Publications
82 results found
Soave F, Farkhatdinov I, Bryan-Kinns N, 2021, Multisensory Teleportation in Virtual Reality Applications, 28th IEEE Conference on Virtual Reality and 3D User Interfaces (IEEE VR), Publisher: IEEE, Pages: 377-379
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- Citations: 3
Otaran A, Farkhatdinov I, 2021, A Short Description of an Ankle-Actuated Seated VR Locomotion Interface, 28th IEEE Conference on Virtual Reality and 3D User Interfaces (IEEE VR), Publisher: IEEE, Pages: 64-66
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- Citations: 4
Huang H-Y, Farkhatdinov I, Arami A, et al., 2021, Cable-Driven Robotic Interface for Lower Limb Neuromechanics Identification., IEEE Trans. Biomed. Eng., Vol: 68, Pages: 461-469
Brown J, Farkhatdinov I, 2021, Shape-Changing Touch Pad based on Particle Jamming and Vibration, IEEE World Haptics Conference (WHC), Publisher: IEEE, Pages: 337-337
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- Citations: 2
Palermo F, Konstantinova J, Althoefer K, et al., 2020, Automatic Fracture Characterization Using Tactile and Proximity Optical Sensing, FRONTIERS IN ROBOTICS AND AI, Vol: 7, ISSN: 2296-9144
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- Citations: 4
Huang HY, Arami A, Farkhatdinov I, et al., 2020, The Influence of Posture, Applied Force and Perturbation Direction on Hip Joint Viscoelasticity, IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, Vol: 28, Pages: 1138-1145, ISSN: 1534-4320
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- Citations: 9
Junput B, Farkhatdinov I, Jamone L, 2020, Touch It, Rub It, Feel It! Haptic Rendering of Physical Textures with a Low Cost Wearable System, Pages: 274-286, ISSN: 0302-9743
Information about the texture of an object’s surface is crucial for its recognition and robust manipulation. During robotic teleoperation or interaction with a Virtual Reality, is important to feedback such information to the human user. However, most available solutions for haptic feedback are expensive and/or cumbersome. In this paper we propose a low cost and wearable system that allows users to feel the texture of physical objects by virtually rubbing them. Our main contributions are: i) a system for encoding a virtual representation of the texture of physical materials; ii) a system to haptically render such virtual representation on the user fingertips; iii) an experimental validation of the combined system in a object recognition task. We show that users can successfully recognize physical objects with different textures by virtually rubbing their surfaces using the proposed system.
Palermo F, Konstantinova J, Althoefer K, et al., 2020, Implementing Tactile and Proximity Sensing for Crack Detection, IEEE International Conference on Robotics and Automation (ICRA), Publisher: IEEE, Pages: 632-637, ISSN: 1050-4729
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- Citations: 7
Soave F, Bryan-Kinns N, Farkhatdinov I, 2020, A Preliminary Study on Full-Body Haptic Stimulation on Modulating Self-motion Perception in Virtual Reality, 7th International Conference on Augmented Reality, Virtual Reality and Computer Graphics (SALENTO AVR), Publisher: SPRINGER INTERNATIONAL PUBLISHING AG, Pages: 461-469, ISSN: 0302-9743
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- Citations: 12
Brown JP, Farkhatdinov I, 2020, Soft Haptic Interface based on Vibration and Particle Jamming, IEEE Haptics Symposium (HAPTICS), Publisher: IEEE, Pages: 1-6, ISSN: 2324-7347
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- Citations: 1
Omarali B, Denoun B, Althoefer K, et al., 2020, Virtual Reality based Telerobotics Framework with Depth Cameras, 29th IEEE International Conference on Robot and Human Interactive Communication (IEEE RO-MAN), Publisher: IEEE, Pages: 1217-1222, ISSN: 1944-9445
Farkhatdinov I, Michalska H, Berthoz A, et al., 2019, Idiothetic Verticality Estimation Through Head Stabilization Strategy, IEEE ROBOTICS AND AUTOMATION LETTERS, Vol: 4, Pages: 2677-2682, ISSN: 2377-3766
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- Citations: 1
Farkhatdinov I, Ebert J, van Oort G, et al., 2019, Assisting human balance in standing with a robotic exoskeleton, IEEE Robotics and Automation Letters, Vol: 4, Pages: 414-421, ISSN: 2377-3766
This letter presents an experimental study on balance recovery control with a lower limb exoskeleton robot. Four participants were subjected to a perturbation during standing, a forward force impulse applied to their pelvis that forced them to step forward with the right leg for balance recovery. Trials with and without exoskeleton assistance to move the stepping legs thigh were conducted to investigate the influence of the exoskeletons control assistance on balancing performance and a potential adaptation. Analysis of the body kinematics and muscle activation demonstrates that robotic assistance: first, was easy to use and did not require learning, nor inhibited the healthy stepping behavior; second, it modified the stepping leg trajectories by increasing hip and knee movement; third, increased reaction speed and decreased the step duration; and finally, generally increased biceps femoris and rectus femoris muscle activity.
Farkhatdinov I, Ebert J, Van Oort G, et al., 2019, Assisting Human Balance in Standing With a Robotic Exoskeleton, IEEE Robotics and Automation Letters, Vol: 4, Pages: 414-421
© 2016 IEEE. This letter presents an experimental study on balance recovery control with a lower limb exoskeleton robot. Four participants were subjected to a perturbation during standing, a forward force impulse applied to their pelvis that forced them to step forward with the right leg for balance recovery. Trials with and without exoskeleton assistance to move the stepping legs thigh were conducted to investigate the influence of the exoskeletons control assistance on balancing performance and a potential adaptation. Analysis of the body kinematics and muscle activation demonstrates that robotic assistance: first, was easy to use and did not require learning, nor inhibited the healthy stepping behavior; second, it modified the stepping leg trajectories by increasing hip and knee movement; third, increased reaction speed and decreased the step duration; and finally, generally increased biceps femoris and rectus femoris muscle activity.
Farkhatdinov I, Michalska H, Berthozand A, et al., 2019, Gravito-inertial ambiguity resolved through head stabilization, PROCEEDINGS OF THE ROYAL SOCIETY A-MATHEMATICAL PHYSICAL AND ENGINEERING SCIENCES, Vol: 475, ISSN: 1364-5021
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- Citations: 4
Omarali B, Palermo F, Valle M, et al., 2019, Position and Velocity Control for Telemanipulation with Interoperability Protocol, Pages: 316-324, ISSN: 0302-9743
In this paper we describe how a generic interoperability telerobotics protocol can be applied for master-slave robotic systems operating in position-position, position-speed and hybrid control modes. The interoperability protocol allows robust and efficient data exchange for teleoperation systems, however it was not shown how it can fit switching position and rate control modes. Here we propose the general framework of hybrid position and rate control modes with interoperability protocol. Furthermore, we demonstrate experimentally that the framework is suitable for robotics teleoperation systems in which a human-operator can switch between position-position and position-speed master and slave robots’ workspace mapping.
Otaran A, Farkhatdinov I, 2019, Modeling and Control of Ankle Actuation Platform for Human-Robot Interaction, Pages: 338-348, ISSN: 0302-9743
We present the design of a one-degree-of-freedom ankle actuation platform for human-robot interaction. The platform is actuated with a DC motor through a capstan drive mechanism. The results for platform dynamics identification including friction characterisation are presented. Control experiments demonstrate that a linear regulator with gravity compensation can be used to control the inclination of the platform efficiently.
Danabek D, Otaran A, Althoefer K, et al., 2019, Mobile robot trajectory analysis with the help of vision system, Pages: 273-279, ISSN: 0302-9743
We present a vision-based motion analysis method for single and multiple mobile robots which allows quantifying the robot's behaviour. The method defines how often and for how much each of the robots turn and move straight. The motion analysis relies on the robot trajectories acquired online or offline by an external camera and the algorithm is based on iteratively performed a linear regression to detect straight and curved paths for each robot. The method is experimentally validated with the indoor mobile robotic system. Potential applications include remote robot inspection, rescue robotics and multi-robotic system coordination.
Perez NP, Tokarchuk L, Burdet E, et al., 2019, Exploring User Motor Behaviour in Bimanual Interactive Video Games, IEEE Conference on Games (IEEE COG), Publisher: IEEE, ISSN: 2325-4270
Farkhatdinov I, Michalska H, Berthoz A, et al., 2019, Idiothetic Verticality Estimation through Head Stabilization Strategy, 15th Conference on Robotics - Science and Systems, Publisher: MIT PRESS
Farkhatdinov I, Michalaska H, Berthoz A, et al., 2018, Review of Anthropomorphic Head Stabilisation and Verticality Estimation in Robots, Biomechanics of Anthropomorphic Systems
ogrinc M, Farkhatdinov I, Walker R, et al., 2018, Sensory integration of apparent motion speed and vibration magnitude, IEEE Transactions on Haptics, Vol: 11, Pages: 455-463, ISSN: 1939-1412
Tactile apparent motion can display directional information in an intuitive way. It can for example be used to give directions to visually impaired individuals, or for waypoint navigation while cycling on busy streets, when vision or audition should not be loaded further. However, although humans can detect very short tactile patterns, discriminating between similar motion speeds has been shown to be difficult. Here we develop and investigate a method where the speed of tactile apparent motion around the user & #x0027;s wrist is coupled with vibration magnitude. This redundant coupling is used to produce tactile patterns from slow & amp;weak to fast & amp;strong. We compared the just noticeable difference (JND) of the coupled and the individual variables. The results show that the perception of the coupled variable can be characterised by JND smaller than JNDs of the individual variables. This allowed us to create short tactile pattens (tactons) for display of direction and speed, which can be distinguished significantly better than tactons based on motion alone. Additionally, most subjects were also able to identify the coupled-variable tactons better than the magnitude-based tactons.
Ogrinc Ms M, Farkhatdinov PhD I, Walker Ms R, et al., 2018, Horseback riding therapy for a deafblind individual enabled by a haptic interface, Assistive Technology: The Offical Journal of RESNA, Vol: 30, Pages: 143-150, ISSN: 1949-3614
We present a haptic interface to help deafblind people to practice horseback riding as a recreational and therapeutic activity. Horseback riding is a form of therapy which can improve self-esteem and sensation of independence. It has been shown to benefit people with various medical conditions-including autism. However, in the case of deafblind riders, an interpreter must stand by at all times to communicate with the rider by touch. We developed a simple interface that enables deafblind people to enjoy horseback riding while the instructor is remotely providing cues, which improves their independence. Experiments demonstrated that an autistic deafblind individual exhibits similar responses to navigational cues as an unimpaired rider. Motivation is an important factor in therapy, and is frequently determinant of its outcome; therefore, the user attitude toward the therapy methods is key. The answers to questionnaires filled by the rider, family, and the instructor show that our technique gives the rider a greater sense of independence and more joy compared to standard riding where the instructor is walking along with the horse.
Pruks V, Farkhatdinov I, Ryu J-H, 2018, Preliminary Study on Real-Time Interactive Virtual Fixture Generation Method for Shared Teleoperation in Unstructured Environments, 11th International Conference on Haptics - Science, Technology, and Applications (EuroHaptics), Publisher: SPRINGER INTERNATIONAL PUBLISHING AG, Pages: 648-659, ISSN: 0302-9743
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- Citations: 5
Duvernoy B, Farkhatdinov I, Topp S, et al., 2018, Electromagnetic Actuator for Tactile Communication, 11th International Conference on Haptics - Science, Technology, and Applications (EuroHaptics), Publisher: SPRINGER INTERNATIONAL PUBLISHING AG, Pages: 14-24, ISSN: 0302-9743
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- Citations: 13
Farkhatdinov I, Roehri N, Burdet E, 2017, Anticipatory detection of turning in humans for intuitive control of robotic mobility assistance, Bioinspiration and Biomimetics, Vol: 12, ISSN: 1748-3182
Many wearable lower-limb robots for walking assistance have been developed in recent years. However, it remains unclear how they can be commanded in an intuitive and efficient way by their user. In particular, providing robotic assistance to neurologically impaired individuals in turning remains a significant challenge. The control should be safe to the users and their environment, yet yield sufficient performance and enable natural human-machine interaction. Here, we propose using the head and trunk anticipatory behaviour in order to detect the intention to turn in a natural, non-intrusive way, and use it for triggering turning movement in a robot for walking assistance. We therefore study head and trunk orientation during locomotion of healthy adults, and investigate upper body anticipatory behaviour during turning. The collected walking and turning kinematics data are clustered using the k-means algorithm and cross-validation tests and k-nearest neighbours method are used to evaluate the performance of turning detection during locomotion. Tests with seven subjects exhibited accurate turning detection. Head anticipated turning by more than 400–500 ms in average across all subjects. Overall, the proposed method detected turning 300 ms after its initiation and 1230 ms before the turning movement was completed. Using head anticipatory behaviour enabled to detect turning faster by about 100 ms, compared to turning detection using only pelvis orientation measurements. Finally, it was demonstrated that the proposed turning detection can improve the quality of human–robot interaction by improving the control accuracy and transparency.
Huang H-Y, Farkhatdinov I, Arami A, et al., 2017, Modelling Neuromuscular Function of SCI Patients in Balancing, 3rd International Conference on NeuroRehabilitation (ICNR), Publisher: SPRINGER INTERNATIONAL PUBLISHING AG, Pages: 355-359, ISSN: 2195-3562
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- Citations: 1
Stone A, Farkhatdinov I, 2017, Robotics Education for Children at Secondary School Level and Above, 18th Annual Conference on Towards Autonomous Robotics (TAROS), Publisher: SPRINGER INTERNATIONAL PUBLISHING AG, Pages: 576-585, ISSN: 0302-9743
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- Citations: 5
Ogrinc M, Farkhatdinov I, Walker R, et al., 2016, Deaf-Blind Can Practise Horse Riding with the Help of Haptics., Publisher: Springer, Pages: 452-461
Wilhelm E, Mace M, Takagi A, et al., 2016, Investigating Tactile Sensation in the Hand Using a Robot-Based Tactile Assessment Tool, 10th International Conference on Haptics - Perception, Devices, Control, and Applications (EuroHaptics), Publisher: SPRINGER INTERNATIONAL PUBLISHING AG, Pages: 17-24, ISSN: 0302-9743
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