Yan Fu

Huazhong University of Science and Technology | hust · Department of Mechanical System

Background Hand function assessment heavily relies on specific task scenarios, making it challenging to ensure validity and reliability. In addition, the wide range of assessment tools, limited and expensive data recording, and analysis systems further aggravate the issue. However, smartphones provide a promising opportunity to address these challe...

BACKGROUND Elderly robots are used as an assistive tool to meet the needs of the elderly in their daily lives and provide care and other services while reducing the burden of healthcare. Robots with children's characteristics are able to generate more intimate interactions that affect users' emotional and psychological well-being, and users' percep...

On lunar missions, efficient and safe transportation of human–robot systems is essential for the success of human exploration and scientific endeavors. Given the fact that transportation constructs bottlenecks for numerous typical lunar missions, it is appealing to investigate what function allocation strategies can generate optimal task implementa...

Objective—A new type human-robot collaborative target recognition mode was designed to improve the performance of spatial sampling tasks. Methods—The new type not only presented the target attribute information recognized by the robot sensors to humans, but also expressed the credibility of the information determined by the algorithm through a desi...

Powered by IoT technologies, smart home systems effectively support aging-in-place. However, they have some limitations in comprehensive event perception and timely appropriate action. Homecare robot systems have been proven to be effective in homecare task executions but still have significant technological challenges. To address this problem, thi...

Parkinson’s disease (PD) is a neurodegenerative disorder that negatively affects millions of people. Early detection is of vital importance. As recent researches showed dysarthria level provides good indicators to the computer-assisted diagnosis and remote monitoring of patients at the early stages. It is the goal of this study to develop an automa...

Objective: Among various assessment paradigms, the cardiopulmonary exercise test (CPET) provides rich evidence as part of the cardiopulmonary endurance (CPE) assessment. However, methods and strategies for interpreting CPET results are not in agreement. The purpose of this study is to validate the possibility of using machine learning to evaluate...

At present, augmented reality technology is developing rapidly at home and abroad, which provides new technical support for complex and changeable personalized product assembly production process and assembly assistance under the condition of aging social human resources. With the proposal of human-centered intelligent manufacturing concept, the hu...

The grasping force of service robots should be controlled within a proper range when they operate objects with unknown physical property (OUPP) whose physical property may be deformable. And that is challenging for service robots equipped with force sensor-less gripper. Therefore, this paper introduced a mask area based grasping force control strat...

Background: Upper extremity (UE) impairment affects up to 80% of stroke survivors and accounts for most of the rehabilitation after discharge from the hospital release. Compensation, commonly used by stroke survivors during UE rehabilitation, is applied to adapt to the loss of motor function and may impede the rehabilitation process in the long te...

BACKGROUND Upper extremity (UE) impairment affects up to 80% of stroke survivors and accounts for most of the rehabilitation after discharge from the hospital release. Compensation, commonly used by stroke survivors during UE rehabilitation, is applied to adapt to the loss of motor function and may impede the rehabilitation process in the long term...

Service robots frequently operate various cylindrical objects with unknown physical properties, which demands the grippers of robots being equipped with force sensors to control grasp force. But force sensors are unnecessary and expensive for imprecise grasp force control for most operations in domestic environment. So as a substitute, this paper i...

To achieve more accurate simulation and control in the use of the manipulator, it is necessary to establish an accurate dynamic model of the redundant manipulator. The research of this article focuses on the dynamic parameter identification method of the redundant manipulator. In the study, the spinor theory is applied to the Newton–Euler dynamic e...

Service robots meet numerous tasks-level commands with uncertain relationship between targets and obstacles, which introduces plenty of programming work involved with obstacle avoidance in robots’ operations for non-expert users. Hence an obstacle avoidance algorithm based on task semantic object matrix(SOM) was introduced to tell targets from obst...

In order to establish the dynamic model of redundant robotic arm more accurately, this paper studies the identification method of the dynamic parameters of redundant robotic arm. A method of introducing the theory of spins based on the Newton-Euler dynamics equations, and using the Coulomb + viscous friction model to further derive the minimum para...

Energy-efficient operation of manufacturing systems is critical for industrial enterprises in current environmentally conscious society. Decreasing the idle time of a machine is one of the main methods to achieve energy-efficient production. From the system level, when and how long a machine can be turned into standby state with lower energy consum...

The energy-saving operation of manufacturing systems is becoming increasingly significant due to the pressures of social sustainability and cost reduction. One method of saving energy in manufacturing systems is reducing the idle times of machines, which are non-value-added activities but consume non-negligible energy. Based on real-time data of ma...

In the field of pattern recognition and data learning process the dimensionality reduction is a necessary method for providing a personalized data in perfect numbers. The increase in research proclaims the importance of data reduction in current trends. The old traditional reduction techniques use ranking systems. But this differs from others in re...

In this paper, we propose a novel bottom-up saliency detection algorithm to effectively detect salient objects. Different from most existing methods that are not robust to complex scenes, we utilize multi-graph learning to take various scenes into consideration. First, multiple features are used to represent superpixels, and then measured by multip...

In this paper, a multilayer graph-based saliency detection algorithm by merging fixation is proposed to effectively detect salient objects in complex scenes. First, the fixation location of an image is acquired by using fixation prediction models. This is based on a motivation that human visual attention system would quickly focus on salient region...

Manual control rendezvous and docking (RVD) with human participation can be used when autonomous RVD is invalid under uncertain environment. Because of the particularity and complexity of the RVD task, it is necessary to understand human cognitive processes when evaluating human performance. A modeling approach, focusing on the information processi...

Different from walking, ladder climbing requires four limbs coordination and more energy exertion for Below-knee amputees (BKAs). We hypothesized that functional deficiency of disabled limb shall be compensated by other 3 intact limbs, showing asymmetry pattern among limbs. Hand and foot forces of 6 below-knee amputees and 6 able-bodied people were...

Human involvement with the manual control of object-tracking tasks, such as manual rendezvous and docking, can enhance the flexibility of the task. The operator is required to make decisions as precisely as possible when a chase vehicle is approaching the target vehicle. As the level of mental workload is intensively increased, the operator's perce...

Lifting is a common activity to below-knee amputees (BKA) in occupational and living occasions. Appropriate lifting posture is crucial to physical safety and health to those BKAs. Often healthy parts of BKAs might be hurt due to extra and asymmetric force exertion compensating for deficiency of disabled body parts. To prevent further hurt, a valida...

Tele-operated manipulator has been used in a variety of occupational situations, ranging from space exploration, undersea operations, special search and rescue activities to robotic surgery. It is a challenging task, due to the difficulty with maintaining awareness of the robotic arm’s configuration and arm location in the task environment. Operato...

Human performance modeling has become more and more popular in cognitive science recently. This paper applies a time-fuel optimal control model to model the human control strategies in a simplified RVD task. Preliminary comparisons had been made between the model performance and the performance of human operators. Results show that the model can mo...

Six-dimensional tracking and control task within an Integrated Cognitive Architecture, as a makeup for automated Six-dimensional tracking and control task default. is a common yet highly complex space operation, challenging the human workload. For space exploration system safety, workload is a critical factor in task design and implementation. This...

An accurate disability evaluation provides good basis for job placement of the handicapped and corresponding accommodations. In this study a work disability analysis model is firstly developed to predict human performance in certain task scenarios and the disability index is finally correlated to DOF of joints, the inner joint moments, the muscle p...

Non-obstacle design is critical to tailor physically handicapped workers in manufacturing system. Simultaneous consideration of variability in physically disabled users, machines and environment of the manufacturing system is extremely complex and generally requires modeling of physically handicapped interaction with the system. Most current modeli...

This paper generalizes a discomfort model for climbing tasks of the handicapped with prosthesis limb. The model is integrated, by ICT technology, into the simulated task scenario to indicate to what extent the climbing task causes discomfort and to analyze the direct cause of discomfort at the micro-motion level. Furthermore, it can predict the pot...

Mixed reality (MR) based human-machine interaction provides a seamless interface between user and application environment, which synthesizes the advantages of the convenient interaction of virtual reality, and the strong realistic of augmented reality. In this paper, MR is applied in the context of industrial assembly process, and a MR based assemb...

Three attributes relevant to a specific project, including the number of activities in chain, the uncertainty of activities duration and the flexibility of activities start time, were introduced into critical chain project management for sizing buffer. By means of simulation research, the impact of these three attributes on project scheduling in te...