Publications
385 results found
Balasubramanian S, Melendez-Calderon A, Roby-Brami A, et al., 2015, On the analysis of movement smoothness, Journal of Neuroengineering and Rehabilitation, Vol: 12, ISSN: 1743-0003
Quantitative measures of smoothness play an important role in the assessment of sensorimotor impairment and motor learning. Traditionally, movement smoothness has been computed mainly for discrete movements, in particular arm, reaching and circle drawing, using kinematic data. There are currently very few studies investigating smoothness of rhythmic movements, and there is no systematic way of analysing the smoothness of such movements. There is also very little work on the smoothness of other movement related variables such as force, impedance etc. In this context, this paper presents the first step towards a unified framework for the analysis of smoothness of arbitrary movements and using various data. It starts with a systematic definition of movement smoothness and the different factors that influence smoothness, followed by a review of existing methods for quantifying the smoothness of discrete movements. A method is then introduced to analyse the smoothness of rhythmic movements by generalising the techniques developed for discrete movements. We finally propose recommendations for analysing smoothness of any general sensorimotor behaviour.
Rinne P, Hassan M, Liardon J, et al., 2015, Hand-and-brain training after motor stroke: Defining the problem and innovating a solution, INTERNATIONAL JOURNAL OF STROKE, Vol: 10, Pages: 67-67, ISSN: 1747-4930
Wolf S, Grioli G, Eiberger O, et al., 2015, Variable Stiffness Actuators: Review on Design and Components, IEEE-ASME Transactions on Mechatronics, Vol: 21, Pages: 2418-2430, ISSN: 1941-014X
Variable stiffness actuators (VSAs) are complexmechatronic devices that are developed to build passivelycompliant, robust, and dexterous robots. Numerousdifferent hardware designs have been developed in the pasttwo decades to address various demands on their functionality.This review paper gives a guide to the design processfrom the analysis of the desired tasks identifying the relevantattributes and their influence on the selection of differentcomponents such as motors, sensors, and springs.The influence on the performance of different principles togenerate the passive compliance and the variation of thestiffness are investigated. Furthermore, the design contradictionsduring the engineering process are explained inorder to find the best suiting solution for the given purpose.With this in mind, the topics of output power, potential energycapacity, stiffness range, efficiency, and accuracy arediscussed. Finally, the dependencies of control, models,sensor setup, and sensor quality are addressed.
Mace M, Rinne P, Liardon J, et al., 2015, Comparison of flexible and rigid hand-grip control during a feed-forward visual tracking task, Rehabilitation Robotics (ICORR), 2015 IEEE International Conference on, ISSN: 1945-7901
Melendez-Calderon A, Komisar V, Burdet E, 2015, Interpersonal strategies for disturbance attenuation during a rhythmic joint motor action, PHYSIOLOGY & BEHAVIOR, Vol: 147, Pages: 348-358, ISSN: 0031-9384
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- Citations: 18
Abdi E, Burdet E, Bouri M, et al., 2015, Control of a Supernumerary Robotic Hand by Foot: An Experimental Study in Virtual Reality., PLOS One, Vol: 10, ISSN: 1932-6203
In the operational theater, the surgical team could highly benefit from a robotic supplementary hand under the surgeon's full control. The surgeon may so become more autonomous; this may reduce communication errors with the assistants and take over difficult tasks such as holding tools without tremor. In this paper, we therefore examine the possibility to control a third robotic hand with one foot's movements. Three experiments in virtual reality were designed to assess the feasibility of this control strategy, the learning curve of the subjects in different tasks and the coordination of foot movements with the two natural hands. Results show that the limbs are moved simultaneously, in parallel rather than serially. Participants' performance improved within a few minutes of practice without any specific difficulty to complete the tasks. Subjective assessment by the subjects indicated that controlling a third hand by foot has been easy and required only negligible physical and mental efforts. The sense of ownership was reported to improve through the experiments. The mental burden was not directly related to the level of motion required by a task, but depended on the type of activity and practice. The most difficult task was moving two hands and foot in opposite directions. These results suggest that a combination of practice and appropriate tasks can enhance the learning process for controlling a robotic hand by foot.
Smith AMC, Yang C, Ma H, et al., 2015, Novel Hybrid Adaptive Controller for Manipulation in Complex Perturbation Environments, PLOS One, Vol: 10, ISSN: 1932-6203
In this paper we present a hybrid control scheme, combining the advantages of task-spaceand joint-space control. The controller is based on a human-like adaptive design, which minimisesboth control effort and tracking error. Our novel hybrid adaptive controller has beentested in extensive simulations, in a scenario where a Baxter robot manipulator is affectedby external disturbances in the form of interaction with the environment and tool-like end-effectorperturbations. The results demonstrated improved performance in the hybrid controllerover both of its component parts. In addition, we introduce a novel method for onlineadaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledgefrom the experimenter. This mechanism of meta-learning induces further improvementin performance and avoids the need for tuning through trial testing.
Grioli G, Wolf S, Garabini M, et al., 2015, Variable stiffness actuators: The user's point of view, INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, Vol: 34, Pages: 727-743, ISSN: 0278-3649
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- Citations: 125
Zhou S-H, Oetomo D, Tan Y, et al., 2015, Effect of sensory experience on motor learning strategy, JOURNAL OF NEUROPHYSIOLOGY, Vol: 113, Pages: 1077-1084, ISSN: 0022-3077
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- Citations: 4
Rinne PE, Mace M, Zimmerman K, et al., 2015, Improving accessibility of mobile gaming technologies for self-rehabilitation of arm function in stroke, CEREBROVASCULAR DISEASES, Vol: 39, Pages: 136-136, ISSN: 1015-9770
Melendez-Calderon A, Fisher M, Tan M, et al., 2015, Acquisition of motor skills in isometric conditions through synesthetic illusions of movement, IEEE World Haptics Conference, Publisher: IEEE, Pages: 428-433
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- Citations: 3
Gardner M, Vaidyanathan R, Burdet E, et al., 2015, Motion-based Grasp Selection: Improving Traditional Control Strategies of Myoelectric Hand Prosthesis, 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), Publisher: IEEE, Pages: 307-312, ISSN: 1945-7898
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- Citations: 6
Hussain A, Dailey W, Hughes C, et al., 2015, Quantitative Motor Assessment of Upperlimb after Unilateral Stroke: A Preliminary Feasibility Study with H-Man, a Planar Robot, 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), Publisher: IEEE, Pages: 654-659, ISSN: 1945-7898
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- Citations: 8
Mace M, Rinne P, Liardon J-L, et al., 2015, Comparison of flexible and rigid hand-grip control during a feed-forward visual tracking task, 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), Publisher: IEEE, Pages: 792-797, ISSN: 1945-7898
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- Citations: 6
Hussain A, Dailey W, Balasubramanian S, et al., 2015, Quantitative Assessment of Motor Deficit with an Intelligent Key Object: A Pilot Study, 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), Publisher: IEEE, Pages: 247-252, ISSN: 1945-7898
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- Citations: 3
Hussain A, Dailey W, Hughes C, et al., 2015, Preliminary Feasibility Study of the H-Man Planar Robot for Quantitative Motor Assessment, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 6167-6172, ISSN: 2153-0858
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- Citations: 5
Bagnato C, Takagi A, Burdet E, 2015, Artificial Nociception and Motor Responses to Pain, for Humans and Robots, 37th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC), Publisher: IEEE, Pages: 7402-7405, ISSN: 1557-170X
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- Citations: 8
Farkhatdinov I, Garnier A, Burdet E, 2015, Development and evaluation of a portable MR compatible haptic interface for human motor control, IEEE World Haptics 2015, Publisher: IEEE
This paper presents the development and evaluation of an MR compatible haptic interface for human motor control studies, which can be easily installed and removed from the scanner room. The interface is actuated by a powerful shielded DC motor located 2.1 m away from the 3T MR scanner. Rotational movements are transmitted to a subject's wrist through preloaded cable transmission which drives the handle unit. The handle of the interface is designed to be adjustable to different hands size, enabling comfortable and natural wrist movements. The nominal achievable wrist torque of the interface is up to 2Nm. The interface is easily transportable due to its design characteristics. A dynamic model of the interface is presented and identified for position and torque control modes. Phantom MR compatibility test in clinical environment showed that the interface is compatible with strong magnetic field and radio frequency emission and its operation does not affect the quality of MR images.
Tong LZ, Ong HT, Tan JX, et al., 2015, Pediatric rehabilitation with the reachMAN's modular handle, 37th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC), Publisher: IEEE, Pages: 3933-3936, ISSN: 1557-170X
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- Citations: 11
Arichi T, Counsell SJ, Allievi AG, et al., 2014, The effects of hemorrhagic parenchymal infarction on the establishment of sensori-motor structural and functional connectivity in early infancy, NEURORADIOLOGY, Vol: 56, Pages: 985-994, ISSN: 0028-3940
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- Citations: 29
Tommasino P, Melendez-Calderon A, Burdet E, et al., 2014, Motor adaptation with passive machines: A first study on the effect of real and virtual stiffness, COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE, Vol: 116, Pages: 145-155, ISSN: 0169-2607
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- Citations: 9
Esmaeili M, Jarrassé N, Dailey W, et al., 2014, Ergonomic design of a wrist robot: The influence of hyperstaticity on reaction forces and motor strategies, International Journal of Intelligent Computing and Cybernetics, Vol: 7, Pages: 289-306, ISSN: 1756-378X
Purpose – The purpose of this paper is to propose a method to avoid hyperstaticity and eventually reduce the magnitude of undesired force/torques. The authors also study the influence of hyperstaticity on human motor control during a redundant task. Design/methodology/approach – Increasing the level of transparency of robotic interfaces is critical to haptic investigations and applications. This issue is particularly important to robotic structures that mimic the human counterpart’s morphology and attach directly to the limb. Problems arise for complex joints such as the wrist, which cannot be accurately matched with a traditional mechanical joint. In such cases, mechanical differences between human and robotic joint cause hyperstaticity (i.e. over-constrained) which, coupled with kinematic misalignment, leads to uncontrolled force/torque at the joint. This paper focusses on the prono-supination (PS) degree of freedom of the forearm. The overall force and torque in the wrist PS rotation is quantified by means of a wrist robot. Findings – A practical solution to avoid hyperstaticity and reduce the level of undesired force/torque in the wrist is presented. This technique is shown to reduce 75 percent of the force and 68 percent of the torque. It is also shown an over-constrained mechanism could alter human motor strategies. Practical implications – The presented solution could be taken into account in the early phase of design of robots. It could also be applied to modify the fixation points of commercial robots in order to reduce the magnitude of reaction forces and avoid changes in motor strategy during the robotic therapy. Originality/value – In this paper for the first time the authors study the effect of hyperstaticity on both reaction forces and human motor strategies.
Jarrasse N, Sanguineti V, Burdet E, 2014, Slaves no longer: review on role assignment for human-robot joint motor action, ADAPTIVE BEHAVIOR, Vol: 22, Pages: 70-82, ISSN: 1059-7123
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- Citations: 66
Ganesh G, Takagi A, Osu R, et al., 2014, Two is better than one: Physical interactions improve motor performance in humans, SCIENTIFIC REPORTS, Vol: 4, ISSN: 2045-2322
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- Citations: 98
Liang P, Yang C, Wang N, et al., 2014, Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot, Pages: 109-119, ISSN: 0302-9743
This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.
Burdet E, Ganesh G, Yang C, et al., 2014, Interaction force, impedance and trajectory adaptation: By humans, for robots, Pages: 331-345, ISSN: 1610-7438
This paper develops and analyses a biomimetic learning controller for robots. This controller can simultaneously adapt reference trajectory, impedance and feedforward force to maintain stability and minimize the weighted summation of interaction force and performance errors. This controller was inspired from our studies of human motor behavior, especially the human motor control approach dealing with unstable situations typical of tool use. Simulations show that the developed controller is a good model of human motor adaptation. Implementations demonstrate that it can also utilise the capabilities of joint torque controlled robots and variable impedance actuators to optimally adapt interaction with dynamic environments and humans.
Klein J, Roach N, Burdet E, 2014, <i>3DOM</i>: A 3 Degree of Freedom Manipulandum to Investigate Redundant Motor Control, IEEE TRANSACTIONS ON HAPTICS, Vol: 7, Pages: 229-239, ISSN: 1939-1412
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- Citations: 13
Freeman CT, Zhou S-H, Tan Y, et al., 2014, On Experimentally Validated Iterative Learning Control in Human Motor Systems, American Control Conference, Publisher: IEEE, Pages: 4262-4267, ISSN: 0743-1619
Zhu TL, Klein J, Dual SA, et al., 2014, reachMAN2: A compact rehabilitation robot to train <i>reach</i>ing and <i>man</i>ipulation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 2107-2113, ISSN: 2153-0858
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- Citations: 8
Smith A, Yang C, Ma H, et al., 2014, Biomimetic Joint/Task Space Hybrid Adaptive Control for Bimanual Robotic Manipulation, 11th IEEE International Conference on Control and Automation (ICCA), Publisher: IEEE, Pages: 1013-1018, ISSN: 1948-3449
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- Citations: 4
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