAS    

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Title Author Date Type Operation

A partition approach for robust gait recognition based on gait template fusion

Kejun Wang, Liangliang Liu, Xinnan Ding, Kaiqiang Yu, Gang Hu,heukejun@126.com,liuliangliang@hrbeu.edu.cn,dingxinnan@hrbeu.edu.cn,yukaiqiang@hrbeu.edu.cn,hugang@hrbeu.edu.cn

Journal Article

Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral knee-injured people

Donghai WANG

Journal Article

Recognition of walking environments and gait period by surface electromyography

Seulki KYEONG, Wonseok SHIN, Minjin YANG, Ung HEO, Ji-rou FENG, Jung KIM

Journal Article

DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking

Hongfei Wang, Shimeng Li, Yuan F. Zheng

Journal Article

Control strategy for gait transition of an underactuated 3Dbipedal robot

Hai-hui YUAN, Yi-min GE, Chun-biao GAN

Journal Article

Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture point theory

Mei-ying Deng, Zhang-yi Ma, Ying-nan Wang, Han-song Wang, Yi-bing Zhao, Qian-xiao Wei, Wei Yang, Can-jun Yang,ycj@zju.edu.cn

Journal Article

An untethered cable-driven ankle exoskeleton with plantarflexion-dorsiflexion bidirectional movement assistance

Tian-miao Wang, Xuan Pei, Tao-gang Hou, Yu-bo Fan, Xuan Yang, Hugh M. Herr, Xing-bang Yang,hherr@media.mit.edu,xingbang@mit.edu

Journal Article

Physical human-robot interaction estimation based control scheme for a hydraulically actuated exoskeleton designed for power amplification

Yi LONG, Zhi-jiang DU, Wei-dong WANG, Long HE, Xi-wang MAO, Wei DONG

Journal Article

A survey of malware behavior description and analysis

Bo YU, Ying FANG, Qiang YANG, Yong TANG, Liu LIU

Journal Article

Finite element analysis of transmission test rig based on ANSYS

Liu Penghao,Fu Sheng,Zhu Xiaomin

Journal Article

Analysis on the Machined Surface Profile Error Using Fractals and Wavelet

Liao Xiaoyun,Tang Qian,Zhao Ying,Zheng Shize

Journal Article

Analysis of Influencing Factor of Brand Competitiveness

Bing Hongyan

Journal Article

Technical Analysis and Construction of National Lightning Detecting Network

Xu Xiaofeng

Journal Article

Application of Big Data Analysis Methods for Technology Foresight in Strategic Emerging Industries

Liu Yufei, Zhou Yuan, Liao Ling

Journal Article

Development of Microfabrication Techniques for Production of Analysis Chip

Wei Shoushui,Zhang Yulin,Cui Dafu

Journal Article