Anmerkung: Intro -- Preface -- Organization -- Contents -- Part III -- Sensors and Actuators -- Modeling of Digital Twin Workshop Based on Perception Data -- Abstract -- 1 Introduction -- 2 Related Works -- 3 Modeling of Digital Twin Workshop Based on Perception Data -- 3.1 System Framework of Digital Twin Workshop -- 3.2 Modeling of Digital Twin Workshop Based on Perception Data -- 4 Case Study and Analysis -- 5 Conclusion and Future Work -- Acknowledgment -- References -- A Stable Factor Approach of Input-Output-Based Sliding-Mode Control for Piezoelectric Actuators with Non-minimum Phase Property -- Abstract -- 1 Introduction -- 2 Experimental Setup and PEA Model -- 3 The Proposed Controller Design -- 3.1 Design of IODSMC-SF -- 3.2 Stability Analysis -- 3.3 Parameter Optimization -- 4 Experimental Studies -- 4.1 Parameter Selection -- 4.2 Tracking Performance Experiment -- 4.3 Robust Performance Experiment -- 5 Conclusion -- Acknowledgments -- References -- Design of Quadrotor Unmanned Aerial Vehicle -- Abstract -- 1 Introduction -- 2 Establishment of Mathematical Model of the Quadrotor UAV -- 3 Hardware Design of the Quadrotor UAV -- 4 Control Algorithm of the UAV'S Attitude -- 5 Assembly and Debugging of the Quadmotor UAV -- 6 Conclusion -- References -- Dust Detection System Based on Capacitive Readout IC MS3110 -- Abstract -- 1 Introduction -- 2 The Working Principle of the Detection System -- 2.1 Internal Parameter Configuration of MS3110 -- 2.2 Principle of Hardware Parameters Automatic Correction of MS3110 -- 2.3 Current Correction of Pin TESTSEL -- 2.4 Clock Division Correction of Oscillator -- 3 System Hardware Circuit Design -- 3.1 Ms3110 Sensor Circuit -- 3.2 System Communication -- 4 Software Design -- 5 AD Sampling and Filtering -- 6 Experimental Result -- 7 Conclusion -- References. , Design and Modeling of a Compact Rotary Series Elastic Actuator for an Elbow Rehabilitation Robot -- Abstract -- 1 Introduction -- 2 Description and Modeling -- 2.1 Description of the Compact Rotary SEA -- 2.2 Stiffness Modeling of the Compact Rotary SEA -- 2.3 Dynamic Modeling of the Compact Rotary SEA -- 3 Torque Control Design for SEA -- 4 Experimental Results -- 4.1 Experimental Setup and Model Identification -- 4.2 Performance of Output Torque Fidelity -- 5 Conclusions and Future Work -- Acknowledgment -- References -- A Vibro-tactile Stimulation and Vibro-signature Synchronization Device for SSSEP-Based Study -- 1 Introduction -- 2 Materials and Methods -- 2.1 Device Architecture -- 2.2 Test -- 2.3 Algorithms -- 3 Results -- 3.1 SSSEP -- 3.2 Artifact Removing -- 3.3 Frequency -- 4 Discussion -- 5 Conclusion -- References -- Improved Indoor Positioning System Using BLE Beacons and a Compensated Gyroscope Sensor -- Abstract -- 1 Introduction -- 2 Problem Statements -- 3 Proposed Algorithm -- 3.1 Compensated Gyroscope Data for Precise Heading Estimation -- 3.2 Localization Using BLE Beacons -- 4 Performance Result -- 5 Conclusion -- Acknowledgement -- References -- Stretchable sEMG Electrodes Conformally Laminated on Skin for Continuous Electrophysiological Monitoring -- Abstract -- 1 Introduction -- 2 Design and Fabrication Process -- 2.1 Principle of Capacitive Sensing Electrodes -- 2.2 Fabrication -- 3 Mechanical and Electrical Performances -- 3.1 Conformability -- 3.2 Stretchability Analysis -- 3.3 Electrical Performance -- 4 Biological Signal Recordings -- 5 Conclusion -- Acknowledgement -- References -- Isotropy Analysis of a Stiffness Decoupling 8/4-4 Parallel Force Sensing Mechanism -- Abstract -- 1 Introduction -- 2 Structure Model and Mathematic Model -- 2.1 The Structure Characteristics of the Generalized Six-Axis PFSM. , 2.2 Structure and Mathematic Model of 8/4-4 PFSM -- 3 Decoupling Analysis of 8/4-4 PFSM -- 4 Isotropy Analysis of 8/4-4 PFSM -- 5 Conclusion -- Acknowledgements -- References -- Preliminary Results of EMG-Based Hand Gestures for Long Term Use -- 1 Introduction -- 2 Methodology -- 2.1 Experimental Setup -- 2.2 Experiments -- 3 Results -- 4 Discussion -- 5 Conclusion -- References -- Research on Variable Stiffness and Damping Magnetorheological Actuator for Robot Joint -- Abstract -- 1 Introduction -- 2 Analysis of Variable Stiffness and Variable Damping -- 3 Structural Design of Magnetorheological Damper -- 4 Experimental Evaluation of Variable Damping -- 5 Conclusions and Future Work -- Acknowledgments -- References -- Physical Field-Enhanced Intelligent Space with Temperature-Based Human Motion Detection for Visually Impaired Users -- Abstract -- 1 Introduction -- 2 Filed Enhanced iSpace for Blind/VIP -- 2.1 Infrared Head Temperature Imaging for Face Orientation -- 2.2 Motion State from Gradient-Based Face Orientation -- 3 Experimental Results and Discussion -- 4 Conclusion -- References -- Optimal Design and Experiments of a Wearable Silicone Strain Sensor -- Abstract -- 1 Introduction -- 2 Working Principle of the DES -- 3 Fabrication of the DES -- 4 Optimal Design of the DES -- 4.1 Theoretical Analysis and Optimization Criteria -- 4.2 Experiments and Hysteresis Characteristic of the DES -- 5 Measuring of Joint Angle by the DES -- 6 Conclusion -- Acknowledgments -- References -- Mobile Robotics and Path Planning -- Research and Implementation of Person Tracking Method Based on Multi-feature Fusion -- Abstract -- 1 Introduction -- 2 Overall Design of Tracking Method -- 3 Similarity Calculation -- 3.1 Motion Model Similarity -- 3.2 Color Histogram Similarity -- 3.3 Human HOG Feature Similarity -- 4 Joint Likelihood Data Association. , 4.1 Correlation Probability Calculation -- 4.2 Tracking Process Realization -- 5 Search Strategy for Target Loss -- 6 Experimental Results and Analysis -- 6.1 Target Tracking Experiment -- 6.2 Target Loss Experiment -- 6.3 Target Occlusion Experiment -- 7 Conclusion -- Acknowledgment -- References -- Method and Experiment of the NAO Humanoid Robot Walking on a Slope Based on CoM Motion Estimation and Control -- Abstract -- 1 Introduction -- 2 Walking Pattern Generation -- 3 NAO's Leg Configuration and D-H Parameters of Leg Chain -- 4 CoM Motion Estimation and Control -- 5 Experiment -- 6 Conclusion -- Acknowledgment -- References -- TVSLAM: An Efficient Topological-Vector Based SLAM Algorithm for Home Cleaning Robots -- Abstract -- 1 Introduction -- 2 Combined Localization System -- 3 Direction Control System and Data Acquisition Algorithm -- 3.1 Direction Control System -- 3.2 Data Acquisition Algorithm -- 4 Topological-Vector Map Building Approach -- 4.1 Vector Generating Method -- 4.2 Curve Fitting Method -- 4.3 Partitioning Algorithm -- 4.4 Topological Relation Building Algorithm -- 4.5 Map Updating Algorithm -- 4.6 Autonomous Learning Algorithm -- 5 Simulations -- 5.1 Simulation Setup -- 5.2 Simulation Results -- 6 Conclusion and Future Work -- References -- Development of Wall-Climbing Robot Using Vortex Suction Unit and Its Evaluation on Walls with Various Surface Conditions -- Abstract -- 1 Introduction -- 2 The Suction Unit Based on Vortex Flow -- 3 The Proposed Wall-Climbing Robot, Vortexbot -- 4 Experimental Methods -- 4.1 Experimental Setup for Suction Force Measurement -- 4.2 Experimental Setup for Pressure Distribution Measurement -- 5 Results and Discussion -- 5.1 Suction Performance of the Suction Unit on the Smooth Surface -- 5.2 Suction Performance of the Suction Unit on the Rough Surfaces -- 5.3 Stepping Over Raised Obstacles. , 5.4 Stepping Over Grooves -- 6 Practical Climbing Experiments -- 6.1 Climbing on Walls with Different Obstacles -- 6.2 Payload Testing Experiment -- 7 Conclusion -- References -- Motion Planning and Simulation of Multiple Welding Robots Based on Genetic Algorithm -- Abstract -- 1 Introduction -- 2 The Analysis of Robot Welding Constraints -- 2.1 Constraints Analysis -- 2.2 Criteria for Solving Constraints Problem -- 3 Mathematical Model of Sequencing Optimization for Car Body -- 4 Adaptive Genetic Algorithm for Task Allocation -- 4.1 The Gene Encoding for Task Allocation -- 4.2 Selection Operation -- 4.3 Adaptive Genetic Algorithm -- 5 Development of Optimization Program and Simulation -- 5.1 Generation of Welding Path -- 5.2 Simulation of Welding Path -- 6 Conclusions -- Acknowledgement -- References -- Leader-Follower Formation Control Based on Artificial Potential Field and Sliding Mode Control -- Abstract -- 1 Introduction -- 2 Problem Description -- 3 Kinematic Model of Leader-Follower Formation -- 4 Formation Integrated Control System Based on APF and SMC -- 4.1 Online Path Planning Based on APF -- 4.2 Trajectory Tracking Based on SMC -- 5 Integrated System Simulation Verification of Leader-Follower Formation -- 6 Conclusion -- Acknowledgments -- References -- Trajectory Tracking by Terminal Sliding Mode Control for a Three-Wheeled Mobile Robot -- Abstract -- 1 Introduction -- 2 Mathematic Model -- 3 Controller Design -- 3.1 Kinematic Controller for Mobile Platform -- 3.2 Dynamic Controller for Mobile Platform -- 3.3 Stability Analysis by Lyapunov Theory -- 4 Experiment -- 5 Conclusion -- Acknowledgment -- References -- Research and Development of Ball-Picking Robot Technology -- Abstract -- 1 Introduction -- 2 Status of the Ball-Picking Robot -- 2.1 Golf-Picking Robot and Equipment -- 2.2 Tennis-Picking Robot -- 2.3 Table Tennis-Picking Robot. , 2.4 Badminton-Picking Robot.