The interaction between humans and an NAO robot using deep convolutional neural networks (CNN) is presented in this paper based on an innovative end-to-end pipeline method that applies two optimized CNNs, one for face recognition (FR) and another one for the facial expression recognition (FER) in order to obtain real-time inference speed for the entire process. Two different models for FR are considered, one known to be very accurate, but has low inference speed (faster region-based convolutional neural network), and one that is not as accurate but has high inference speed (single shot detector convolutional neural network). For emotion recognition transfer learning and fine-tuning of three CNN models (VGG, Inception V3 and ResNet) has been used. The overall results show that single shot detector convolutional neural network (SSD CNN) and faster region-based convolutional neural network (Faster R-CNN) models for face detection share almost the same accuracy: 97.8% for Faster R-CNN on PASCAL visual object classes (PASCAL VOCs) evaluation metrics and 97.42% for SSD Inception. In terms of FER, ResNet obtained the highest training accuracy (90.14%), while the visual geometry group (VGG) network had 87% accuracy and Inception V3 reached 81%. The results show improvements over 10% when using two serialized CNN, instead of using only the FER CNN, while the recent optimization model, called rectified adaptive moment optimization (RAdam), lead to a better generalization and accuracy improvement of 3%-4% on each emotion recognition CNN.

Artificial intelligence (AI) techniques for intelligent mobile computing in healthcare has opened up new opportunities in healthcare systems. Combining AI techniques with the existing Internet of Medical Things (IoMT) will enhance the quality of care that patients receive at home remotely and the successful establishment of smart living environments. Building a real AI for mobile AI in an integrated smart hospital environment is a challenging problem due to the complexities of receiving IoT medical sensors data, data analysis, and deep learning algorithm complexity programming for mobile AI engine implementation AI-based cloud computing complexities, especially when we tackle real-time environments of AI technologies. In this paper, we propose a new mobile AI smart hospital platform architecture for stroke prediction and emergencies. In addition, this research is focused on developing and testing different modules of integrated AI software based on XAI architecture, this is for the mobile health app as an independent expert system or as connected with a simulated environment of an AI-cloud-based solution. The novelty is in the integrated architecture and results obtained in our previous works and this extended research on hybrid GMDH and LSTM deep learning models for the proposed artificial intelligence and IoMT engine for mobile health edge computing technology. Its main goal is to predict heart–stroke disease. Current research is still missing a mobile AI system for heart/brain stroke prediction during patient emergency cases. This research work implements AI algorithms for stroke prediction and diagnosis. The hybrid AI in connected health is based on a stacked CNN and group handling method (GMDH) predictive analytics model, enhanced with an LSTM deep learning module for biomedical signals prediction. The techniques developed depend on the dataset of electromyography (EMG) signals, which provides a significant source of information for the identification of normal and abnormal motions in a stroke scenario. The resulting artificial intelligence mHealth app is an innovation beyond the state of the art and the proposed techniques achieve high accuracy as stacked CNN reaches almost 98% for stroke diagnosis. The GMDH neural network proves to be a good technique for monitoring the EMG signal of the same patient case with an average accuracy of 98.60% to an average of 96.68% of the signal prediction. Moreover, extending the GMDH model and a hybrid LSTM with dense layers deep learning model has improved significantly the prediction results that reach an average of 99%.

The paper presents ZPM dynamic control of walking robots, developing an open architecture real time control multiprocessor system, in view of obtaining new capabilities for walking rob ...

In the process of rehabilitation training for stroke patients, the rehabilitation effect is positively affected by how much physical activity the patients take part in. Most of the signals used to measure the patients’ participation are EMG signals or oxygen consumption, which increase the cost and the complexity of the robotic device. In this work, we design a multi-sensor system robot with torque and six-dimensional force sensors to gauge the patients’ participation in training. By establishing the static equation of the mechanical leg, the man–machine interaction force of the patient can be accurately extracted. Using the impedance model, the auxiliary force training mode is established, and the difficulty of the target task is changed by adjusting the K value of auxiliary force. Participation models with three intensities were developed offline using support vector machines, for which the C and σ parameters are optimized by the hybrid quantum particle swarm optimization and support vector machines (Hybrid QPSO-SVM) algorithm. An experimental statistical analysis was conducted on ten volunteers’ motion representation in different training tasks, which are divided into three stages: over-challenge, challenge, less challenge, by choosing characteristic quantities with significant differences among the various difficulty task stages, as a training set for the support vector machines (SVM). Experimental results from 12 volunteers, with tasks conducted on the lower limb rehabilitation robot LLR-II show that the rehabilitation robot can accurately predict patient participation and training task difficulty. The prediction accuracy reflects the superiority of the Hybrid QPSO-SVM algorithm.

The rehabilitation robot is an application of robotic technology for people with limb disabilities. This paper investigates a new applicable and effective sitting/lying lower limb rehabilitation robot (the LLR-Ro). In order to improve the patient’s training initiative and accelerate the rehabilitation process, a new motion intention acquisition method based on static torque sensors is proposed. This motion intention acquisition method is established through the dynamics modeling of human–machine coordination, which is built on the basis of Lagrangian equations. Combined with the static torque sensors installed on the mechanism leg joint axis, the LLR-Ro can obtain the active force from the patient’s leg. Based on the variation of the patient’s active force and the kinematic functional relationship of the patient’s leg end point, the patient motion intention is obtained and used in the proposed active rehabilitation training method. The simulation experiment demonstrates the correctness of mechanism leg dynamics equations through ADAMS software and MATLAB software. The calibration experiment of the joint torque sensors’ combining limit range filter with an average value filter provides the hardware support for active rehabilitation training. The consecutive variation of the torque sensors from just the mechanism leg weight, as well as both the mechanism leg and the patient leg weights, obtains the feasibility of lower limb motion intention acquisition.