Meso Hybridized Silk Fibroin Watchband for Wearable Biopotential Sensing and AI Gesture Signaling

Human biopotential signals, such as electrocardiography, are closely linked to health and chronic conditions. Electromyography, corresponds to muscle actions and is pertinent to human-machine interactions. Here, we present a type of smart and flexible watchband that includes a mini flexible electrode array based on Mo-Au filament mesh, combined with mesoscopic hybridized silk fibroin films. As the layer in contact with the skin, waterborne polyurethane and SF create a highly flexible and permeable meso-hybridized SF/WPU layer, ensuring skin-friendliness and comfortable wearing. The flexible FM electrodes are created by integrating Mo-Au FM into 2D-interconnected networks. Molybdenum filaments provide high rigidity and are coated with Aurum to enhance conductivity. The use of Mo-Au FMs in warp-knitted patterns results in high SNR (43.22 dB), high sensitivity (44.43 mV/kg), and significant motion noise reduction due to the pattern's elastic deformability and skin-gripping properties. Leveraging these unique technologies, these smart watchbands excel in prolonged sensing operation, grasping force detection, and gesture recognition. Through smart raining via deep learning, we achieved an unparalleled recognition rate (96% across 20 volunteers of different genders) among other EMG sensing devices. These results have significant implications for human-machine interaction, including applications in underwater robot control, drone operation, and autonomous vehicle control.

Learning Robust Representations of Tonic-Clonic Seizures With Cyclic Transformer

Tonic-clonic seizures (TCSs) pose a significant risk for sudden unexpected death in epilepsy (SUDEP). Previous research has highlighted the potential of multimodal wearable seizure detection systems in accurately detecting TCSs through continuous monitoring, enabling timely alarms and potentially preventing SUDEP. However, such multimodal systems carry a higher risk of sensor malfunction. In this paper, we propose a cyclic transformer approach to address these challenges. The cyclic transformer learns a robust representation by performing circular modal translations between the source and target modalities. It leverages back-translation as regularization technique to enhance the discriminative power of the learned representation. Notably, the proposed cyclic transformer is trained on paired multimodal data but requires only a single source modality during deployment. This characteristic ensures the robustness of the cyclic transformer to perturbations or missing information in the target modality. Experimental results demonstrate that the proposed cyclic transformer achieves competitive performance compared with existing multimodal systems. While both approaches were trained using EEG and EMG data, the cyclic transformer exclusively employs EEG data for testing, diverging from the state-of-the-art's utilization of both EEG and EMG data during test. This showcases the effectiveness of the cyclic transformer in multimodal TCSs detection, offering a promising approach for enhancing the accuracy and robustness of seizure detection systems while mitigating the risks associated with sensor malfunction.

Proprioceptive short-term memory in passive motor learning

A physical trainer often physically guides a learner's limbs to teach an ideal movement, giving the learner proprioceptive information about the movement to be reproduced later. This instruction requires the learner to perceive kinesthetic information and store the instructed information temporarily. Therefore, (1) proprioceptive acuity to accurately perceive the taught kinesthetics and (2) short-term memory to store the perceived information are two critical functions for reproducing the taught movement. While the importance of proprioceptive acuity and short-term memory has been suggested for active motor learning, little is known about passive motor learning. Twenty-one healthy adults (mean age 25.6 years, range 19-38 years) participated in this study to investigate whether individual learning efficiency in passively guided learning is related to these two functions. Consequently, learning efficiency was significantly associated with short-term memory capacity. In particular, individuals who could recall older sensory stimuli showed better learning efficiency. However, no significant relationship was observed between learning efficiency and proprioceptive acuity. A causal graph model found a direct influence of memory on learning and an indirect effect of proprioceptive acuity on learning via memory. Our findings suggest the importance of a learner's short-term memory for effective passive motor learning.

A Survey of Multi-Agent Cross Domain Cooperative Perception

Intelligent unmanned systems for ground, sea, aviation, and aerospace application are important research directions for the new generation of artificial intelligence in China. Intelligent unmanned systems are also important carriers of interactive mapping between physical space and cyberspace in the process of the digitization of human society. Based on the current domestic and overseas development status of unmanned systems for ground, sea, aviation, and aerospace application, this paper reviewed the theoretical problems and research trends of multi-agent cross-domain cooperative perception. The scenarios of multi-agent cooperative perception tasks in different areas were deeply investigated and analyzed, the scientific problems of cooperative perception were analyzed, and the development direction of multi-agent cooperative perception theory research for solving the challenges of the complex environment, interactive communication, and cross-domain tasks was expounded.

Gaussian Process Autoregression for Joint Angle Prediction Based on sEMG Signals

There is uncertainty in the neuromusculoskeletal system, and deterministic models cannot describe this significant presence of uncertainty, affecting the accuracy of model predictions. In this paper, a knee joint angle prediction model based on surface electromyography (sEMG) signals is proposed. To address the instability of EMG signals and the uncertainty of the neuromusculoskeletal system, a non-parametric probabilistic model is developed using a Gaussian process model combined with the physiological properties of muscle activation. Since the neuromusculoskeletal system is a dynamic system, the Gaussian process model is further combined with a non-linear autoregressive with eXogenous inputs (NARX) model to create a Gaussian process autoregression model. In this paper, the normalized root mean square error (NRMSE) and the correlation coefficient (CC) are compared between the joint angle prediction results of the Gaussian process autoregressive model prediction and the actual joint angle under three test scenarios: speed-dependent, multi-speed and speed-independent. The mean of NRMSE and the mean of CC for all test scenarios in the healthy subjects dataset and the hemiplegic patients dataset outperform the results of the Gaussian process model, with significant differences (p < 0.05 and p < 0.05, p < 0.05 and p < 0.05). From the perspective of uncertainty, a non-parametric probabilistic model for joint angle prediction is established by using Gaussian process autoregressive model to achieve accurate prediction of human movement.

Reference Trajectory Reshaping Optimization and Control of Robotic Exoskeletons for Human-Robot Co-Manipulation

For human-robot co-manipulation by robotic exoskeletons, the interaction forces provide a communication channel through which the human and the robot can coordinate their actions. In this article, an optimization approach for reshaping the physical interactive trajectory is presented in the co-manipulation tasks, which combines impedance control to enable the human to adjust both the desired and the actual trajectories of the robot. Different from previous studies, the proposed method significantly reshapes the desired trajectory during physical human-robot interaction (pHRI) based on force feedback, without requiring constant human guidance. The proposed scheme first formulates a quadratically constrained programming problem, which is then solved by neural dynamics optimization to obtain a smooth and minimal-energy trajectory similar to the natural human movement. Then, we propose an adaptive neural-network controller based on the barrier Lyapunov function (BLF), which enables the robot to handle the uncertain dynamics and the joint space constraints directly. To validate the proposed method, we perform experiments on the exoskeleton robot with human operators for co-manipulation tasks. The experimental results demonstrate that the proposed controller could complete the co-manipulation tasks effectively.

Passive training with upper extremity exoskeleton robot affects proprioceptive acuity and performance of motor learning

Sports trainers often grasp and move trainees' limbs to give instructions on desired movements, and a merit of this passive training is the transferring of instructions via proprioceptive information. However, it remains unclear how passive training affects the proprioceptive system and improves learning. This study examined changes in proprioceptive acuity due to passive training to understand the underlying mechanisms of upper extremity training. Participants passively learned a trajectory of elbow-joint movement as per the instructions of a single-arm upper extremity exoskeleton robot, and the performance of the target movement and proprioceptive acuity were assessed before and after the training. We found that passive training improved both the reproduction performance and proprioceptive acuity. We did not identify a significant transfer of the training effect across arms, suggesting that the learning effect is specific to the joint space. Furthermore, we found a significant improvement in learning performance in another type of movement involving the trained elbow joint. These results suggest that participants form a representation of the target movement in the joint space during the passive training, and intensive use of proprioception improves proprioceptive acuity.

A Learning-Based Hierarchical Control Scheme for an Exoskeleton Robot in Human-Robot Cooperative Manipulation

Exoskeleton robots can assist humans to perform activities of daily living with little effort. In this paper, a hierarchical control scheme is presented which enables an exoskeleton robot to achieve cooperative manipulation with humans. The control scheme consists of two layers. In low-level control of the upper limb exoskeleton robot, an admittance control scheme with an asymmetric barrier Lyapunov function-based adaptive neural network controller is proposed to enable the robot to be back drivable. In order to achieve high-level interaction, a strategy for learning human skills from demonstration is proposed by utilizing Gaussian mixture models, which consists of the learning and reproduction phase. During the learning phase, the robot observes and learns how a demonstrator performs a specific impedance-based task successfully, and in the reproduction phase, the robot can provide the subjects with just enough assistance by extracting human skills from demonstrations to prevent the motion of the robot end-effector deviating far from desired ones, due to variation in the interaction force caused by environmental disturbances. Experimental results of two different tasks show that the proposed control scheme can provide human subjects with assistance as needed during cooperative manipulation.

Design of physical user–robot interactions for model identification of soft actuators on exoskeleton robots

Recent breakthroughs in wearable robots, such as exoskeleton robots with soft actuators and soft exosuits, have enabled the use of safe and comfortable movement assistance. However, modeling and identification methods for soft actuators used in wearable robots have yet to be sufficiently explored. In this study, we propose a novel approach for obtaining accurate soft actuator models through the design of physical user–robot interactions for wearable robots, in which the user applies external forces to the robot. To obtain an accurate soft actuator model from the limited amount of data acquired through an interaction, we leverage an active learning framework based on Gaussian process regression. We conducted experiments using a two-degree-of-freedom upper-limb exoskeleton robot with four pneumatic artificial muscles (PAMs). Experimental results showed that physical interactions between the exoskeleton robot and the user were successfully designed to allow PAM models to be identified. Furthermore, we found that data acquired through an interaction could result in more accurate soft actuator models for the exoskeleton robots than data acquired without a physical interaction between the exoskeleton robot and the user.