2023
Deiana, Davide; Pinardi, Mattia; Noccaro, Alessia; Iandoli, Michela; Pino, Giovanni Di; 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 Giovanni {Di Pino} 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}
}
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.
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}
}
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.
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}
}
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.
2022
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}
}
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.
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}
}
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.
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}
}
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.
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}
}
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.
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}
}
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.
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}
}
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.