2022
Eden, Jonathan; Bräcklein, Mario; Ibáñez, Jaime; Barsakcioglu, Deren Y; 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 Y 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}
}
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}
}
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}
}
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.
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.
Huang, Yanpei; Eden, Jonathan; Ivanova, Ekaterina; Phee, Soo Jay; Burdet, Etienne
Trimanipulation: Evaluation of human performance in a 3-handed coordination task Inproceedings
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 Y; 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 Y 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 = {2022-06-02},
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}
}
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.
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, 2377-3774.
@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, 2377-3774},
year = {2021},
date = {2021-04-01},
urldate = {2022-06-02},
journal = {IEEE Robotics and Automation Letters},
volume = {6},
number = {2},
pages = {2469--2476},
keywords = {},
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 Inproceedings
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}
}
2020
Noccaro, Alessia; Raiano, Luigi; Pinardi, Mattia; Formica, Domenico; Di Pino, Giovanni
A Novel Proprioceptive Feedback System for Supernumerary Robotic Limb Inproceedings
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}
}