Wireless Body Area Networks for Wearable Robotics and ... Body Area Networks for Wearable Robotics...
Transcript of Wireless Body Area Networks for Wearable Robotics and ... Body Area Networks for Wearable Robotics...
Wireless Body Area Networks for Wearable Robotics and Human-Robot Interaction
ZHANG Guanglie
Dept. Mechanical and Biomedical Engineering City University of Hong Kong
Wireless Body Area Networks
Different miniaturized, low power sensor nodes are attached or implanted into a human body to collect the physiological parameters and transfer data to a remote server or networks.
Personal Server
Wearable Computing
• Study or practice of inventing, designing, building,
or using miniature body-borne computational and
sensory devices.
Wearable computers may be worn under, over, or in clothing, or may also be themselves clothes (i.e. "Smart Clothing" (Mann, 1996a)). Mann, Steve (1996a): Smart Clothing: The Shift to Wearable Computing. In Communications of the ACM, 39 (8) pp. 23-24
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History of Wearable Computing
Made with beads of a silver ring abacus of 1.2 centimeter long and 0.7 centimeter wide, dating back to Chinese Qing Dynasty (1616-1911 BC).
The portrait was painted in around 1560, The first watches appeared shortly after 1500 in Germany and horologists believe the picture, painted by renaissance master Maso da San Friano around 1560 (http://news.bbc.co.uk)
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http://www.interaction-design.org
Now and Future of Wearable Computing
Microsoft Hololens.
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Wearable Robotics
• Powered exoskeleton
Intelligently powered exoskeleton
bionic devices can be strapped on
human body to enhance the
strength, mobility, and endurance
of soldiers and disabled people.
http://harvardmagazine.com/2014/01/wearable-robots
Human-Robot Interaction
"Human—Robot Interaction (HRI)
is a field of study dedicated to
understanding, designing, and
evaluating robotic systems for use by or with humans
"(Goodrich and Schultz, 2007, p.
204).
The ExoHand enables remote object manipulation.
http://machinedesign.com/robotics/pneumatics-provide-grip-new-bionic-hand
Wired or Wireless ?
Challenges for Wireless Body Area Networks
• Development platform: complex and time-
consuming - Cooperative Software-hardware
Approach
• Communication: high energy consumption and low
throughput - Variable-rate Transmission Method
• Security: low security level and computational
complexity - Convolutional Neural Network based
Personal authentication
Application
Component
Application
Configuration
Routing
Component
Routing
Configuration
MAC
Component
MAC
Configuration
Embedded Operating System
Application
Module
Routing Module
MAC Module
WBAN Simulator
Code Generator
Begin
Preprocess
Process 1
Process n
End
Cooperative Software-hardware Platform
Hardware parameters
Variable-rate Transmission with Coordinator Election
1 2
3 4
N1
1
3 4
2N2
(a)
(c)
N1
N2
(b)
2
N2 > N1
N4 < N1
1
43
N3 < N1
1 2
3 4
N1 < N2
(d)
Coordinator
Non-Coordinator
Interval: N2>N1>N3>N4
Variable-rate Transmission Protocols
• Cycle structure
CEP ATSAP DTP
CYCLE 1
SP DTP
CYCLE n
Frame 1 Frame 2 Frame 3 Frame n
...
Frame 1 Frame 2 Frame 3 Frame n
...
CEP: Coordinator Election Peroid ATSAP: Adaptive Time Slots Allocation Peroid
DTP: Data Transmission Peroid SP: Synchronization Peroid
Time slot
Variable-rate Transmission Method Performance
• Electrocardiogram (ECG)
Features:
chaos, university,
permanence,
uniqueness, robustness
and liveness detection
Biometric Personal Authentication
0 300 600 900 1200 1500
-1.0
-0.5
0.0
0.5
1.0
1.5
ECG-based Personal Authentication Architecture
Convolution Fully Connected
Subsampling
Layer
Subsampling
Layer
Convolutional
Layer
Convolutional
Layer
Fully Connected
Layers
Input
Convolutional Neural Network Structure
0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8
-0.1
0.0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
Fal
se A
ccep
t R
ate
(FA
R)
(%)
Threshold
FAR
0
20
40
60
80
100
FRR
Fal
se R
ejec
t R
ate
(FR
R)
(%)
1.35
• Dedicated ECG collecting hardware platform
CNN-based Personal Authentication
error rate (EER) of 0.5%
The results of the verification experiment shows the equal error rate (EER)
reaches 0.5%.
Conclusions
• Wireless technology is used in Wearable Robotics
and Human-robot interaction based WBANs;
• Cooperative Software-hardware Platform;
• Variable-rate transmission method with coordinator
election;
• ECG-based personal authentication for data
security and privacy in wireless body area networks.
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Thanks!
6/30/2015 19