Recently, the study of emotion recognition has received increasing attentions by the rapid development of noninvasive sensor technologies, machine learning algorithms and compute capability of computers. Compared with single modal emotion recognition, the multimodal paradigm introduces complementary information for emotion recognition. Hence, in this work, we presented a decision level fusion framework for detecting emotions continuously by fusing the Electroencephalography (EEG) and facial expressions. Three types of movie clips (positive, negative, and neutral) were utilized to elicit specific emotions of subjects, the EEG and facial expression signals were recorded simultaneously. The power spectrum density (PSD) features of EEG were extracted by time-frequency analysis, and then EEG features were selected for regression. For the facial expression, the facial geometric features were calculated by facial landmark localization. Long short-term memory networks (LSTM) were utilized to accomplish the decision level fusion and captured temporal dynamics of emotions. The results have shown that the proposed method achieved outstanding performance for continuous emotion recognition, and it yields 0.625±0.029 of concordance correlation coefficient (CCC). From the results, the fusion of two modalities outperformed EEG and facial expression separately. Furthermore, different numbers of time-steps of LSTM was applied to analyze the temporal dynamic capturing.INDEX TERMS Continuous emotion recognition, EEG, facial expressions, signal processing, decision level fusion, temporal dynamics.
The robot-assisted catheter system can increase operating distance thus preventing the exposure radiation of the surgeon to X-ray for endovascular catheterization. However, few designs have considered the collision protection between the catheter tip and the vessel wall. This paper presents a novel catheter operating system based on tissue protection to prevent vessel puncture caused by collision. The integrated haptic interface not only allows the operator to feel the real force feedback, but also combines with the newly proposed collision protection mechanism (CPM) to mitigate the collision trauma. The CPM can release the catheter quickly when the measured force exceeds a certain threshold, so as to avoid the vessel puncture. A significant advantage is that the proposed mechanism can adjust the protection threshold in real time by the current according to the actual characteristics of the blood vessel. To verify the effectiveness of the tissue protection by the system, the evaluation experiments in vitro were carried out. The results show that the further collision damage can be effectively prevented by the CPM, which implies the realization of relative safe catheterization. This research provides some insights into the functional improvements of safe and reliable robot-assisted catheter systems.
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