Table Of ContentLecture Notes in Electrical Engineering 399
Canjun Yang
G.S. Virk
Huayong Yang
Editors
Wearable
Sensors
and Robots
Proceedings of International Conference
on Wearable Sensors and Robots 2015
Lecture Notes in Electrical Engineering
Volume 399
Board of Series editors
Leopoldo Angrisani, Napoli, Italy
Marco Arteaga, Coyoacán, México
Samarjit Chakraborty, München, Germany
Jiming Chen, Hangzhou, P.R. China
Tan Kay Chen, Singapore, Singapore
Rüdiger Dillmann, Karlsruhe, Germany
Haibin Duan, Beijing, China
Gianluigi Ferrari, Parma, Italy
Manuel Ferre, Madrid, Spain
Sandra Hirche, München, Germany
Faryar Jabbari, Irvine, USA
Janusz Kacprzyk, Warsaw, Poland
Alaa Khamis, New Cairo City, Egypt
Torsten Kroeger, Stanford, USA
Tan Cher Ming, Singapore, Singapore
Wolfgang Minker, Ulm, Germany
Pradeep Misra, Dayton, USA
Sebastian Möller, Berlin, Germany
Subhas Mukhopadyay, Palmerston, New Zealand
Cun-Zheng Ning, Tempe, USA
Toyoaki Nishida, Sakyo-ku, Japan
Bijaya Ketan Panigrahi, New Delhi, India
Federica Pascucci, Roma, Italy
Tariq Samad, Minneapolis, USA
Gan Woon Seng, Nanyang Avenue, Singapore
Germano Veiga, Porto, Portugal
Haitao Wu, Beijing, China
Junjie James Zhang, Charlotte, USA
About this Series
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Canjun Yang G.S. Virk Huayong Yang
(cid:129) (cid:129)
Editors
Wearable Sensors and Robots
Proceedings of International Conference
on Wearable Sensors and Robots 2015
123
Editors
CanjunYang Huayong Yang
Department ofMechanical Engineering Department ofMechanical Engineering
ZhejiangUniversity ZhejiangUniversity
Hangzhou, Zhejiang Hangzhou, Zhejiang
China China
G.S. Virk
University of Gävle
Gävle
Sweden
ISSN 1876-1100 ISSN 1876-1119 (electronic)
Lecture Notesin Electrical Engineering
ISBN978-981-10-2403-0 ISBN978-981-10-2404-7 (eBook)
DOI 10.1007/978-981-10-2404-7
JointlypublishedwithZhejiangUniversityPress,Hangzhou,China
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Preface
TheInternationalConferenceonWearableSensorsandRobots(ICWSR2015)held
duringOctober16–18,2015inHangzhou,China. ICWSR2015wassponsoredby
Zhejiang University, and co-sponsored by the National Natural Science Fund of
China(NSFC),andInternationalOrganisationforStandardisation’sworkinggroup
on personal care robot safety (ISO/TC184/SC2/WG7).
With rapidprogressinmechatronics and robotics, wearable sensingand robotic
technologies have been widely studied for various applications including
exoskeleton robots for rehabilitation, exoskeleton robots for supporting the daily
lives of elderly people, wearable medical devices for monitoring vital signs, etc.
However, some key technology challenges need to be addressed for achieving
better research results, more effective application demonstrators and realistic
commercialization. The conference brought together academics, researchers, engi-
neers, and students worldwide to focus on and discuss the state of the art of the
technology and to present the latest results on the various aspects of wearable
sensors and robots.
Theconferencereceived61papersfromexpertsandresearchersinChinaandall
overtheworld.46paperswerereviewedandaccepted,including20invitedpapers
and 26 general papers. Meanwhile, the conference received 11 keynote speech
abstracts from international professors and researchers. The proceedings consist of
detailed papers on wearable sensors, design of sensors and actuators, advanced
control systems, wearable robots, visual recognition applications, clinical applica-
tions, rehabilitation robotics, biological signal based robotics, intelligent manu-
facturing and industry robots, and research progress from keynote speakers. In
addition,readerswillobtainthelatestinformationonmedicaldeviceregulationand
international standardization, wearable robots for training and support of human
gait, design of exoskeleton for elderly persons, ergonomics design considerations
driving innovation in assistive robotics, and analysis of human–machine
interaction.
v
vi Preface
ItisourdesirethattheproceedingsoftheInternationalConferenceonWearable
Sensors and Robots (ICWSR 2015) will provide an opportunity to share the per-
spectives of academic researchers and practical engineers on wearable sensors and
robot research and development.
Hangzhou, China Prof. Canjun Yang
Gävle, Sweden Prof. G.S. Virk
October 2015 Program Chair, General Chair of ICWSR 2015
Contents
Part I Wearable Sensors
The Design of E Glove Hand Function Evaluation Device
Based on Fusion of Vision and Touch... .... .... .... .... ..... .... 3
Jing Guo, Cui-lian Zhao, Yu Li, Lin-hui Luo and Kun-feng Zhang
An Emotion Recognition System Based on Physiological Signals
Obtained by Wearable Sensors .... .... .... .... .... .... ..... .... 15
Cheng He, Yun-jin Yao and Xue-song Ye
Integrated Application Research About the Necklace Type Wearable
Health Sensing System Under the Internet of Things... .... ..... .... 27
Jian-jun Yu and Xing-bin Chen
A Multi-scale Flexible Tactile-Pressure Sensor.... .... .... ..... .... 49
Xiao-zhou Lü
Design of a Wearable Thermoelectric Generator for Harvesting
Human Body Energy ... .... ..... .... .... .... .... .... ..... .... 55
Haiyan Liu, Yancheng Wang, Deqing Mei, Yaoguang Shi
and Zichen Chen
Three-Axis Contact Force Measurement of a Flexible Tactile Sensor
Array for Hand Grasping Applications.. .... .... .... .... ..... .... 67
Yancheng Wang, Kailun Xi, Deqing Mei, Zhihao Xin
and Zichen Chen
A Novel Silicon Based Tactile Sensor with Fluid Encapsulated
in the Cover Layer for Prosthetic Hand . .... .... .... .... ..... .... 81
Ping Yu, Chun-xin Gu, Wei-ting Liu and Xin Fu
An Adaptive Feature Extraction and Classification Method
of Motion Imagery EEG Based on Virtual Reality. .... .... ..... .... 93
Li Wang, Huiqun Fu, Xiu-feng Zhang, Rong Yang, Ning Zhang
and Fengling Ma
vii
viii Contents
One-Handed Wearable sEMG Sensor for Myoelectric Control
of Prosthetic Hands. .... .... ..... .... .... .... .... .... ..... .... 105
Yin-lai Jiang, Shintaro Sakoda, Masami Togane, Soichiro Morishita
and Hiroshi Yokoi
Wearable Indoor Pedestrian Navigation Based on MIMU
and Hypothesis Testing.. .... ..... .... .... .... .... .... ..... .... 111
Xiao-fei Ma, Zhong Su, Xu Zhao, Fu-chao Liu and Chao Li
Calibration Method of the 3-D Laser Sensor Measurement System .... 123
Qing-Xu Meng, Qi-Jie Zhao, Da-Wei Tu and Jin-Gang Yi
Part II Wearable Robots
Study on a Novel Wearable Exoskeleton Hand Function Training
System Based on EMG Triggering . .... .... .... .... .... ..... .... 135
Wu-jing Cao, Jie Hu, Zhen-ping Wang, Lu-lu Wang
and Hong-liu Yu
Dynamic Analysis and Design of Lower Extremity Power-Assisted
Exoskeleton ... .... .... .... ..... .... .... .... .... .... ..... .... 145
Shengli Song, Xinglong Zhang, Qing Li, Husheng Fang, Qing Ye
and Zhitao Tan
Human Gait Trajectory Learning Using Online Gaussian
Process for Assistive Lower Limb Exoskeleton.... .... .... ..... .... 165
Yi Long, Zhi-jiang Du, Wei Dong and Wei-dong Wang
Research on Bionic Mechanism of Shoulder Joint Rehabilitation
Movement .... .... .... .... ..... .... .... .... .... .... ..... .... 181
Guo-xin Pan, Hui-qun Fu, Xiu-feng Zhang and Feng-ling Ma
Reducing the Human-Exoskeleton Interaction Force Using Bionic
Design of Joints.... .... .... ..... .... .... .... .... .... ..... .... 195
Wei Yang, Canjun Yang, Qianxiao Wei and Minhang Zhu
Development of a Lower Limb Rehabilitation Wheelchair System
Based on Tele-Doctor–Patient Interaction.... .... .... .... ..... .... 211
Shuang Chen, Fang-fa Fu, Qiao-ling Meng and Hong-liu Yu
A Grasp Strategy with Flexible Contacting for Multi-fingered
Hand Rehabilitation Exoskeleton... .... .... .... .... .... ..... .... 225
Qian-xiao Wei, Can-jun Yang, Qian Bi and Wei Yang
Unscented Transform-Based Correlation Between Surrogate
and Tumor Motion in Robotic Radiosurgery . .... .... .... ..... .... 239
Shu-mei Yu, Feng-feng Zhang, Meng Dou, Rong-chuan Sun
and Li-ning Sun
Contents ix
A Pulmonary Rehabilitation Training Robot for Chronic Obstructive
Pulmonary Disease Patient... ..... .... .... .... .... .... ..... .... 251
Zhi-hua Zhu, Tao Liu, Bo Cong and Fengping Liu
Research and Development for Upper Limb Amputee Training
System Based on EEG and VR .... .... .... .... .... .... ..... .... 263
Jian Li, Hui-qun Fu, Xiu-feng Zhang, Feng-ling Ma, Teng-yu Zhang,
Guo-xin Pan and Jing Tao
Evaluation on Measurement Uncertainty of Sensor
Plating Thickness .. .... .... ..... .... .... .... .... .... ..... .... 275
Xu-cheng Rong and Jian-jun Yu
Research on the Stability of Needle Insertion Force.... .... ..... .... 283
Qiang Li and De-dong Gao
The Metabolic Cost of Walking with a Passive Lower Limb Assistive
Device.... .... .... .... .... ..... .... .... .... .... .... ..... .... 301
Jean-Paul Martin and Qingguo Li
Part III Advanced Control System
A Novel Method for Bending Stiffness of Umbilical
Based on Nonlinear Large Deformation Theory... .... .... ..... .... 309
Zuan Lin, Lei Zhang and Can-jun Yang
Silicon Micro-gyroscope Closed-Loop Correction and Frequency
Tuning Control.... .... .... ..... .... .... .... .... .... ..... .... 321
Xingjun Wang, Bo Yang, Bo Dai, Yunpeng Deng and Di Hu
Autofocus for Enhanced Measurement Accuracyof a Machine Vision
System for Robotic Drilling .. ..... .... .... .... .... .... ..... .... 333
Biao Mei, Wei-dong Zhu and Ying-lin Ke
A New Scene Segmentation Method Based on Color Information
for Mobile Robot in Indoor Environment.... .... .... .... ..... .... 353
Xu-dong Zhang, Qi-Jie Zhao, Qing-XU Meng, Da-Wei Tu
and Jin-Gang Yi
Dynamic Hopping Height Control of Single-Legged Hopping Robot ... 365
Zhi-wei Chen, Bo Jin, Shi-qiang Zhu, Yun-tian Pang
and Gang Chen
The Stability Analysis of Quadrotor Unmanned Aerial Vechicles.. .... 383
Yun-ping Liu, Xian-ying Li, Tian-miao Wang, Yong-hong Zhang
and Ping Mei
