کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / هشتمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

Environment Recognition for Controlling Lower-Limb Exoskeletons, by Computer Vision and Deep Learning Algorithm

نویسندگان :

Marzie Khalili¹ Sadjaad Ozgoli²

1- دانشگاه تربیت مدرس 2- دانشگاه تربیت مدرس

کلمات کلیدی :

computer vision, deep learning, exoskeleton, environment recognition, rehabilitation, VGG16 model

چکیده :

Nowadays, there are millions of people with movement disabilities around the world. In recent decades, robotic devices like exoskeletons have been designed for helping such people. Designing an advanced control system for these devices became a challenge for engineers. Most of the exoskeletons and leg prostheses switch between different locomotion modes manually, and it causes some demanding and has some troubles. Environment recognition is essential to achieve an ideal automatic control system for exoskeletons and leg prostheses. The author used the ExoNet dataset and sampled it down to 30000 RGB images in this paper. Then, three environment modes are manually labeled for classification, consisting of incline stairs, decline stairs, and level ground walking. A VGG16 convolutional neural network is used for training the network. The model achieved 96.24% accuracy for image classification.

لیست مقالات

لیست مقالات بایگانی شده

A Typical Skill 4.0 Platform for Process Safety Management

Reyhane Mokhtarname - ALi Akbar Safavi - Leonhard Urbas - Fabienne Salimi - Hosein Taghipoor

Trotting gait planning and simulation for a quadruped robot

َArdalan َAeini - Mohammadhossein Pourassad - Mohammad Reza Haghjooa - Mostafa Taghizadeh

Sustainable Energy Management in Multi-Unite Cooling Systems With Fuzzy Logic and Adaptive Nonlinear Control

Mohammad Soofi - Nilofar Maleki - Hadi Delavari - Pouria Maleki

On The Dynamic Calibration and Trajectory Control of ARASH:ASiST

Ali Hassani - M.R. Dindarloo - R. Khorrambakht - A. Bataleblu - R. Heidari - M. Motaharifar - S. F. Mohammadi - H. D. Taghirad

Synthetic to Real Framework based on Convolutional Multi-Head Attention and Hybrid Domain Alignment

Mohammadreza Ghorvei - Mohammadreza Kavianpour - Mohammad TH Beheshti - Amin Ramezani

Improved Unscented Kalman Filter Algorithm to Increase the SLAM Accuracy

Hasan Enami Eraghi - Mohammadreza Taban - Sayed Farzad Bahreinian

Assessing Pediatric Sleep Apnea-Hypopnea Severity: Analyzing SpO2 Signals Spectrograms with Inception V3 Model

Erfan Mortazavi - Bahram Tarvirdizadeh - Khalil Alipour - Mohammad Ghamari

شبیه سازی بازوی 5urfd در متلب و v-rep

رضا جلالی رومی - علیرضا نقی پور - فراز جباری ایلخچی

Detection of Defective Products in Injection Molding Process Using YOLO-NAS

Mohammadreza Asadi - Seyedeh Sogand Hashemi - Mohammad Taghi Sadeghi

Reinforcement Learning based Sequential Controller for Mobile Robots with Obstacle Avoidance

Sara Mashhouri - Mohammadali Rahmati - Yasamin Borhani - Esmaeil Najafi

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 40.3.2