Impedance Sliding-Mode Control Based on Stiffness Scheduling for Rehabilitation Robot Systems.

Rehabilitation robots can reproduce the rehabilitation movements of therapists by designed rehabilitation robot control methods to achieve the goal of training the patients' motion abilities. This paper proposes an impedance sliding-mode control method based on stiffness-scheduled law for the rehabilitation robot, which can be applied to rehabilitation training with both active and passive modes. A free-model-based sliding-mode control strategy is developed to avoid model dependence and reduce the system uncertainty caused by limb shaking.

A Biological Immunity-Based Neuro Prototype for Few-Shot Anomaly Detection with Character Embedding.

Anomaly detection has wide applications to help people recognize false, intrusion, flaw, equipment failure, etc. In most practical scenarios, the amount of the annotated data and the trusted labels is low, resulting in poor performance of the detection. In this paper, we focus on the anomaly detection for the text type data and propose a detection network based on biological immunity for few-shot detection, by imitating the working mechanism of the immune system of biological organisms.

A Versatile Continuum Gripping Robot with a Concealable Gripper.

Continuum robots with their inherent compliance provide the potential for crossing narrow unstructured workspace and safely grasping various objects. However, the display gripper increases the size of the robots, and therefore, it tends to get stuck in constrained environments. This paper proposes a versatile continuum grasping robot (CGR) with a concealable gripper.