2023
Journal Articles
1.
Hu, Zhaoyang Jacopo; Wang, Ziwei; Huang, Yanpei; Sena, Aran; Rodriguez y Baena, Ferdinando; Burdet, Etienne
Towards Human-Robot Collaborative Surgery: Trajectory and Strategy Learning in Bimanual Peg Transfer Journal Article
In: IEEE Robotics and Automation Letters, vol. 8, no. 8, pp. 4553-4560, 2023.
Links | BibTeX | Tags: Autonomous agents, Collaboration, Human-Robot Interaction, Imitation Learning, Medical Robots, Robots, Shared Control, Surgery, Task analysis, Training, Trajectory
@article{10149474,
title = {Towards Human-Robot Collaborative Surgery: Trajectory and Strategy Learning in Bimanual Peg Transfer},
author = {Zhaoyang Jacopo Hu and Ziwei Wang and Yanpei Huang and Aran Sena and {Rodriguez y Baena}, Ferdinando and Etienne Burdet},
doi = {10.1109/LRA.2023.3285478},
year = {2023},
date = {2023-01-01},
urldate = {2023-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {8},
number = {8},
pages = {4553-4560},
keywords = {Autonomous agents, Collaboration, Human-Robot Interaction, Imitation Learning, Medical Robots, Robots, Shared Control, Surgery, Task analysis, Training, Trajectory},
pubstate = {published},
tppubtype = {article}
}
2022
Journal Articles
2.
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.
Proceedings Articles
3.
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.
4.
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.
5.
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.