Efficient Jacobian-Based Inverse Kinematics With Sim-to-Real Transfer of Soft Robots by Learning

This article presents an efficient learning-based method to solve the <italic>inverse kinematic</italic> (IK) problem on soft robots with highly nonlinear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of analytical formulation for either forward or inverse kinematics. To address this challenge, we employ neural networks to learn both the mapping function of forward kinematics and also the Jacobian of this function. As a result, Jacobian-based iteration can be applied to solve the IK problem. A sim-to-real training transfer strategy is conducted to make this approach more practical. We first generate a large number of samples in a simulation environment for learning both the kinematic and the Jacobian networks of a soft robot design. Thereafter, a sim-to-real layer of differentiable neurons is employed to map the results of simulation to the physical hardware, where this sim-to-real layer can be learned from a very limited number of training samples generated on the hardware.Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.Materials and ManufacturingMechatronic Desig

Regional homogeneity of resting-state brain abnormalities in bipolar and unipolar depression

Objective: Bipolar disorder patients experiencing a depressive episode (BD-dep) without an observed history of mania are often misdiagnosed and are consequently treated as having unipolar depression CUD), leading to inadequate treatment and poor outcomes. An essential solution to this problem is to identify objective biological markers that distinguish BD-dep and UD patients at an early stage. However, studies directly comparing the brain dysfunctions associated with BD-dep and UD are rare. More importantly, the specificity of the differences in brain activity between these mental disorders has not been examined. With whole-brain regional homogeneity analysis and region-of-interest (ROI) based receiver operating characteristic (ROC) analysis, we aimed to compare the resting-state brain activity of BD-dep and UD patients. Furthermore, we examined the specific differences and whether these differences were attributed to the brain abnormality caused by BD-dep, UD, or both. Methods: Twenty-one bipolar and 21 unipolar depressed patients, as well as 26 healthy subjects matched for gender, age, and educational levels, participated in the study. We compared the differences in the regional homogeneity (ReHo) of the BD-dep and UD groups and further identified their pathophysiological abnormality. In the brain regions showing a difference between the BD-dep and UD groups, we further conducted receptive operation characteristic (ROC) analyses to confirm the effectiveness of the identified difference in classifying the patients. Results: We observed ReHo differences between the BD-dep and UD groups in the right ventrolateral middle frontal gyrus, right dorsal anterior insular, right ventral anterior insular, right cerebellum posterior gyrus, right posterior cingulate cortex, right parahippocampal gyrus, and left cerebellum anterior gyrus. Further ROI comparisons and ROC analysis on these ROIs showed that the right parahippocampal gyrus reflected abnormality specific to the BD-dep group, while the right middle frontal gyrus, the right dorsal anterior insular, the right cerebellum posterior gyrus, and the right posterior cingulate cortex showed abnormality specific to the UD group. Conclusions: We found brain regions showing resting state ReHo differences and examined their sensitivity and specificity, suggesting a potential neuroimaging biomarker to distinguish between BD-dep and UD patients. We further clarified the pathophysiological abnormality of these regions for each of the two patient populations. (C) 2012 Elsevier Inc. All rights reserved