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The accuracy and reliability of upper limb motion assessment have received great attention in the field of rehabilitation. Grasping test is widely carried out for motion assessment, which requires patients to grasp objects and move them to target place. The traditional assessments test the upper limb motion ability by therapists, which mainly relies on experience and lacks quantitative indicators. This paper aims to propose a deep learning method based on the vision system of our upper limb rehabilitation robot to recognize the motion trajectory of rehabilitation target objects automatically and quantitatively assess the upper limb motion in the grasping test.

To begin with, an SRF network is designed to recognize rehabilitation target objects grasped in assessment tests. Moreover, the upper limb motion trajectory is calculated through the motion of objects’ central positions. After that, a GAE network is designed to analyze the motion trajectory which reflects the motion of upper limb. Finally, based on the upper limb rehabilitation exoskeleton platform, the upper limb motion assessment tests are carried out to show the accuracy of both object recognition of SRF network and motion assessment of GAE network. The results including object recognition, trajectory calculation and deviation assessment are given with details.

The performance of the proposed networks is validated by experiments that are developed on the upper limb rehabilitation robot. It is implemented by recognizing rehabilitation target objects, calculating the motion trajectory and grading the upper limb motion performance. It illustrates that the networks, including both object recognition and trajectory evaluation, can grade the upper limb motion functionn accurately, where the accuracy is above 95.0% in different grasping tests.

A novel assessment method of upper limb motion is proposed and verified. According to the experimental results, the accuracy can be remarkably enhanced, and the stability of the results can be improved, which provide more quantitative indicators for further application of upper limb motion assessment.

Fully-actuated unmanned aerial vehicles (UAVs) are a growing and promising field of research, which shows advantages for aerial physical interaction. The purpose of this paper is to construct a force sensor-denied control method for a fully-actuated hexarotor to conduct aerial interaction with accurate force exerted outward.

First, by extending single-dimension impedance model to the fully-actuated UAV model, an impedance controller is designed for compliant UAV pose/force control. Then, to estimate the interaction force between UAV end-effector and external environment accurately, combined with super-twisting theory, a nonlinear force observer is constructed. Finally, based on impedance controller and estimated force from observer, an interaction force regulation method is proposed.

The presented nonlinear observer-based impedance control approach is validated in both simulation and environments, in which the authors try to use a fully-actuated hexarotor to accomplish the task of aerial physical interaction finding that a specified force is able to be exerted to environment without any information from force sensors.

A solution of aerial physical interaction for UAV system enabling accurate force exerted outward without any force sensors is proposed in this paper.

In complex environments, a spherical robot has great application value. When the pendulum spherical robot is stopped or disturbed, there will be a periodic oscillation. This situation will seriously affect the stability of the spherical robot. Therefore, this paper aims to propose a control method based on backstepping and disturbance observers for oscillation suppression.

This paper analyzes the mechanism of oscillation. The oscillation model of the spherical robot is constructed and the relationship between the oscillation and the internal structure of the sphere is analyzed. Based on the oscillation model, the authors design the oscillation suppression control of the spherical robot using the backstepping method. At the same time, a disturbance observer is added to suppress the disturbance.

It is found that the control system based on backstepping and disturbance observer is simple and efficient for nonlinear models. Compared with the PID controller commonly used in engineering, this control method has a better control effect.

The proposed method can provide a reliable and effective stability scheme for spherical robots. The problem of instability in real motion is solved.

In this paper, the oscillation model of a spherical robot is innovatively constructed. Second, a new backstepping control method combined with a disturbance observer for the spherical robot is proposed to suppress the oscillation.

The study aims to equip robots with the ability to precisely maintain interaction forces, which is crucial for tasks such as polishing in highly dynamic environments with unknown and varying stiffness and geometry, including those found in airplane wings or thin, soft materials. The purpose of this study is to develop a novel adaptive force-tracking admittance control scheme aimed at achieving a faster response rate with higher tracking accuracy for robot force control.

In the proposed method, the traditional admittance model is improved by introducing a pre-proportional-derivative controller to accelerate parameter convergence. Subsequently, the authors design an adaptive law based on fuzzy logic systems (FLS) to compensate for uncertainties in the unknown environment. Stability conditions are established for the proposed method through Lyapunov analysis, which ensures the force tracking accuracy and the stability of the coupled system consisting of the robot and the interaction environment. Furthermore, the effectiveness and robustness of the proposed control algorithm are demonstrated by simulation and experiment.

A variety of unstructured simulations and experimental scenarios are designed to validate the effectiveness of the proposed algorithm in force control. The outcomes demonstrate that this control strategy excels in providing fast response, precise tracking accuracy and robust performance.

In real-world applications spanning industrial, service and medical fields where accurate force control by robots is essential, the proposed method stands out as both practical and straightforward, delivering consistently satisfactory performance across various scenarios.

This research introduces a novel adaptive force-tracking admittance controller based on FLS and validated through both simulations and experiments. The proposed controller demonstrates exceptional performance in force control within environments characterized by unknown and varying.

The null-space projection method is commonly adopted for controlling redundant robots, which undoubtedly requires the robot Jacobian matrix inverse. This paper aims to provide a novel control scheme, which enables null-space control of redundant robots without conflict with the main task space.

In this paper, an impedance-based null-space control approach for redundant robots is proposed. The null-space degrees of freedom are separated from the primary task space by using the eigenvalue decomposition. Then, a joint impedance controller spans the null space and is reflected into the joint space to manage the redundancy. Finally, several experiments have been conducted to evaluate and validate the performance of the proposed approach in comparison with the null-space projection method under various situations.

Experiment results show that no significant differences were observed between the different filling eigenvalues in the proposed approach under different null-space dimensions and motion velocity. Besides, comparative experiment results demonstrate that the proposed method can achieve comparable results to the null-space projection method. Nevertheless, the suggested approach has benefits regarding the quantity of control parameters in addition to not requiring a Jacobian inverse. Notably, the performance of the proposed method will improve as the null-space dimension increases.

This study presents a new control method for redundant robots, which has advantages for dealing with the problems of controlling redundant robots compared to the existing methods.

This study aims to apply the predictive processing theory to examine the influence of artificial intelligence (AI)-driven robotic performers on audience emotions and the audience’s resulting electronic word-of-mouth (eWOM) behaviors during tourism service encounters.

Using a quantitative research methodology, survey responses from 339 regular customers of performing arts in tourism destinations were analyzed. The respondents were recruited through Prolific, a professional data collection platform. SPSS 23.0 was used for the preliminary analysis, from which a research model to achieve the aim was proposed. SmartPLS 3 was used for partial least squares structural equation modeling to test the model.

Interactive and novel robotic performances significantly encouraged the consumers to share their experiences online, thereby enhancing eWOM. However, melodic resonance had no significant impact on eWOM intentions. The consumers’ emotional responses fully mediated the relationship of the novelty and interactivity of the performances to the consumers’ eWOM intentions but did not mediate the relationship of the musical elements to their eWOM intentions.

This study enriches the understanding of how AI-driven performances impact consumers’ emotional engagement and sharing behaviors. It extends the application of the predictive processing theory to the domain of consumer behavior, offering valuable insights for enhancing audience engagement in performances through technological innovation.

本研究旨在运用预测处理理论, 考察人工智能（AI）驱动的机器人表演对观众情感及其在旅游服务接触中的电子口碑（eWOM）行为的影响。。

采用定量研究方法, 分析了339名经常观看旅游景点表演艺术的常客的调查问卷。受访者通过专业数据收集平台Prolific招募。初步分析使用SPSS 23.0进行, 从中提出了实现研究目标的研究模型。使用SmartPLS 3进行偏最小二乘结构方程模型测试该模型。

互动性和新颖性的机器人表演显著鼓励消费者在线分享他们的体验, 从而增强电子口碑。然而, 旋律共鸣对电子口碑意图没有显著影响。消费者的情感反应完全中介了表演的新颖性和互动性与消费者电子口碑意图之间的关系, 但没有中介音乐元素与电子口碑意图之间的关系。

本研究丰富了对AI驱动表演如何影响消费者情感参与和分享行为的理解。将预测处理理论的应用扩展到消费者行为领域, 为通过技术创新增强观众参与度提供了宝贵的见解。

There are various uncertain and nonlinear problems in hydraulic legged robot systems, including parameter uncertainty, unmodeled dynamics and external disturbances. This study aims to eliminate uncertainties and improve the foot trajectory tracking control performance of hydraulic legged robots, a high-performance foot trajectory tracking control method based on fixed-time disturbance observers for hydraulic legged robots is proposed.

First, the robot leg mechanical system model and hydraulic system model of the hydraulic legged robot are established. Subsequently, two fixed-time disturbance observers are designed to address the unmatched lumped uncertainty and match lumped uncertainty in the system. Finally, the lumped uncertainties are compensated in the controller design, and the designed motion controller also achieves fixed-time stability.

Through simulation and experiments, it can be found that the proposed tracking control method based on fixed-time observers has better tracking control performance. The effectiveness and superiority of the proposed method have been verified.

Both the disturbance observers and the controller achieve fixed-time stability, effectively improving the performance of foot trajectory tracking control for hydraulic legged robots.

The purpose of this paper is to improve the problem of kinematics incompatibility of human–exoskeleton in the existing rigid lower-limb exoskeleton (LLE).

In this paper, following an introduction, the motion characteristics of the human knee joint and the design method of the exoskeleton were introduced. A kinematics model of the LLE based on cross-four-bar linkage was obtained. The structural parameters of the LLE mechanism were optimized by the particle swarm optimization algorithm. The predefined trajectories used in the optimization process were derived from the ankle joint, not the instantaneous center of rotation of the knee joint. Finally, the motion deviation of the optimization result was simulated, and the human–exoskeleton coordination experiment was designed to compare with the traditional single-axis knee joint in terms of comfort and coordination.

The lower limb exoskeleton mechanism obtained in this paper has a good tracking effect on human movement and has been improved in terms of comfort and coordination compared with the traditional single-axis knee joint.

The customized exoskeleton design method introduced in this paper is relatively simple, and the obtained exoskeleton has better movement coordination than the traditional exoskeleton. It can provide a reference for the design of lower limb exoskeleton and lower limb orthosis.

The objective of this proposal was to propose an educational innovation resource for the delivery of workshops with lesbian, gay, bisexual, transgender, queer, intersex and asexual (LGBTQIA) themes aimed at students in high school and middle school to promote complex thinking as a necessary competency for understanding their continuously changing environment.

Training for sexual and gender diversity challenges higher education institutions, some of which have bet on developing complex thinking to meet this need. Although not all universities have sufficient resources to create activities that foster relevant and diversity-sensitive competencies, some have implemented strategies ranging from modifying their curricula to designing specific classroom tasks that support student inclusion. In response to the challenges faced by higher education institutions (HEIs) to promote the acquisition of thinking skills for complexity, this paper proposes deploying a humanoid robot as an educational innovation tool in training initiatives that promote issues of sexual and gender diversity. The deployment model is described, considering design, delivery and evaluation. The value of this proposal lies in using humanoid robotics as a classroom resource within the framework of social robotics, considering its implications in the educational context to develop complex thinking competency and training for diversity in higher education students.

The data presented here highlight the importance of educational institutions integrating content into their plans, programs and activities (both curricular and extracurricular) that promote inclusion and sexual and gender diversity and attractive teaching strategies to reinforce this perspective. So, this proposal offers a support tool for implementing this content in everyday educational contexts where the objectives focus on triggering complex reasoning competencies.

The varied responses and perceptions of students towards robotics and sexual diversity, as well as the lack of clear methods to assess educational outcomes, may compromise the effectiveness of the intervention.

The workshop proposed in this paper is configured as a series of iterations and repetitions in different educational fields, whether disciplinary (e.g. design or engineering) or transversal (e.g. entrepreneurship). The goal is to achieve educational strategies that generate a more significant impact at the institutional level. In this sense, the present proposal joins the actions implemented by other higher education institutions to make sexual and gender diversity visible to university students.

The overall aim is to bring awareness, understanding and education to students with an inclusive, respectful and equitable perspective.

Social robotics is an innovative and attractive tool for young people at the higher education level. We consider our study a pioneer in the area.

This study aims to focus on tourists with physical disabilities and examine their perceptions of service robots in hotels and their influence on the overall experience, behavioral intentions and hotel attachment.

A survey was conducted via the Prolific platform to collect data from 409 respondents. The data was analyzed using partial least squares–based SEM.

The salient PLS-SEM findings show that perceived safety and functional benefits significantly affect a hotel's overall experience and intention to revisit. Perceived privacy did not relate to the hotel's overall experience and intention to revisit. Moreover, the hotel's overall experience significantly affects the intention to revisit, further influencing hotel attachment.

This research only examines the perceptions of tourists with physical disabilities of hotel service robots. Findings are based on a survey, and thus, the results cannot be generalized.

Current research indicates the impact of the intention to revisit and hotel attachment. Moreover, this study investigates the mediating role of overall hotel experience in the association between perceived privacy, perceived safety and functional benefits regarding revisit intention.

本研究关注身体残障游客, 并检查他们对酒店服务机器人的感知, 以及对整体体验、行为意图和酒店情感联系的影响。

通过Prolific平台进行调查, 收集了409名受访者的数据。数据使用PLS-SEM进行分析。

显著的PLS-SEM结果表明, 感知安全性和功能性收益显著影响酒店的整体体验和再次入住意愿。感知隐私与酒店的整体体验和再次入住意愿无关。此外, 酒店的整体体验显著影响再次入住意愿, 进而影响酒店情感联系。

本研究仅考察了身体残障游客对酒店服务机器人的感知。研究结果基于调查, 因此无法推广到整体。

当前研究表明再次入住意愿和酒店情感联系的影响。此外, 本研究探讨了整体酒店体验在感知隐私、感知安全和功能性收益与再次入住意愿之间的关联中的中介作用。