2023
Deiana, Davide; Pinardi, Mattia; Noccaro, Alessia; Iandoli, Michela; Di Pino, Giovanni; Formica, Domenico
Validation of Vibrotactile Feedback to Improve Selective Motor Units Recruitment Proceedings Article
In: 2023 IEEE International Symposium on Medical Measurements and Applications (MeMeA), pp. 1–5, 2023.
Abstract | Links | BibTeX | Tags: Augmentation, Firing, Indexes, Measurement units, Motor Units, Muscles, Performance evaluation, Psychometric Measures, Task analysis, Vibrations, Vibrotactile Feedback, Wearable Device
@inproceedings{deiana_validation_2023,
title = {Validation of Vibrotactile Feedback to Improve Selective Motor Units Recruitment},
author = {Davide Deiana and Mattia Pinardi and Alessia Noccaro and Michela Iandoli and Di Pino, Giovanni and Domenico Formica},
doi = {10.1109/MeMeA57477.2023.10171925},
year = {2023},
date = {2023-06-01},
urldate = {2023-06-01},
booktitle = {2023 IEEE International Symposium on Medical Measurements and Applications (MeMeA)},
pages = {1–5},
abstract = {Recently, muscle interfaces have been used to control external devices through the activation of single motor units. In the present study, we proposed and validated two different vibro-tactile feedback strategies designed to convey information about the firing rate of two motor units active at the same time. In a two-alternative forced-choice task, participants had to discriminate the higher vibration frequency among the ones of two vibrotactile stimulators placed on their arms. Spike strategy and continuous strategy were tested in two different experiments and motor units’ activation was simulated. The spike strategy directly translates the discharge activity of motor units into a vibratory burst with a 1-to-1 conversion, i.e. each spike of one motor unit triggers a single burst of the corresponding vibrator. This was evaluated in two body configurations, i.e. same forearm versus different arms. The continuous strategy mapped the discharge activity of motor units into a continuous vibration exploiting the entire operative range of vibrotactile stimulators. A single-body configuration was tested (i.e. two different arms). Participants’ responses were fitted with a psychometric sigmoid curve (i.e. a psychometric model commonly applied to detection and discrimination tasks), and the discrimination accuracy index was used to evaluate the feedback strategies. Results from Experiment 1 showed that the continuous strategy worked better when the stimulators were placed on two different arms, but overall discrimination performance was poor. Experiment 2 showed that both the continuous strategy conveyed vastly superior overall performance compared to the continuous strategy.},
keywords = {Augmentation, Firing, Indexes, Measurement units, Motor Units, Muscles, Performance evaluation, Psychometric Measures, Task analysis, Vibrations, Vibrotactile Feedback, Wearable Device},
pubstate = {published},
tppubtype = {inproceedings}
}
Pinardi, Mattia; Noccaro, Alessia; Raiano, Luigi; Formica, Domenico; Di Pino, Giovanni
Comparing end-effector position and joint angle feedback for online robotic limb tracking Journal Article
In: PLOS ONE, vol. 18, no. 6, pp. e0286566, 2023, ISSN: 1932-6203, (Publisher: Public Library of Science).
Abstract | Links | BibTeX | Tags: Body limbs, Motion, Prosthetics, Robotics, Robots, Sensory perception, Vibration, Vision
@article{pinardi_comparing_2023,
title = {Comparing end-effector position and joint angle feedback for online robotic limb tracking},
author = { Mattia Pinardi and Alessia Noccaro and Luigi Raiano and Domenico Formica and Di Pino, Giovanni },
url = {https://journals.plos.org/plosone/article?id=10.1371/journal.pone.0286566},
doi = {10.1371/journal.pone.0286566},
issn = {1932-6203},
year = {2023},
date = {2023-06-01},
urldate = {2023-06-01},
journal = {PLOS ONE},
volume = {18},
number = {6},
pages = {e0286566},
abstract = {Somatosensation greatly increases the ability to control our natural body. This suggests that supplementing vision with haptic sensory feedback would also be helpful when a user aims at controlling a robotic arm proficiently. However, whether the position of the robot and its continuous update should be coded in a extrinsic or intrinsic reference frame is not known. Here we compared two different supplementary feedback contents concerning the status of a robotic limb in 2-DoFs configuration: one encoding the Cartesian coordinates of the end-effector of the robotic arm (i.e., Task-space feedback) and another and encoding the robot joints angles (i.e., Joint-space feedback). Feedback was delivered to blindfolded participants through vibrotactile stimulation applied on participants’ leg. After a 1.5-hour training with both feedbacks, participants were significantly more accurate with Task compared to Joint-space feedback, as shown by lower position and aiming errors, albeit not faster (i.e., similar onset delay). However, learning index during training was significantly higher in Joint space feedback compared to Task-space feedback. These results suggest that Task-space feedback is probably more intuitive and more suited for activities which require short training sessions, while Joint space feedback showed potential for long-term improvement. We speculate that the latter, despite performing worse in the present work, might be ultimately more suited for applications requiring long training, such as the control of supernumerary robotic limbs for surgical robotics, heavy industrial manufacturing, or more generally, in the context of human movement augmentation.},
note = {Publisher: Public Library of Science},
keywords = {Body limbs, Motion, Prosthetics, Robotics, Robots, Sensory perception, Vibration, Vision},
pubstate = {published},
tppubtype = {article}
}
Deiana, Davide; Pinardi, Mattia; Noccaro, Alessia; Iandoli, Michela; Formica, Domenico; Di Pino, Giovanni
Comparing different vibrotactile strategies to encode motor units’ activation states Miscellaneous
2023.
@misc{davide_deiana_comparing_2023,
title = {Comparing different vibrotactile strategies to encode motor units’ activation states},
author = {Davide Deiana and Mattia Pinardi and Alessia Noccaro and Michela Iandoli and Domenico Formica and Di Pino, Giovanni},
url = {https://www.imperial.ac.uk/a-z-research/human-robotics/icra-2023-workshop-on-supernumerary-limb-/},
year = {2023},
date = {2023-05-01},
urldate = {2023-05-01},
journal = {Imperial College London},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
Farina, Dario; Burdet, Etienne; Mehring, Carsten; Ibáñez, Jaime
Roboticists Want to Give You a Third Arm: Unused Bandwidth in Neurons Can be Tapped to Control Extra Limbs Journal Article
In: IEEE Spectrum, vol. 60, no. 3, pp. 22–46, 2023, ISSN: 0018-9235.
Abstract | Links | BibTeX | Tags:
@article{farina_roboticists_2023,
title = {Roboticists Want to Give You a Third Arm: Unused Bandwidth in Neurons Can be Tapped to Control Extra Limbs},
author = { Dario Farina and Etienne Burdet and Carsten Mehring and Jaime Ibáñez},
url = {https://doi.org/10.1109/MSPEC.2023.10061646},
doi = {10.1109/MSPEC.2023.10061646},
issn = {0018-9235},
year = {2023},
date = {2023-03-01},
urldate = {2023-05-29},
journal = {IEEE Spectrum},
volume = {60},
number = {3},
pages = {22--46},
abstract = {Consider a surgeon performing a delicate operation, one that needs her expertise and steady hands—all three of them. As her two biological hands manip-ulate surgical instruments, a third robotic limb that's attached to her torso plays a supporting role. Or picture a construction worker who is thankful for his extra robotic hand as it braces the heavy beam he's fastening into place with his other two hands. Imagine wearing an exoskeleton that would let you handle multiple objects simultaneously, like Spiderman's Dr. Octopus. Or contemplate the out-there music a composer could write for a pianist who has 12 fingers to spread across the keyboard.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Peña-Pérez, Nuria; Eden, Jonathan; Ivanova, Ekaterina; Farkhatdinov, Ildar; Burdet, Etienne
How virtual and mechanical coupling impact bimanual tracking Journal Article
In: Journal of Neurophysiology, vol. 129, no. 1, pp. 102–114, 2023, ISSN: 0022-3077, (Publisher: American Physiological Society).
Abstract | Links | BibTeX | Tags: bimanual, coupling, Redundancy, visuomotor tracking
@article{pena-perez_how_2023,
title = {How virtual and mechanical coupling impact bimanual tracking},
author = { Nuria Peña-Pérez and Jonathan Eden and Ekaterina Ivanova and Ildar Farkhatdinov and Etienne Burdet},
url = {https://journals.physiology.org/doi/full/10.1152/jn.00057.2022},
doi = {10.1152/jn.00057.2022},
issn = {0022-3077},
year = {2023},
date = {2023-01-01},
urldate = {2023-09-08},
journal = {Journal of Neurophysiology},
volume = {129},
number = {1},
pages = {102–114},
abstract = {Download figureDownload PowerPoint},
note = {Publisher: American Physiological Society},
keywords = {bimanual, coupling, Redundancy, visuomotor tracking},
pubstate = {published},
tppubtype = {article}
}
Peña-Pérez, Nuria; Mutalib, Sharah Abdul; Eden, Jonathan; Farkhatdinov, Ildar; Burdet, Etienne
The Impact of Stiffness in Bimanual Versus Dyadic Interactions Requiring Force Exchange Journal Article
In: IEEE Transactions on Haptics, pp. 1–6, 2023, ISSN: 2329-4051, (Conference Name: IEEE Transactions on Haptics).
Abstract | Links | BibTeX | Tags: bimanual control, Force, Grasping, human-human interaction, Monitoring, object stiffness, Target tracking, Task analysis, Torque, Virtual object manipulation, Wrist
@article{pena-perez_impact_2023,
title = {The Impact of Stiffness in Bimanual Versus Dyadic Interactions Requiring Force Exchange},
author = {Nuria Peña-Pérez and Sharah Abdul Mutalib and Jonathan Eden and Ildar Farkhatdinov and Etienne Burdet},
doi = {10.1109/TOH.2023.3274584},
issn = {2329-4051},
year = {2023},
date = {2023-01-01},
urldate = {2023-01-01},
journal = {IEEE Transactions on Haptics},
pages = {1–6},
abstract = {During daily activities, humans routinely manipulate objects bimanually or with the help of a partner. This work explored how bimanual and dyadic coordination modes are impacted by the object's stiffness, which conditions inter-limb haptic communication. For this, we recruited twenty healthy participants who performed a virtual task inspired by object handling, where we looked at the initiation of force exchange and its continued maintenance while tracking. Our findings suggest that while individuals and dyads displayed different motor behaviours, which may stem from the dyad's need to estimate their partner's actions, they exhibited similar tracking accuracy. For both coordination modes, increased stiffness resulted in better tracking accuracy and more correlated motions, but required a larger effort through increased average torque. These results suggest that stiffness may be a key consideration in applications such as rehabilitation, where bimanual or external physical assistance is often provided.},
note = {Conference Name: IEEE Transactions on Haptics},
keywords = {bimanual control, Force, Grasping, human-human interaction, Monitoring, object stiffness, Target tracking, Task analysis, Torque, Virtual object manipulation, Wrist},
pubstate = {published},
tppubtype = {article}
}
Wang, Ziwei; Fei, Haolin; Huang, Yanpei; Rouxel, Quentin; Xiao, Bo; Li, Zhibin; Burdet, Etienne
Learning to Assist Bimanual Teleoperation using Interval Type-2 Polynomial Fuzzy Inference Journal Article
In: IEEE Transactions on Cognitive and Developmental Systems, pp. 1–1, 2023, ISSN: 2379-8939, (Conference Name: IEEE Transactions on Cognitive and Developmental Systems).
Abstract | Links | BibTeX | Tags: Bimanual manipulation, Collaboration, Fuzzy sets, Gaussian process, Human-robot collaboration, IT2 polynomial fuzzy system, Robot kinematics, Robot learning, Robots, Task analysis, Trajectory, Uncertainty
@article{wang_learning_2023,
title = {Learning to Assist Bimanual Teleoperation using Interval Type-2 Polynomial Fuzzy Inference},
author = { Ziwei Wang and Haolin Fei and Yanpei Huang and Quentin Rouxel and Bo Xiao and Zhibin Li and Etienne Burdet},
doi = {10.1109/TCDS.2023.3272730},
issn = {2379-8939},
year = {2023},
date = {2023-01-01},
journal = {IEEE Transactions on Cognitive and Developmental Systems},
pages = {1–1},
abstract = {Assisting humans in collaborative tasks is a promising application for robots, however effective assistance remains challenging. In this paper, we propose a method for providing intuitive robotic assistance based on learning from human natural limb coordination. To encode coupling between multiple-limb motions, we use a novel interval type-2 (IT2) polynomial fuzzy inference for modeling trajectory adaptation. The associated polynomial coefficients are estimated using a modified recursive least-square with a dynamic forgetting factor. We propose to employ a Gaussian process to produce robust human motion predictions, and thus address the uncertainty and measurement noise of the system caused by interactive environments. Experimental results on two types of interaction tasks demonstrate the effectiveness of this approach, which achieves high accuracy in predicting assistive limb motion and enables humans to perform bimanual tasks using only one limb.},
note = {Conference Name: IEEE Transactions on Cognitive and Developmental Systems},
keywords = {Bimanual manipulation, Collaboration, Fuzzy sets, Gaussian process, Human-robot collaboration, IT2 polynomial fuzzy system, Robot kinematics, Robot learning, Robots, Task analysis, Trajectory, Uncertainty},
pubstate = {published},
tppubtype = {article}
}
Pinardi, Mattia; Di Stefano, Nicola; Di Pino, Giovanni; Spence, Charles
Exploring crossmodal correspondences for future research in human movement augmentation Journal Article
In: Frontiers in Psychology, vol. 14, 2023, ISSN: 1664-1078.
Abstract | Links | BibTeX | Tags:
@article{pinardi_exploring_2023,
title = {Exploring crossmodal correspondences for future research in human movement augmentation},
author = { Mattia Pinardi and Di Stefano, Nicola and Di Pino, Giovanni and Charles Spence},
url = {https://www.frontiersin.org/articles/10.3389/fpsyg.2023.1190103},
issn = {1664-1078},
year = {2023},
date = {2023-01-01},
urldate = {2023-01-01},
journal = {Frontiers in Psychology},
volume = {14},
abstract = {“Crossmodal correspondences” are the consistent mappings between perceptual dimensions or stimuli from different sensory domains, which have been widely observed in the general population and investigated by experimental psychologists in recent years. At the same time, the emerging field of human movement augmentation (i.e., the enhancement of an individual’s motor abilities by means of artificial devices) has been struggling with the question of how to relay supplementary information concerning the state of the artificial device and its interaction with the environment to the user, which may help the latter to control the device more effectively. To date, this challenge has not been explicitly addressed by capitalizing on our emerging knowledge concerning crossmodal correspondences, despite these being tightly related to multisensory integration. In this perspective paper, we introduce some of the latest research findings on the crossmodal correspondences and their potential role in human augmentation. We then consider three ways in which the former might impact the latter, and the feasibility of this process. First, crossmodal correspondences, given the documented effect on attentional processing, might facilitate the integration of device status information (e.g., concerning position) coming from different sensory modalities (e.g., haptic and visual), thus increasing their usefulness for motor control and embodiment. Second, by capitalizing on their widespread and seemingly spontaneous nature, crossmodal correspondences might be exploited to reduce the cognitive burden caused by additional sensory inputs and the time required for the human brain to adapt the representation of the body to the presence of the artificial device. Third, to accomplish the first two points, the benefits of crossmodal correspondences should be maintained even after sensory substitution, a strategy commonly used when implementing supplementary feedback.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2022
Eden, Jonathan; Bräcklein, Mario; Ibáñez, Jaime; Barsakcioglu, Deren Yusuf; Di Pino, Giovanni; Farina, Dario; Burdet, Etienne; Mehring, Carsten
Principles of human movement augmentation and the challenges in making it a reality Journal Article
In: Nature Communications, vol. 13, 2022.
@article{eden_principles_2022,
title = {Principles of human movement augmentation and the challenges in making it a reality},
author = {Jonathan Eden and Mario Bräcklein and Jaime Ibáñez and Deren Yusuf Barsakcioglu and Di Pino, Giovanni and Dario Farina and Etienne Burdet and Carsten Mehring},
doi = {10.1038/s41467-022-28725-7},
year = {2022},
date = {2022-12-01},
urldate = {2022-12-01},
journal = {Nature Communications},
volume = {13},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Di Stefano, Nicola; Jarrassé, Nathanaël; Valera, Luca
The Ethics of Supernumerary Robotic Limbs. An Enactivist Approach Journal Article
In: Science and Engineering Ethics, vol. 28, no. 6, pp. 57, 2022, ISSN: 1471-5546.
Abstract | Links | BibTeX | Tags: Enactivism, Human augmentation, Human enhancement, Motor augmentation, Wearable robotics
@article{di_stefano_ethics_2022,
title = {The Ethics of Supernumerary Robotic Limbs. An Enactivist Approach},
author = { Di Stefano, Nicola and Nathanaël Jarrassé and Luca Valera},
url = {https://doi.org/10.1007/s11948-022-00405-1},
doi = {10.1007/s11948-022-00405-1},
issn = {1471-5546},
year = {2022},
date = {2022-11-01},
urldate = {2022-11-01},
journal = {Science and Engineering Ethics},
volume = {28},
number = {6},
pages = {57},
abstract = {Supernumerary robotic limbs are innovative devices in the field of wearable robotics which can provide humans with unprecedented sensorimotor abilities. However, scholars have raised awareness of the ethical issues that would arise from the large adoption of technologies for human augmentation in society. Most negative attitudes towards such technologies seem to rely on an allegedly clear distinction between therapy and enhancement in the use of technological devices. Based on such distinction, people tend to accept technologies when used for therapeutic purposes (e.g., prostheses), but tend to raise issues when similar devices are used for upgrading a physical or cognitive ability (e.g., supernumerary robotics limbs). However, as many scholars have pointed out, the distinction between therapy and enhancement might be theoretically flawed. In this paper, we present an alternative approach to the ethics of supernumerary limbs which is based on two related claims. First, we propose to conceive supernumerary limbs as tools that necessarily modify our psychological and bodily identity. At the same time, we stress that such a modification is not ethically bad in itself; on the contrary, it drives human interaction with the environment. Second, by comparing our view with the extended mind thesis, we claim that the mediation through tools is crucial for the formation of novel meanings and skills that constitute human interaction with the world. We will relate the latter claim to enactivism as a helpful theoretical perspective to frame issues related to artificial limbs and, more in general, to technologies for augmentation. Based on this approach, we finally sketch some suggestions for future directions in the ethics of supernumerary limbs.},
keywords = {Enactivism, Human augmentation, Human enhancement, Motor augmentation, Wearable robotics},
pubstate = {published},
tppubtype = {article}
}
Poignant, Alexis; Jarrasse, Nathanael; Morel, Guillaume
Virtually turning robotic manipulators into worn devices: opening new horizons for wearable assistive robotics Miscellaneous
2022, (arXiv:2211.08483 [cs]).
Abstract | Links | BibTeX | Tags: Computer Science - Robotics
@misc{poignant_virtually_2022,
title = {Virtually turning robotic manipulators into worn devices: opening new horizons for wearable assistive robotics},
author = { Alexis Poignant and Nathanael Jarrasse and Guillaume Morel},
url = {http://arxiv.org/abs/2211.08483},
doi = {10.48550/arXiv.2211.08483},
year = {2022},
date = {2022-11-01},
urldate = {2023-09-08},
publisher = {arXiv},
abstract = {Robotic sensorimotor extensions (supernumerary limbs, prosthesis, handheld tools) are worn devices used to interact with the nearby environment, whether to assist the capabilities of impaired users or to enhance the dexterity of industrial operators. Despite numerous mechanical achievements, embedding these robotics devices remains critical due to their weight and discomfort. To emancipate from these mechanical constraints, we propose a new hybrid system using a virtually worn robotic arm in augmented-reality, and a real robotic manipulator servoed on such virtual representation. We aim at bringing an illusion of wearing a robotic system while its weight is fully deported, thinking that this approach could open new horizons for the study of wearable robotics without any intrinsic impairment of the human movement abilities.},
note = {arXiv:2211.08483 [cs]},
keywords = {Computer Science - Robotics},
pubstate = {published},
tppubtype = {misc}
}
Allemang-Trivalle, Arnaud; Eden, Jonathan; Huang, Yanpei; Ivanova, Ekaterina; Burdet, Etienne
Comparison of human trimanual performance between independent and dependent multiple-limb training modes Proceedings Article
In: 2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), pp. 1–6, 2022, (ISSN: 2155-1782).
Abstract | Links | BibTeX | Tags: Biomechatronics, Dynamics, Navigation, Robot kinematics, Task analysis, Training, Virtual reality
@inproceedings{allemang-trivalle_comparison_2022,
title = {Comparison of human trimanual performance between independent and dependent multiple-limb training modes},
author = { Arnaud Allemang-Trivalle and Jonathan Eden and Yanpei Huang and Ekaterina Ivanova and Etienne Burdet},
doi = {10.1109/BioRob52689.2022.9925417},
year = {2022},
date = {2022-08-01},
booktitle = {2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)},
pages = {1–6},
abstract = {Human movement augmentation with a third robotic hand can extend human capability allowing a single user to perform three-hand tasks that would typically require cooperation with other people. However, as trimanual control is not typical in everyday activities, it is still unknown how to train people to acquire this capability efficiently. We conducted an experimental study to evaluate two different trimanual training modes with 24 subjects. This investigated how the different modes impact the transfer of learning of the acquired trimanual capability to another task. Two groups of twelve subjects were each trained in virtual reality for five weeks using either independent or dependent trimanual task repetitions. The training was evaluated by comparing performance before and after training in a gamified trimanual task. The results show that both groups of subjects improved their trimanual capabilities after training. However, this improvement appeared independent of training scheme.},
note = {ISSN: 2155-1782},
keywords = {Biomechatronics, Dynamics, Navigation, Robot kinematics, Task analysis, Training, Virtual reality},
pubstate = {published},
tppubtype = {inproceedings}
}
Allemang-Trivalle, Arnaud; Eden, Jonathan; Ivanova, Ekaterina; Huang, Yanpei; Burdet, Etienne
How long does it take to learn trimanual coordination? Proceedings Article
In: 2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), pp. 211–216, 2022, (ISSN: 1944-9437).
Abstract | Links | BibTeX | Tags: Robot kinematics, Task analysis, Training, Virtual reality
@inproceedings{allemangtrivalle_how_2022,
title = {How long does it take to learn trimanual coordination?},
author = { Arnaud Allemang-Trivalle and Jonathan Eden and Ekaterina Ivanova and Yanpei Huang and Etienne Burdet},
doi = {10.1109/RO-MAN53752.2022.9900646},
year = {2022},
date = {2022-08-01},
urldate = {2022-08-01},
booktitle = {2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
pages = {211–216},
abstract = {Supernumerary robotic limbs can act as intelligent prostheses or augment the motion of healthy people to achieve actions which are not possible with only two natural hands. However, as trimanual control is not typical in everyday activities, it is still unknown how different training could influence its acquisition. We conducted an experimental study to evaluate the impact of different forms of trimanual action on training. Two groups of twelve subjects were each trained in virtual reality for five weeks using either a three independent goals task or one dependent goal task. The success of their training was then evaluated by comparing their task performance and motion characteristics between sessions. The results show that subjects dramatically improved their trimanual task performance as a result of training. However, while they showed improved motion efficiency and reduced workload for tasks with multiple independent goals with practice, no such improvement was observed when they trained with the one coordinated goal task.},
note = {ISSN: 1944-9437},
keywords = {Robot kinematics, Task analysis, Training, Virtual reality},
pubstate = {published},
tppubtype = {inproceedings}
}
Peña-Pérez, Nuria; Eden, Jonathan; Burdet, Etienne; Farkhatdinov, Ildar; Takagi, Atsushi
Lateralization of Impedance Control in Dynamic Versus Static Bimanual Tasks Proceedings Article
In: 2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), pp. 785–789, 2022, (ISSN: 2694-0604).
Abstract | Links | BibTeX | Tags: Biology, Haptic interfaces, Impedance, Resource management, Task analysis, Torque, Wrist
@inproceedings{perez_lateralization_2022,
title = {Lateralization of Impedance Control in Dynamic Versus Static Bimanual Tasks},
author = {Nuria Peña-Pérez and Jonathan Eden and Etienne Burdet and Ildar Farkhatdinov and Atsushi Takagi},
doi = {10.1109/EMBC48229.2022.9871013},
year = {2022},
date = {2022-07-01},
urldate = {2022-07-01},
booktitle = {2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)},
pages = {785–789},
abstract = {In activities of daily living that require bimanual coordination, humans often assign a role to each hand. How do task requirements affect this role assignment? To address this question, we investigated how healthy right-handed participants bimanually manipulated a static or dynamic virtual object using wrist flexion/extension while receiving haptic feedback through the interacting object's torque. On selected trials, the object shook strongly to destabilize the bimanual grip. Our results show that participants reacted to the shaking by increasing their wrist co-contraction. Unlike in previous work, handedness was not the determining factor in choosing which wrist to co-contract to stabilize the object. However, each participant preferred to co-contract one hand over the other, a choice that was consistent for both the static and dynamic objects. While role allocation did not seem to be affected by task requirements, it may have resulted in different motor behaviours as indicated by the changes in the object torque. Further investigation is needed to elucidate the factors that determine the preference in stabilizing with either the dominant or non-dominant hand.},
note = {ISSN: 2694-0604},
keywords = {Biology, Haptic interfaces, Impedance, Resource management, Task analysis, Torque, Wrist},
pubstate = {published},
tppubtype = {inproceedings}
}
Peña-Pérez, Nuria; Eden, Jonathan; Ivanova, Ekaterina; Burdet, Etienne; Farkhatdinov, Ildar
Is a Robot Needed to Modify Human Effort in Bimanual Tracking? Journal Article
In: IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 8069–8075, 2022, ISSN: 2377-3766, (Conference Name: IEEE Robotics and Automation Letters).
Abstract | Links | BibTeX | Tags: design and human factors, Haptic interfaces, human-centered robo- tics, Perturbation methods, Rehabilitation robotics, Robots, Task analysis, Training, Visualization, Wrist
@article{pena_perez_is_2022,
title = {Is a Robot Needed to Modify Human Effort in Bimanual Tracking?},
author = {Nuria Peña-Pérez and Jonathan Eden and Ekaterina Ivanova and Etienne Burdet and Ildar Farkhatdinov},
doi = {10.1109/LRA.2022.3183753},
issn = {2377-3766},
year = {2022},
date = {2022-07-01},
urldate = {2022-07-01},
journal = {IEEE Robotics and Automation Letters},
volume = {7},
number = {3},
pages = {8069–8075},
abstract = {Robotic bimanual training can benefit from understanding how to modify human motor effort in bimanual tasks. We addressed this issue by carrying out a study to investigate whether and how penalizing the use of one hand could alter the hands’ effort distribution. Actuated haptic perturbations and alterations of the visual feedback of the right hand were tested on a bimanual tracking task with 16 healthy right-handed participants. For each feedback modality (haptic or visual), both a disturbance and a perturbation requiring additional effort from the right hand were implemented. The results showed that the participants were able to adjust to these four perturbations, and perceived them correctly as something that disturbed the dominant hand. Contrary to our expectations, the bimanual effort distribution changes induced by the haptic perturbations were not uniform across subjects. However, the visual disturbance induced most participants to use only their unperturbed left hand (with only 2/16 participants reporting a different behaviour). This suggests that a visual disturbance could be used to alter the effort distribution among the two hands. Clinical validation of these findings on hemiplegic patients may help simplify the design of robotic training interfaces.},
note = {Conference Name: IEEE Robotics and Automation Letters},
keywords = {design and human factors, Haptic interfaces, human-centered robo- tics, Perturbation methods, Rehabilitation robotics, Robots, Task analysis, Training, Visualization, Wrist},
pubstate = {published},
tppubtype = {article}
}
Huang, Yanpei; Eden, Jonathan; Ivanova, Ekaterina; Burdet, Etienne
Human Performance of Three Hands in Unimanual, Bimanual and Trimanual Tasks Proceedings Article
In: 2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), pp. 1493–1497, 2022, (ISSN: 2694-0604).
Abstract | Links | BibTeX | Tags: Biology, Motion control, Robot kinematics, Task analysis, Training, Virtual reality
@inproceedings{huang_human_2022,
title = {Human Performance of Three Hands in Unimanual, Bimanual and Trimanual Tasks},
author = { Yanpei Huang and Jonathan Eden and Ekaterina Ivanova and Etienne Burdet},
doi = {10.1109/EMBC48229.2022.9871248},
year = {2022},
date = {2022-07-01},
booktitle = {2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)},
pages = {1493–1497},
abstract = {Trimanual operation using a robotic supernumerary limb is a new and challenging mechanism for human operators that could enable a single user to perform tasks requiring more than two hands. Foot-controlled interfaces have previously proven able to be intuitively controlled, enabling simple tasks to be performed. However, the effect of going from unimanual to bimanual and then to trimanual tasks on subjects performance and coordination is not well understood. In this paper, unimanual, bimanual and trimanual teleoperation tasks were performed in a virtual reality scene to evaluate the impact of extending to trimanual actions. 15 participants were required to move their limbs together in a coordinated reaching activity. The results show that the addition of another hand resulted in an increase in operating time, where the time increased in going from unimanual to bimanual operation and then increased further when going from bimanual to trimanual. Moreover, the success rate for performing bimanual and trimanual tasks was strongly influenced by the subject's performance in ipsilateral hand-foot activities, where the ipsilateral combination had a lower success rate than contralateral limbs. The addition of a hand did not affect any two-hand coordination rate and even in some cases reduced coordination deviations. Clinical relevance - This work can contribute to build efficient training and learning framework on human multiple limbs motion control and coordination for both rehabilitation and augmentation.},
note = {ISSN: 2694-0604},
keywords = {Biology, Motion control, Robot kinematics, Task analysis, Training, Virtual reality},
pubstate = {published},
tppubtype = {inproceedings}
}
Bräcklein, Mario; Barsakcioglu, Deren Yusuf; Ibáñez, Jaime; Eden, Jonathan; Burdet, Etienne; Mehring, Carsten; Farina, Dario
The control and training of single motor units in isometric tasks are constrained by a common input signal Journal Article
In: eLife, vol. 11, pp. e72871, 2022, ISSN: 2050-084X, (Publisher: eLife Sciences Publications, Ltd).
Abstract | Links | BibTeX | Tags: common synaptic input, motor control, motor unit, real-time decomposition
@article{bracklein_control_2022,
title = {The control and training of single motor units in isometric tasks are constrained by a common input signal},
author = { Mario Bräcklein and Deren Yusuf Barsakcioglu and Jaime Ibáñez and Jonathan Eden and Etienne Burdet and Carsten Mehring and Dario Farina},
editor = { J Andrew Pruszynski and Tirin Moore and Andrew Fuglevand},
url = {https://doi.org/10.7554/eLife.72871},
doi = {10.7554/eLife.72871},
issn = {2050-084X},
year = {2022},
date = {2022-06-01},
urldate = {2023-09-08},
journal = {eLife},
volume = {11},
pages = {e72871},
abstract = {Recent developments in neural interfaces enable the real-time and non-invasive tracking of motor neuron spiking activity. Such novel interfaces could provide a promising basis for human motor augmentation by extracting potentially high-dimensional control signals directly from the human nervous system. However, it is unclear how flexibly humans can control the activity of individual motor neurons to effectively increase the number of degrees of freedom available to coordinate multiple effectors simultaneously. Here, we provided human subjects (N = 7) with real-time feedback on the discharge patterns of pairs of motor units (MUs) innervating a single muscle (tibialis anterior) and encouraged them to independently control the MUs by tracking targets in a 2D space. Subjects learned control strategies to achieve the target-tracking task for various combinations of MUs. These strategies rarely corresponded to a volitional control of independent input signals to individual MUs during the onset of neural activity. Conversely, MU activation was consistent with a common input to the MU pair, while individual activation of the MUs in the pair was predominantly achieved by alterations in de-recruitment order that could be explained by history-dependent changes in motor neuron excitability. These results suggest that flexible MU recruitment based on independent synaptic inputs to single MUs is unlikely, although de-recruitment might reflect varying inputs or modulations in the neuron’s intrinsic excitability.},
note = {Publisher: eLife Sciences Publications, Ltd},
keywords = {common synaptic input, motor control, motor unit, real-time decomposition},
pubstate = {published},
tppubtype = {article}
}
Huang, Yanpei; Ivanova, Ekaterina; Eden, Jonathan; Burdet, Etienne
Identification of Multiple Limbs Coordination Strategies in a Three-Goal Independent Task Journal Article
In: IEEE Transactions on Medical Robotics and Bionics, vol. 4, no. 2, pp. 348–351, 2022, ISSN: 2576-3202, (Conference Name: IEEE Transactions on Medical Robotics and Bionics).
Abstract | Links | BibTeX | Tags: Analysis of variance, foot control, Measurement, Random sequences, Robot kinematics, Robots, Surgery, Task analysis, teleoperation, three-hand surgery, Tri-manipulation
@article{huang_identification_2022,
title = {Identification of Multiple Limbs Coordination Strategies in a Three-Goal Independent Task},
author = { Yanpei Huang and Ekaterina Ivanova and Jonathan Eden and Etienne Burdet},
doi = {10.1109/TMRB.2021.3124263},
issn = {2576-3202},
year = {2022},
date = {2022-05-01},
journal = {IEEE Transactions on Medical Robotics and Bionics},
volume = {4},
number = {2},
pages = {348–351},
abstract = {Many surgical tasks require three or more tools operating together. A supernumerary robotic arm under the surgeon’s control could enable one surgeon to control three surgical tools simultaneously without assistance, thereby avoiding the common communication errors of the operation room. However, how do humans consider the complexity of controlling more than two arms together? In this paper, the coordination strategy used during three limb independent motion tasks is studied. The level of coordination increased over a two-day pilot study, and the resulting coordination pattern was in general consistent within subjects. Whether the subject used a fixed order of targets or a random sequence was found to reduce the improvement of pattern consistency after practice. The foot-controlled third hand exhibited less consistent patterns.},
note = {Conference Name: IEEE Transactions on Medical Robotics and Bionics},
keywords = {Analysis of variance, foot control, Measurement, Random sequences, Robot kinematics, Robots, Surgery, Task analysis, teleoperation, three-hand surgery, Tri-manipulation},
pubstate = {published},
tppubtype = {article}
}
Bräcklein, Mario; Barsakcioglu, Deren Yusuf; Vecchio, Alessandro Del; Ibáñez, Jaime; Farina, Dario
Reading and Modulating Cortical β Bursts from Motor Unit Spiking Activity Journal Article
In: Journal of Neuroscience, vol. 42, no. 17, pp. 3611–3621, 2022, ISSN: 0270-6474, 1529-2401, (Publisher: Society for Neuroscience Section: Research Articles).
Abstract | Links | BibTeX | Tags: Motor Units, neural interfaces, neural oscillations, real-time decomposition, β oscillations
@article{bracklein_reading_2022,
title = {Reading and Modulating Cortical β Bursts from Motor Unit Spiking Activity},
author = { Mario Bräcklein and Deren Yusuf Barsakcioglu and Alessandro Del Vecchio and Jaime Ibáñez and Dario Farina},
url = {https://www.jneurosci.org/content/42/17/3611},
doi = {10.1523/JNEUROSCI.1885-21.2022},
issn = {0270-6474, 1529-2401},
year = {2022},
date = {2022-04-01},
urldate = {2022-04-01},
journal = {Journal of Neuroscience},
volume = {42},
number = {17},
pages = {3611–3621},
abstract = {β Oscillations (13–30 Hz) are ubiquitous in the human motor nervous system. Yet, their origins and roles are unknown. Traditionally, β activity has been treated as a stationary signal. However, recent studies observed that cortical β occurs in “bursting events,” which are transmitted to muscles. This short-lived nature of β events makes it possible to study the main mechanism of β activity found in the muscles in relation to cortical β. Here, we assessed whether muscle β activity mainly results from cortical projections. We ran two experiments in healthy humans of both sexes (N = 15 and N = 13, respectively) to characterize β activity at the cortical and motor unit (MU) levels during isometric contractions of the tibialis anterior muscle. We found that β rhythms observed at the cortical and MU levels are indeed in bursts. These bursts appeared to be time-locked and had comparable average durations (40–80 ms) and rates (approximately three to four bursts per second). To further confirm that cortical and MU β have the same source, we used a novel operant conditioning framework to allow subjects to volitionally modulate MU β. We showed that volitional modulation of β activity at the MU level was possible with minimal subject learning and was paralleled by similar changes in cortical β activity. These results support the hypothesis that MU β mainly results from cortical projections. Moreover, they demonstrate the possibility to decode cortical β activity from MU recordings, with a potential translation to future neural interfaces that use peripheral information to identify and modulate activity in the central nervous system.
SIGNIFICANCE STATEMENT We show for the first time that β activity in motor unit (MU) populations occurs in bursting events. These bursts observed in the output of the spinal cord appear to be time-locked and share similar characteristics of β activity at the cortical level, such as the duration and rate at which they occur. Moreover, when subjects were exposed to a novel operant conditioning paradigm and modulated MU β activity, cortical β activity changed in a similar way as peripheral β. These results provide evidence for a strong correspondence between cortical and peripheral β activity, demonstrating the cortical origin of peripheral β and opening the pathway for a new generation of neural interfaces.},
note = {Publisher: Society for Neuroscience
Section: Research Articles},
keywords = {Motor Units, neural interfaces, neural oscillations, real-time decomposition, β oscillations},
pubstate = {published},
tppubtype = {article}
}
SIGNIFICANCE STATEMENT We show for the first time that β activity in motor unit (MU) populations occurs in bursting events. These bursts observed in the output of the spinal cord appear to be time-locked and share similar characteristics of β activity at the cortical level, such as the duration and rate at which they occur. Moreover, when subjects were exposed to a novel operant conditioning paradigm and modulated MU β activity, cortical β activity changed in a similar way as peripheral β. These results provide evidence for a strong correspondence between cortical and peripheral β activity, demonstrating the cortical origin of peripheral β and opening the pathway for a new generation of neural interfaces.
Boljanić, Tanja; Isaković, Milica; Malešević, Jovana; Formica, Domenico; Di Pino, Giovanni; Keller, Thierry; Štrbac, Matija
Abstracts from the IFESS 2021 conferences Journal Article
In: Artificial Organs, vol. 46, no. 3, pp. 36–41, 2022, ISSN: 0160-564X, 1525-1594.
@article{noauthor_abstracts_2022,
title = {Abstracts from the IFESS 2021 conferences},
author = {Tanja Boljanić and Milica Isaković and Jovana Malešević and Domenico Formica and Di Pino, Giovanni and Thierry Keller and Matija Štrbac},
url = {https://onlinelibrary.wiley.com/doi/10.1111/aor.14132},
doi = {10.1111/aor.14132},
issn = {0160-564X, 1525-1594},
year = {2022},
date = {2022-03-01},
urldate = {2022-03-01},
journal = {Artificial Organs},
volume = {46},
number = {3},
pages = {36--41},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Khoramshahi, Mahdi; Roby-Brami, Agnes; Parry, Ross; Jarrassé, Nathanaël
In: PLOS ONE, vol. 17, no. 12, pp. e0278228, 2022, ISSN: 1932-6203, (Publisher: Public Library of Science).
Abstract | Links | BibTeX | Tags: Body weight, Hip, Kinematics, Prosthetics, Robotics, Shoulders, Skeletal joints, Velocity
@article{khoramshahi_identification_2022,
title = {Identification of inverse kinematic parameters in redundant systems: Towards quantification of inter-joint coordination in the human upper extremity},
author = { Mahdi Khoramshahi and Agnes Roby-Brami and Ross Parry and Nathanaël Jarrassé},
url = {https://journals.plos.org/plosone/article?id=10.1371/journal.pone.0278228},
doi = {10.1371/journal.pone.0278228},
issn = {1932-6203},
year = {2022},
date = {2022-01-01},
urldate = {2023-09-08},
journal = {PLOS ONE},
volume = {17},
number = {12},
pages = {e0278228},
abstract = {Understanding and quantifying inter-joint coordination is valuable in several domains such as neurorehabilitation, robot-assisted therapy, robotic prosthetic arms, and control of supernumerary arms. Inter-joint coordination is often understood as a consistent spatiotemporal relation among kinematically redundant joints performing functional and goal-oriented movements. However, most approaches in the literature to investigate inter-joint coordination are limited to analysis of the end-point trajectory or correlation analysis of the joint rotations without considering the underlying task; e.g., creating a desirable hand movement toward a goal as in reaching motions. This work goes beyond this limitation by taking a model-based approach to quantifying inter-joint coordination. More specifically, we use the weighted pseudo-inverse of the Jacobian matrix and its associated null-space to explain the human kinematics in reaching tasks. We propose a novel algorithm to estimate such Inverse Kinematics weights from observed kinematic data. These estimated weights serve as a quantification for spatial inter-joint coordination; i.e., how costly a redundant joint is in its contribution to creating an end-effector velocity. We apply our estimation algorithm to datasets obtained from two different experiments. In the first experiment, the estimated Inverse Kinematics weights pinpoint how individuals change their Inverse Kinematics strategy when exposed to the viscous field wearing an exoskeleton. The second experiment shows how the resulting Inverse Kinematics weights can quantify a robotic prosthetic arm’s contribution (or the level of assistance).},
note = {Publisher: Public Library of Science},
keywords = {Body weight, Hip, Kinematics, Prosthetics, Robotics, Shoulders, Skeletal joints, Velocity},
pubstate = {published},
tppubtype = {article}
}
2021
Noccaro, Alessia; Eden, Jonathan; Di Pino, Giovanni; Formica, Domenico; Burdet, Etienne
Human performance in three-hands tasks Journal Article
In: Scientific Reports, vol. 11, no. 1, pp. 9511, 2021, ISSN: 2045-2322.
Abstract | Links | BibTeX | Tags:
@article{noccaro_human_2021,
title = {Human performance in three-hands tasks},
author = {Alessia Noccaro and Jonathan Eden and Di Pino, Giovanni and Domenico Formica and Etienne Burdet},
url = {http://www.nature.com/articles/s41598-021-88862-9},
doi = {10.1038/s41598-021-88862-9},
issn = {2045-2322},
year = {2021},
date = {2021-12-01},
urldate = {2021-12-01},
journal = {Scientific Reports},
volume = {11},
number = {1},
pages = {9511},
abstract = {Abstract
The successful completion of complex tasks like hanging a picture or laparoscopic surgery requires coordinated motion of more than two limbs. User-controlled supernumerary robotic limbs (SL) have been proposed to bypass the need for coordination with a partner in such tasks. However, neither the capability to control multiple limbs alone relative to collaborative control with partners, nor how that capability varies across different tasks, is well understood. In this work, we present an investigation of tasks requiring three-hands where the foot was used as an additional source of motor commands. We considered: (1) how does simultaneous control of three hands compare to a cooperating dyad; (2) how this relative performance was altered by the existence of constraints emanating from real or virtual physical connections (
mechanical constraints
) or from cognitive limits (
cognitive constraints
). It was found that a cooperating dyad outperformed a single user in all scenarios in terms of task score, path efficiency and motion smoothness. However, while the participants were able to reach more targets with increasing mechanical constraints/decreasing number of simultaneous goals, the relative difference in performance between a dyad and a participant performing trimanual activities decreased, suggesting further potential for SLs in this class of scenario.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
The successful completion of complex tasks like hanging a picture or laparoscopic surgery requires coordinated motion of more than two limbs. User-controlled supernumerary robotic limbs (SL) have been proposed to bypass the need for coordination with a partner in such tasks. However, neither the capability to control multiple limbs alone relative to collaborative control with partners, nor how that capability varies across different tasks, is well understood. In this work, we present an investigation of tasks requiring three-hands where the foot was used as an additional source of motor commands. We considered: (1) how does simultaneous control of three hands compare to a cooperating dyad; (2) how this relative performance was altered by the existence of constraints emanating from real or virtual physical connections (
mechanical constraints
) or from cognitive limits (
cognitive constraints
). It was found that a cooperating dyad outperformed a single user in all scenarios in terms of task score, path efficiency and motion smoothness. However, while the participants were able to reach more targets with increasing mechanical constraints/decreasing number of simultaneous goals, the relative difference in performance between a dyad and a participant performing trimanual activities decreased, suggesting further potential for SLs in this class of scenario.
Blondin, Camille M.; Ivanova, Ekaterina; Eden, Jonathan; Burdet, Etienne
Perception and Performance of Electrical Stimulation for Proprioception Proceedings Article
In: 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), pp. 4550–4554, 2021, (ISSN: 2694-0604).
Abstract | Links | BibTeX | Tags: Biology, Elbow, Electrical stimulation, Electrodes
@inproceedings{blondin_perception_2021,
title = {Perception and Performance of Electrical Stimulation for Proprioception},
author = { Camille M. Blondin and Ekaterina Ivanova and Jonathan Eden and Etienne Burdet},
doi = {10.1109/EMBC46164.2021.9630186},
year = {2021},
date = {2021-11-01},
booktitle = {2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)},
pages = {4550–4554},
abstract = {Proprioception, yielding awareness of the body’s position and motion in space, is typically lacking in prostheses and supernumerary limbs. Electrical stimulation is one technique that may provide these devices with proprioception. This paper first investigates how the modalities of electrotactile cues, such as frequency and intensity, are perceived. Using the results, we designed and compared several comfortable and perceptible feedback mappings for spatial cues. Two experiments were conducted using a 16-electrode bracelet worn above the elbow to provide electrical stimuli. We found that subjects could localize the stimulating electrode with a precision of ±1 electrode (110 mm) in all feedback conditions. Moreover, within the range of pulse intensities perceived as comfortable, the participants’ performance was more sensitive to changes in frequency than in intensity. The highest performance was obtained for the condition which increased both intensity and frequency with radial distance. These results suggest that electrical stimulation can be used for artificial proprioceptive feedback, which can ensure a comfortable and intuitive interaction and provides high spatial accuracy.},
note = {ISSN: 2694-0604},
keywords = {Biology, Elbow, Electrical stimulation, Electrodes},
pubstate = {published},
tppubtype = {inproceedings}
}
Huang, Yanpei; Eden, Jonathan; Ivanova, Ekaterina; Phee, Soo Jay; Burdet, Etienne
Trimanipulation: Evaluation of human performance in a 3-handed coordination task Proceedings Article
In: 2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp. 882–887, IEEE, Melbourne, Australia, 2021, ISBN: 978-1-66544-207-7.
@inproceedings{huang_trimanipulation_2021,
title = {Trimanipulation: Evaluation of human performance in a 3-handed coordination task},
author = {Yanpei Huang and Jonathan Eden and Ekaterina Ivanova and Soo Jay Phee and Etienne Burdet},
url = {https://ieeexplore.ieee.org/document/9659027/},
doi = {10.1109/SMC52423.2021.9659027},
isbn = {978-1-66544-207-7},
year = {2021},
date = {2021-10-01},
urldate = {2022-06-02},
booktitle = {2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)},
pages = {882--887},
publisher = {IEEE},
address = {Melbourne, Australia},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Huang, Yanpei; Lai, Wenjie; Cao, Lin; Liu, Jiajun; Li, Xiaoguo; Burdet, Etienne; Phee, Soo Jay
A Three-Limb Teleoperated Robotic System with Foot Control for Flexible Endoscopic Surgery Journal Article
In: Annals of Biomedical Engineering, vol. 49, no. 9, pp. 2282–2296, 2021, ISSN: 0090-6964, 1573-9686.
@article{huang_three-limb_2021,
title = {A Three-Limb Teleoperated Robotic System with Foot Control for Flexible Endoscopic Surgery},
author = {Yanpei Huang and Wenjie Lai and Lin Cao and Jiajun Liu and Xiaoguo Li and Etienne Burdet and Soo Jay Phee},
url = {https://link.springer.com/10.1007/s10439-021-02766-3},
doi = {10.1007/s10439-021-02766-3},
issn = {0090-6964, 1573-9686},
year = {2021},
date = {2021-09-01},
urldate = {2022-06-02},
journal = {Annals of Biomedical Engineering},
volume = {49},
number = {9},
pages = {2282--2296},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Bräcklein, Mario; Ibáñez, Jaime; Barsakcioglu, Deren Yusuf; Eden, Jonathan; Burdet, Etienne; Mehring, Carsten; Farina, Dario
The control and training of single motor units in isometric tasks are constrained by a common synaptic input signal Technical Report
Neuroscience 2021.
Abstract | Links | BibTeX | Tags:
@techreport{bracklein_control_2021,
title = {The control and training of single motor units in isometric tasks are constrained by a common synaptic input signal},
author = {Mario Bräcklein and Jaime Ibáñez and Deren Yusuf Barsakcioglu and Jonathan Eden and Etienne Burdet and Carsten Mehring and Dario Farina},
url = {http://biorxiv.org/lookup/doi/10.1101/2021.08.03.454908},
doi = {10.1101/2021.08.03.454908},
year = {2021},
date = {2021-08-01},
urldate = {2021-08-01},
institution = {Neuroscience},
abstract = {Abstract Recent developments in neural interfaces enable the real-time and non-invasive tracking of motor neuron spiking activity. Such novel interfaces provide a promising basis for human motor augmentation by extracting potential high-dimensional control signals directly from the human nervous system. However, it is unclear how flexibly humans can control the activity of individual motor neurones to effectively increase the number of degrees-of-freedom available to coordinate multiple effectors simultaneously. Here, we provided human subjects (N=7) with real-time feedback on the discharge patterns of pairs of motor units (MUs) innervating a single muscle (tibialis anterior) and encouraged them to independently control the MUs by tracking targets in a 2D space. Subjects learned control strategies to achieve the target-tracking task for various combinations of MUs. These strategies rarely corresponded to a volitional control of independent input signals to individual MUs. Conversely, MU activation was consistent with a common input to the MU pair, while individual activation of the MUs in the pair was predominantly achieved by alterations in de-recruitment order that could be explained with history-dependent changes in motor neuron excitability. These results suggest that flexible MU control based on independent synaptic inputs to single MUs is not a simple to learn control strategy.},
keywords = {},
pubstate = {published},
tppubtype = {techreport}
}
Khoramshahi, Mahdi; Morel, Guillaume; Jarrassé, Nathanael
Intent-aware control in kinematically redundant systems: Towards collaborative wearable robots Proceedings Article
In: 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 10453–10460, IEEE Press, Xi'an, China, 2021.
Abstract | Links | BibTeX | Tags:
@inproceedings{khoramshahi_intent-aware_2021,
title = {Intent-aware control in kinematically redundant systems: Towards collaborative wearable robots},
author = { Mahdi Khoramshahi and Guillaume Morel and Nathanael Jarrassé},
url = {https://doi.org/10.1109/ICRA48506.2021.9561351},
doi = {10.1109/ICRA48506.2021.9561351},
year = {2021},
date = {2021-05-01},
urldate = {2023-09-08},
booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {10453–10460},
publisher = {IEEE Press},
address = {Xi'an, China},
abstract = {Many human-robot collaboration scenarios can be seen as a redundant leader-follower setup where the human (i.e., the leader) can potentially perform the task without the assistance of the robot (i.e., the follower). Thus, the goal of the collaboration, beside stable execution of the task, is to reduce the human cost; e.g., ergonomic, or cognitive cost. Such system redundancies (where the same task be achieved in different manner) can also be exploited as a communication channel for the human to convey his/her intention to the robot; since it is essential for the overall performance (both execution and assistance) that the follower recognizes the intended task in an online fashion. Having an estimation for the intended task, the robot can assist the human by reducing the human cost over the task null-space; i.e., the null-space which arises from the overall system redundancies with respect to the intended task. With the prospective of supernumerary and prosthetic robots, in this work, we primarily focus on serial manipulation in which the proximal/distal part of the kinematic chain is controlled by the leader/follower respectively. By exploiting kinematic redundancies for intention-recognition and cost-minimization, our proposed control strategy (for the follower) ensures assistance under stable execution of the task. Our results (simulations and preliminary experimentation) show the efficacy of our method in providing a seamless robotic assistance (i.e., improving human posture) toward human intended tasks (i.e., reaching motions) for wearable robotics.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Khoramshahi, Mahdi; Morel, Guillaume; Jarrassé, Nathanael
Intent-aware control in kinematically redundant systems: Towards collaborative wearable robots Proceedings Article
In: 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 10453–10460, 2021, (ISSN: 2577-087X).
Abstract | Links | BibTeX | Tags: Collaboration, Costs, Ergonomics, Estimation, Kinematics, Redundancy, Wearable robots
@inproceedings{khoramshahi_intent-aware_2021-1,
title = {Intent-aware control in kinematically redundant systems: Towards collaborative wearable robots},
author = { Mahdi Khoramshahi and Guillaume Morel and Nathanael Jarrassé},
doi = {10.1109/ICRA48506.2021.9561351},
year = {2021},
date = {2021-05-01},
booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {10453–10460},
abstract = {Many human-robot collaboration scenarios can be seen as a redundant leader-follower setup where the human (i.e., the leader) can potentially perform the task without the assistance of the robot (i.e., the follower). Thus, the goal of the collaboration, beside stable execution of the task, is to reduce the human cost; e.g., ergonomic, or cognitive cost. Such system redundancies (where the same task be achieved in different manner) can also be exploited as a communication channel for the human to convey his/her intention to the robot; since it is essential for the overall performance (both execution and assistance) that the follower recognizes the intended task in an online fashion. Having an estimation for the intended task, the robot can assist the human by reducing the human cost over the task null-space; i.e., the null-space which arises from the overall system redundancies with respect to the intended task. With the prospective of supernumerary and prosthetic robots, in this work, we primarily focus on serial manipulation in which the proximal/distal part of the kinematic chain is controlled by the leader/follower respectively. By exploiting kinematic redundancies for intention-recognition and cost-minimization, our proposed control strategy (for the follower) ensures assistance under stable execution of the task. Our results (simulations and preliminary experimentation) show the efficacy of our method in providing a seamless robotic assistance (i.e., improving human posture) toward human intended tasks (i.e., reaching motions) for wearable robotics.},
note = {ISSN: 2577-087X},
keywords = {Collaboration, Costs, Ergonomics, Estimation, Kinematics, Redundancy, Wearable robots},
pubstate = {published},
tppubtype = {inproceedings}
}
Huang, Yanpei; Lai, Wenjie; Cao, Lin; Burdet, Etienne; Phee, Soo Jay
Design and Evaluation of a Foot-Controlled Robotic System for Endoscopic Surgery Journal Article
In: IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2469–2476, 2021, ISSN: 2377-3766, (Conference Name: IEEE Robotics and Automation Letters).
Abstract | Links | BibTeX | Tags: Bending, Endoscope manipulation, Endoscopes, Foot, foot control, Instruments, Robot kinematics, robot-assisted surgery, Robots, Surgery, teleoperation
@article{huang_design_2021,
title = {Design and Evaluation of a Foot-Controlled Robotic System for Endoscopic Surgery},
author = { Yanpei Huang and Wenjie Lai and Lin Cao and Etienne Burdet and Soo Jay Phee},
url = {https://ieeexplore.ieee.org/document/9362198/},
doi = {10.1109/LRA.2021.3062009},
issn = {2377-3766},
year = {2021},
date = {2021-04-01},
urldate = {2022-06-02},
journal = {IEEE Robotics and Automation Letters},
volume = {6},
number = {2},
pages = {2469–2476},
abstract = {In traditional endoscopic surgery, the surgeon manipulating the endoscopic instruments is supported by an assistant controlling the endoscope, where their coordination may be affected by communication errors. To address this issue, we introduce a foot interface controlled robotic endoscopic system, enabling the surgeon to simultaneously operate the endoscope and instruments. The system consists of a foot interface using four degrees of freedom (DoFs) foot gestures and a robotic driving system for a commercial flexible endoscope. The proposed robotic system was validated in teleoperation experiments performed by ten subjects, where foot teleoperation was compared with hand teleoperation and direct control of the endoscope with two hands. The participants could successfully teleoperate the endoscope with foot teleoperation and exhibited 40% faster task completion as with direct control. They found both foot and hand teleoperations comfortable and intuitive. Although hand teleoperation enabled the best performance, only foot teleoperation allows simultaneous control of three instruments.},
note = {Conference Name: IEEE Robotics and Automation Letters},
keywords = {Bending, Endoscope manipulation, Endoscopes, Foot, foot control, Instruments, Robot kinematics, robot-assisted surgery, Robots, Surgery, teleoperation},
pubstate = {published},
tppubtype = {article}
}
Pinardi, Mattia; Raiano, Luigi; Noccaro, Alessia; Formica, Domenico; Di Pino, Giovanni
Cartesian Space Feedback for Real Time Tracking of a Supernumerary Robotic Limb: a Pilot Study Proceedings Article
In: 2021 10th International IEEE/EMBS Conference on Neural Engineering (NER), pp. 889–892, 2021.
@inproceedings{pinardi_cartesian_2021,
title = {Cartesian Space Feedback for Real Time Tracking of a Supernumerary Robotic Limb: a Pilot Study},
author = {Mattia Pinardi and Luigi Raiano and Alessia Noccaro and Domenico Formica and Di Pino, Giovanni},
doi = {10.1109/NER49283.2021.9441174},
year = {2021},
date = {2021-01-01},
urldate = {2021-01-01},
booktitle = {2021 10th International IEEE/EMBS Conference on Neural Engineering (NER)},
pages = {889--892},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Huang, Zebin; Wang, Ziwei; Bai, Weibang; Huang, Yanpei; Sun, Lichao; Xiao, Bo; Yeatman, Eric M.
A Novel Training and Collaboration Integrated Framework for Human-Agent Teleoperation Journal Article
In: Sensors, vol. 21, no. 24, 2021, ISSN: 1424-8220.
Abstract | Links | BibTeX | Tags:
@article{huang_novel_2021,
title = {A Novel Training and Collaboration Integrated Framework for Human-Agent Teleoperation},
author = { Zebin Huang and Ziwei Wang and Weibang Bai and Yanpei Huang and Lichao Sun and Bo Xiao and Eric M. Yeatman},
url = {https://www.mdpi.com/1424-8220/21/24/8341},
doi = {10.3390/s21248341},
issn = {1424-8220},
year = {2021},
date = {2021-01-01},
urldate = {2021-01-01},
journal = {Sensors},
volume = {21},
number = {24},
abstract = {Human operators have the trend of increasing physical and mental workloads when performing teleoperation tasks in uncertain and dynamic environments. In addition, their performances are influenced by subjective factors, potentially leading to operational errors or task failure. Although agent-based methods offer a promising solution to the above problems, the human experience and intelligence are necessary for teleoperation scenarios. In this paper, a truncated quantile critics reinforcement learning-based integrated framework is proposed for human-agent teleoperation that encompasses training, assessment and agent-based arbitration. The proposed framework allows for an expert training agent, a bilateral training and cooperation process to realize the co-optimization of agent and human. It can provide efficient and quantifiable training feedback. Experiments have been conducted to train subjects with the developed algorithm. The performances of human-human and human-agent cooperation modes are also compared. The results have shown that subjects can complete the tasks of reaching and picking and placing with the assistance of an agent in a shorter operational time, with a higher success rate and less workload than human-human cooperation.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2020
Noccaro, Alessia; Raiano, Luigi; Pinardi, Mattia; Formica, Domenico; Di Pino, Giovanni
A Novel Proprioceptive Feedback System for Supernumerary Robotic Limb Proceedings Article
In: 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), pp. 1024–1029, 2020.
@inproceedings{noccaro_novel_2020,
title = {A Novel Proprioceptive Feedback System for Supernumerary Robotic Limb},
author = {Alessia Noccaro and Luigi Raiano and Mattia Pinardi and Domenico Formica and Di Pino, Giovanni},
doi = {10.1109/BioRob49111.2020.9224450},
year = {2020},
date = {2020-01-01},
urldate = {2020-01-01},
booktitle = {2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)},
pages = {1024--1029},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Huang, Yanpei; Burdet, Etienne; Cao, Lin; Phan, Phuoc Thien; Tiong, Anthony Meng Huat; Phee, Soo Jay
A Subject-Specific Four-Degree-of-Freedom Foot Interface to Control a Surgical Robot Journal Article
In: IEEE/ASME Transactions on Mechatronics, vol. 25, no. 2, pp. 951-963, 2020.
@article{8950414,
title = {A Subject-Specific Four-Degree-of-Freedom Foot Interface to Control a Surgical Robot},
author = { Yanpei Huang and Etienne Burdet and Lin Cao and Phuoc Thien Phan and Anthony Meng Huat Tiong and Soo Jay Phee},
doi = {10.1109/TMECH.2020.2964295},
year = {2020},
date = {2020-01-01},
journal = {IEEE/ASME Transactions on Mechatronics},
volume = {25},
number = {2},
pages = {951-963},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Huang, Yanpei; Eden, Jonathan; Cao, Lin; Burdet, Etienne; Phee, Soo Jay
Tri-Manipulation: An Evaluation of Human Performance in 3-Handed Teleoperation Journal Article
In: IEEE Transactions on Medical Robotics and Bionics, vol. 2, no. 4, pp. 545-548, 2020.
@article{9235524,
title = {Tri-Manipulation: An Evaluation of Human Performance in 3-Handed Teleoperation},
author = { Yanpei Huang and Jonathan Eden and Lin Cao and Etienne Burdet and Soo Jay Phee},
doi = {10.1109/TMRB.2020.3033137},
year = {2020},
date = {2020-01-01},
journal = {IEEE Transactions on Medical Robotics and Bionics},
volume = {2},
number = {4},
pages = {545-548},
keywords = {},
pubstate = {published},
tppubtype = {article}
}