Lecture 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 “Lecture Notes in Electrical Engineering (LNEE)” is a book series which reports the latest research and developments in Electrical Engineering, namely: (cid:129) Communication, Networks, and Information Theory (cid:129) Computer Engineering (cid:129) Signal, Image, Speech and Information Processing (cid:129) Circuits and Systems (cid:129) Bioengineering LNEE publishes authored monographs and contributed volumes which present cutting edge research information as well as new perspectives on classical fields, while maintaining Springer’s high standards of academic excellence. Also considered for publication are lecture materials, proceedings, and other related materials of exceptionally high quality and interest. The subject matter should be original and timely, reporting the latest research and developments in all areas of electrical engineering. The audience for the books in LNEE consists of advanced level students, researchers,andindustryprofessionalsworkingattheforefrontoftheirfields.Much like Springer’s other Lecture Notes series, LNEE will be distributed through Springer’s print and electronic publishing channels. More information about this series at http://www.springer.com/series/7818 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 LibraryofCongressControlNumber:2016947751 ©ZhejiangUniversityPressandSpringerScience+BusinessMediaSingapore2017 Thisworkissubjecttocopyright.AllrightsarereservedbythePublishers,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse. Thepublishers,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthis book are believed to be true and accurate at the date of publication. Neither the publishers nor the authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor foranyerrorsoromissionsthatmayhavebeenmade. Printedonacid-freepaper ThisSpringerimprintispublishedbySpringerNature TheregisteredcompanyisSpringerScience+BusinessMediaSingaporePteLtd. 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