| 1. |
- Deng, Min, et al.
(författare)
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Genome-wide association analyses in Han Chinese identify two new susceptibility loci for amyotrophic lateral sclerosis
- 2013
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Ingår i: Nature Genetics. - : Nature Publishing Group. - 1061-4036 .- 1546-1718. ; 45:6, s. 697-
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Tidskriftsartikel (refereegranskat)abstract
- To identify susceptibility genes for amyotrophic lateral sclerosis (ALS), we conducted a genome-wide association study (GWAS) in 506 individuals with sporadic ALS and 1,859 controls of Han Chinese ancestry. Ninety top SNPs suggested by the current GWAS and 6 SNPs identified by previous GWAS were analyzed in an independent cohort of 706 individuals with ALS and 1,777 controls of Han Chinese ancestry. We discovered two new susceptibility loci for ALS at 1q32 (CAMK1G, rs6703183, P-combined = 2.92 x 10(-8), odds ratio (OR) = 1.31) and 22p11 (CABIN1 and SUSD2, rs8141797, P-combined = 2.35 x 10(-9), OR = 1.52). These two loci explain 12.48% of the overall variance in disease risk in the Han Chinese population. We found no association evidence for the previously reported loci in the Han Chinese population, suggesting genetic heterogeneity of disease susceptibility for ALS between ancestry groups. Our study identifies two new susceptibility loci and suggests new pathogenic mechanisms of ALS.
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| 2. |
- Kong, Depeng, et al.
(författare)
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Bioinspired Co-Design of Tactile Sensor and Deep Learning Algorithm for Human-Robot Interaction
- 2022
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Ingår i: ADVANCED INTELLIGENT SYSTEMS. - : Wiley. - 2640-4567. ; 4:6
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Tidskriftsartikel (refereegranskat)abstract
- Robots equipped with bionic skins for enhancing the robot perception capability are increasingly deployed in wide applications ranging from healthcare to industry. Artificial intelligence algorithms that can provide bionic skins with efficient signal processing functions further accelerate the development of this trend. Inspired by the somatosensory processing hierarchy of humans, the bioinspired co-design of a tactile sensor and a deep learning-based algorithm is proposed herein, simplifying the sensor structure while providing computation-enhanced tactile sensing performance. The soft piezoresistive sensor, based on the carbon black-coated polyurethane sponge, offers a continuous sensing area. By utilizing a customized deep neural network (DNN), it can detect external tactile stimulus spatially continuously. Besides, a novel data augmentation method is developed based on the sensor's hexagonal structure that has a sixfold rotation symmetry. It can significantly enhance the generalization ability of the DNN model by enriching the collected training data with generated pseudo-data. The functionality of the sensor and the robustness of the proposed data augmentation strategy are verified by precisely recognizing five touch modalities, illustrating a well-generalized performance, and providing a promising application prospect in human-robot interaction.
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| 3. |
- Lv, Honghao, et al.
(författare)
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Towards Intercontinental Teleoperation : A Cloud-Based Framework for Ultra-Remote Human-Robot Dual-Arm Motion Mapping
- 2023
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Ingår i: Intelligent Robotics and Applications. - : Springer Nature. ; , s. 132-144
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Konferensbidrag (refereegranskat)abstract
- Teleoperated robots offer a unique combination of robotic strength and precision, coupled with human judgment and ingenuity, to enhance productivity and safety in complex, unstructured, and hazardous industrial environments. However, teleoperation over ultra-remote distances has posed a significant challenge, with control performance being compromised by the inherent trade-off between distance and latency. This study presents a novel cloud-based human-robot motion mapping framework for ultra-remote teleoperation. An intuitive dual-arm human-robot motion mapping framework based on capturing human motion has been implemented, and private network connectivity is established using the Google Cloud platform for the efficient transfer of control data required for human-robot motion mapping. Moreover, a novel feedforward control framework is proposed to mitigate the negative impact of high network latency on teleoperation control performance. To demonstrate the feasibility of the proposed approach, an intercontinental teleoperation system between China and Sweden was developed, and a series of practical applications were demonstrated by capturing the motion of an operator in Sweden to control the dual-arm robot located over 7800 km away in China. The proposed feedforward control framework for intercontinental teleoperation has the potential utility for improving human-robot interaction performance in ultra-remote teleoperation scenarios with high network latency. More demonstration videos can be found at https://fsie-robotics.com/intercontinental-teleoperation/.
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| 4. |
- Lyu, Honghao, et al.
(författare)
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GuLiM : A Hybrid Motion Mapping Technique for Teleoperation of Medical Assistive Robot in Combating the COVID-19 Pandemic
- 2022
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Ingår i: IEEE Transactions on Medical Robotics and Bionics. - : Institute of Electrical and Electronics Engineers (IEEE). - 2576-3202. ; 4:1, s. 106-117
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Tidskriftsartikel (refereegranskat)abstract
- Driven by the demand to largely mitigate nosocomial infection problems in combating the coronavirus disease 2019 (COVID-19) pandemic, the trend of developing technologies for teleoperation of medical assistive robots is emerging. However, traditional teleoperation of robots requires professional training and sophisticated manipulation, imposing a burden on healthcare workers, taking a long time to deploy, and conflicting the urgent demand for a timely and effective response to the pandemic. This paper presents a novel motion synchronization method enabled by the hybrid mapping technique of hand gesture and upper-limb motion (GuLiM). It tackles a limitation that the existing motion mapping scheme has to be customized according to the kinematic configuration of operators. The operator awakes the robot from any initial pose state without extra calibration procedure, thereby reducing operational complexity and relieving unnecessary pre-training, making it user-friendly for healthcare workers to master teleoperation skills. Experimenting with robotic grasping tasks verifies the outperformance of the proposed GuLiM method compared with the traditional direct mapping method. Moreover, a field investigation of GuLiM illustrates its potential for the teleoperation of medical assistive robots in the isolation ward as the Second Body of healthcare workers for telehealthcare, avoiding exposure of healthcare workers to the COVID-19.
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