Shandong University

Yibin Li

Xuewen Rong

Jian Bi

Guanglin Lu

Guoteng Zhang

Teng Chen

Ke Li

Xin Ma

Yong Fan

Aizhen Xie

Yuguo Chen

Chang Pan

Ruixuan Zhang

Yuan Bian

Jiaojiao Pang

Jiali Wang

Mingze Sun

Xiaochen Huang

An auxiliary diagnosis method for Parkinson's disease (PD) based on static and dynamic features of facial expressions is provided. Video data of various facial expressions performed by a to-be-tested patient is acquired and pre-processed to extract a plurality of optimal facial expression images corresponding to the various facial expressions. A similarity discrimination is performed on a synthesized happy facial expression image of the to-be-tested patient in a healthy state and an extracted happy facial expression image to obtain similarity features. Distances between multiple facial key points in the various facial expression images are calculated to obtain multiple key features, which are spliced with the plurality of key features to form static features. Coordinate change degrees of multiple facial key points of eyelids and mouth are calculated to obtain dynamic features. A classification prediction result of PD is output based on the spliced features.

Auxiliary diagnosis method and system for Parkinson's disease based on static and dynamic features of facial expressions

Provided is a portable automated chest-abdominal compression (CC-AC) device used in confined spaces and a manipulation method thereof, comprising: a compression mechanism having a strap fixing module, a compression plate connected to the strap fixing module and a compression piston arranged on one side of the compression plate; a detection module having a displacement sensor and a pressure sensor; a control module receiving compression depth and pressure, and obtaining a compensation value of time of a single compression according to the compression depth and a target depth, thereby controlling an action of a driving mechanism during the CC process; constructing an abdominal mechanics model according to the compression depth and pressure, and compensating the compression depth according to the target pressure by using the abdominal mechanics model, thereby controlling the action of the driving mechanism during the AC process.

Portable automated chest-abdominal compression device used in confined spaces and manipulation method thereof

Disclosed is a biped robot and multi-configuration robot capable of being spliced autonomously, and a control method of the multi-configuration robot. The biped robot comprises a torso, arms, legs, a tolerance docking sleeve, and a torso docking device. The arms are correspondingly arranged at the left and right sides of the torso, and two legs are arranged at the lower side of the torso. The tolerance docking sleeve is movably arranged at the rear side of the torso through a base, and the torso docking device is fixed to the front side of the torso. Single biped robots in the present disclosure can form a multi-configuration legged combined body in a self-organization and reconstruction mode so as to achieve bipedal, quadrupedal, hexapodal and other multi-legged configurations. The motion stability and the load capacity of the legged robot are improved through the splicing combination of the modular legged robots.

Biped robot and multi-configuration robot capable of being spliced autonomously, and control method of multi-configuration robot

A mobile manipulation control method of a quadruped robot with an operation arm, including: obtaining current pose information of the legged mobile manipulator; decomposing a task into subtasks, and prioritizing the subtasks; based on the pose information and a dynamic model, generating a motion trajectory under each subtask; based on the dynamic model, optimizing an optimal plantar force of a supporting leg and an end-of-arm force under each subtask; based on a multi-task spatial projection method, calculating desired control quantity of all joints under different subtasks; and (d) optimizing the optimal plantar force and the desired control quantity with the whole-body dynamic model as a constraint to obtain control torques; and based on the control torques, controlling the legged mobile manipulator's motion. A control system is further provided.

Mobile manipulation control method and system of quadruped robot with operation arm

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Jinan, China

Yibin Li