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Simulation of Optical Tactile Sensors Supporting Slip and Rotation using Path Tracing and IMPM

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arXiv 2024年

作者： Shen, Zirong Sun, Yuhao Zhang, Shixin Chen, Zixi Sun, Heyi Sun, Fuchun Fang, Bin The Zhili College Tsinghua University Beijing100084 China The school of Artificial Intelligence Beijing University of Posts and Telecommunications 100876 China The Institute for Artificial Intelligence Department of Computer Science and Technology Beijing National Research Center for Information Science and Technology Tsinghua University Beijing100084 China Beijing100083 China The BioRobotics Institute The Department of Excellence in Robotics and AI Scuola Superiore Sant’Anna Pisa56127 Italy

Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating optical tactile sensors is challenging. In this paper, we propose a simulation method and validate its effectiveness through experiments. We utilize path tracing for image rendering, achieving higher similarity to real data than the baseline method in simulating pressing scenarios. Additionally, we apply the improved Material Point Method(IMPM) algorithm to simulate the relative rest between the object and the elastomer surface when the object is in motion, enabling more accurate simulation of complex manipulations such as slip and rotation. Copyright © 2024, The Authors. All rights reserved.

关键词： Intelligent robots

Uncertainty-aware Self-supervised Learning for Cross-domain Technical Skill Assessment in Robot-assisted Surgery

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arXiv 2023年

作者： Wang, Ziheng Mariani, Andrea Menciassi, Arianna De Momi, Elena Fey, Ann Majewicz Department of Mechanical Engineering The University of Texas DallasTX United States The BioRobotics Institute The Department of Excellence in Robotics & AI Scuola Superiore Sant'Anna Pisa Italy Politecnico di Milano Italy Department of Mechanical Engineering The University of Texas Austin United States Department of Surgery UT Southwestern Medical Center TX United States

Objective technical skill assessment is crucial for effective training of new surgeons in robot-assisted surgery. With advancements in surgical training programs in both physical and virtual environments, it is imperative to develop generalizable methods for automatically assessing skills. In this paper, we propose a novel approach for skill assessment by transferring domain knowledge from labeled kinematic data to unlabeled data. Our approach leverages labeled data from common surgical training tasks such as Suturing, Needle Passing, and Knot Tying to jointly train a model with both labeled and unlabeled data. Pseudo labels are generated for the unlabeled data through an iterative manner that incorporates uncertainty estimation to ensure accurate labeling. We evaluate our method on a virtual reality simulated training task (Ring Transfer) using data from the da Vinci Research Kit (dVRK). The results show that trainees with robotic assistance have significantly higher expert probability compared to these without any assistance, p © 2023, CC BY-NC-ND.

关键词： Virtual reality

Automated strategy for tissue analysis in anatomic pathology: fiducial marker integration and multisurface tissue comparison

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TechRxiv

TechRxiv 2023年

作者： Vannozzi, Lorenzo de Los Angeles Guachi Guachi, Lorena Ruspi, Jacopo Ciancia, Sabrina Baldi, Gabriele Lunni, Dario Scarlino, Paola Poliziani, Aliria Zucca, Alessandra Bellini, Marco Pedrazzini, Gian Andrea Cavazzana, Andrea Ricotti, Leonardo The BioRobotics Institute Scuola Superiore Sant’Anna Pisa56127 Italy The Department of Excellence in Robotics and AI Scuola Superiore Sant’Anna Pisa56127 Italy U.O.C. Anatomia Patologica Carrara Azienda Sanitaria Toscana Nord Ovest Italy Inpeco SA Novazzano6883 Switzerland

In anatomic pathology laboratories, several processes are still manual. Automated solutions can help standardizing the fabrication/processing of paraffin-embedded tissue blocks (PETBs) for a reliable and more effective diagnosis. Here, we propose a novel and automated strategy to introduce a fiducial marker within PETBs, serving as a reliable reference point. This would assist the clinician in automatically identifying specific regions of biological tissue in paraffin-embedded tissue blocks and paraffin-free tissue slices, in case the patient needs further laboratory analysis on that tissue portion to indicate a tailored treatment (e.g., oncological treatment). The proposed strategy implies the introduction of two automated platforms integrated into the conventional anatomic pathology workflow. The first one, named "Indexing", involves the insertion of a fiducial marker in tissue-free areas within PETBs. The second one, named "Virtual marker reconstruction", grounds on image analysis and virtually reconstructs the fiducial marker on the paraffin-free tissue slice. An algorithm that analyzes the similarity of the tissue was also developed to assist the traceability of the biological tissue along its processing from the embedding to the post-staining phase. Together, these platforms could assist the work of anatomopathologists, helping avoiding errors and supporting the final diagnosis in a future automated laboratory. Note to Practitioners—This research is driven by a specific challenge encountered in anatomic pathology laboratories. The manual processes involved in fabricating and processing paraffin-embedded tissue blocks highlight the pressing need for continuous verification and traceability at various stages of tissue analysis. The absence of proper traceability poses challenges for anatomopathologists, leading to difficulties in managing the accurate identification of tissue blocks. This deficiency can result in delayed or inaccurate diagnoses, carrying severe

关键词： Tissue

Deep Learning-Based Frameworks for Human Motion Decoding in Smart Walkers for Rehabilitation

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SSRN

SSRN 2022年

作者： Gonçalves, Carolina Moccia, Sara Lopes, João M. Berardini, Daniele Migliorelli, Lucia Santos, Cristina P. University of Minho Portugal LABBELS – Associate Laboratory Braga/Guimarães Portugal The BioRobotics Institute Department of Excellence in Robotics and AI Scuola Superiore Sant’Anna Italy Department of Information Engineering Università Politecnica delle Marche Italy Portugal

Gait disabilities are among the most frequent impairments worldwide. Their treatment increasingly relies on rehabilitation therapies, in which smart walkers are being introduced to empower the user’s recovery state and autonomy, while reducing the clinicians effort. For that, these should be able to decode human motion and needs, as early as possible. Current walkers decode motion intention using information gathered from wearable or embedded sensors, namely inertial units, force sensors, hall sensors, and lasers, whose main limitations imply an expensive solution or hinder the perception of human movement. Smart walkers commonly lack an advanced and seamless human-robot interaction, which intuitively and promptly understands human motions. A contactless approach is proposed in this work, addressing human motion decoding as an early action recognition/detection problematic, using RGB-D cameras. We studied different deep learning-based algorithms, organised in two different frameworks, to process lower body RGB-D video sequences, recorded from an embedded camera of a smart walker, and classify them into 4 classes (stop, walk, turn right/left). A custom dataset involving 15 healthy subjects walking with the walker device was acquired and prepared, resulting in 28800 balanced RGB-D frames, to train and evaluate the deep learning networks. The best results were attained by a convolutional neural network with a channel-wise attention mechanism, reaching accuracy values of 99.61% and above 93%, for offline early detection/recognition and online simulations, respectively. Following the hypothesis that human lower body features encode prominent information, fostering a more robust prediction towards real-time applications, the algorithm focus was also quantitatively evaluated using Dice metric, leading to values slightly higher than 30%. Promising results were attained for early action detection as a human motion decoding strategy, with enhancements in the focus of the prop

关键词： Human robot interaction

SoFFT: Spatial Fourier Transform for Modeling Continuum Soft Robots

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arXiv 2025年

作者： Caradonna, Daniele Bianchi, Diego Angelini, Franco Falotico, Egidio The BioRobotics Institute Scuola Superiore Sant’Anna Pisa Italy Department of Excellence in Robotics and AI Scuola Superiore Sant’Anna Pisa Italy Centro di Ricerca "Enrico Piaggio" Università di Pisa Largo Lucio Lazzarino 1 Pisa56126 Italy Dipartimento di Ingegneria dell’Informazione Università di Pisa Largo Lucio Lazzarino 1 Pisa56126 Italy

Continuum soft robots, composed of flexible materials, exhibit theoretically infinite degrees of freedom, enabling notable adaptability in unstructured environments. Cosserat Rod Theory has emerged as a prominent framework for modeling these robots efficiently, representing continuum soft robots as time-varying curves, known as backbones. In this work, we propose viewing the robot’s backbone as a signal in space and time, applying the Fourier transform to describe its deformation compactly. This approach unifies existing modeling strategies within the Cosserat Rod Theory framework, offering insights into commonly used heuristic methods. Moreover, the Fourier transform enables the development of a data-driven methodology to experimentally capture the robot’s deformation. The proposed approach is validated through numerical simulations and experiments on a real-world prototype, demonstrating a reduction in the degrees of freedom while preserving the accuracy of the deformation representation. © 2025, CC BY.

关键词： Heuristic methods

Exoskeleton-Mediated Physical Human-Human Interaction for a Sit-to-Stand Rehabilitation Task

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arXiv 2023年

作者： Vianello, Lorenzo Küçüktabak, Emek Barış Short, Matthew Lhoste, Clément Amato, Lorenzo Lynch, Kevin Pons, Jose Legs and Walking Lab of Shirley Ryan AbilityLab ChicagoIL United States Center for Robotics and Biosystems Northwestern University EvanstonIL United States Department of Biomedical Engineering Northwestern University EvanstonIL United States The Biorobotics Institute Scuola Superiore Sant’Anna Pontedera56025 Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa56127 Italy

Sit-to-Stand (StS) is a fundamental daily activity that can be challenging for stroke survivors due to strength, motor control, and proprioception deficits in their lower limbs. Existing therapies involve repetitive StS exercises, but these can be physically demanding for therapists while assistive devices may limit patient participation and hinder motor learning. To address these challenges, this work proposes the use of two lower-limb exoskeletons to mediate physical interaction between therapists and patients during a StS rehabilitative task. This approach offers several advantages, including improved therapist-patient interaction, safety enforcement, and performance quantification. The whole body control of the two exoskeletons transmits online feedback between the two users, but at the same time assists in movement and ensures balance, and thus helping subjects with greater difficulty. In this study we present the architecture of the framework, presenting and discussing some technical choices made in the design. © 2023, CC BY.

关键词： Patient rehabilitation

Simplified Motor Primitives for Gait Symmetrization: Pilot Study with an Active Hip Orthosis

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Simplified Motor Primitives for Gait Symmetrization: Pilot S...

IEEE International Conference on robotics and Automation (ICRA)

作者： Henri Laloyaux Chiara Livolsi Andrea Pergolini Simona Crea Nicola Vitiello Renaud Ronsse Institute of Mechanics Materials and Civil Engineering (iMMC) the Institute of NeuroScience (IoNS) and the Louvain Bionics of UCLouvain Louvain-la-Neuve Belgium Department of Excellence in Robotics and AI BioRobotics Institute Scuola Superiore Sant'Anna Pisa Italy Fondazione Don Gnocchi Florence Italy IUVO S.r.l. the company that owns the IP rights of the APO technology

Lower-limb exoskeletons are wearable devices whose main purposes are human rehabilitation and bilateral locomotion assistance. In particular, there is a growing interest for their use to symmetrize the gait of hemiparetic patients. This often consists in using the kinematics of the less affected side as a reference for the most affected one. In this work, we followed this approach to design a symmetrization algorithm using the formalism of motor primitives, i.e. a low-dimensional set of signals that provide the desired assistance through their combination. The amount of variables to be stored in memory is thus intrinsically limited, and this framework is particularly adapted to include other modes of assistance and/or transitions between locomotion tasks. In this paper, we report the preliminary validation of this newly developed algorithm with a hip exoskeleton and a single participant replicating hemiparetic walking. Results show that the algorithm effectively managed to reduce both temporal and spatial gait asymmetry.

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Actuation Technologies for Soft Robot Grippers and Manipulators: A Review

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Current robotics Reports 2021年第3期2卷 355-369页

作者： Zaidi, Shadab Maselli, Martina Laschi, Cecilia Cianchetti, Matteo The BioRobotics Institute Scuola Superiore Sant’Anna Pisa Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy Department of Mechanical Engineering National University of Singapore Singapore Singapore

The new paradigm of soft robotics has been widely developed in the international robotics community. These robots being soft can be used in applications where delicate yet effective interaction is necessary. Soft grippers and manipulators are important, and their actuation is a fundamental area of study. The main purpose of this work is to provide readers with fast references to actuation technologies for soft robotic grippers in relation to their intended application. The authors have surveyed recent findings on actuation technologies for soft grippers. They presented six major kinds of technologies which are either used independently for actuation or in combination, e.g., pneumatic actuation combined with electro-adhesion, for certain applications. A review on the latest actuation technologies for soft grippers and manipulators is presented. Readers will get a guide on the various methods of technology utilization based on the application.

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A Portable Ultrasound Procedure to Enable Remote Management of Tennis Leg Injuries

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A Portable Ultrasound Procedure to Enable Remote Management ...

IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Lorena Guachi-Guachi Angela Sorriento Andrea Cafarelli Francesco Rocco Restaino Paolo Spinnato Leonardo Ricotti The Bio-Robotics Institute Scuola Superiore Sant’Anna Pisa Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy MyEcho s.r.l. Peccioli Italy Diagnostic and Interventional Radiology IRCCS Istituto Ortopedico Rizzoli Bologna Italy

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Ultrasound (US) technologies are widely accepted for assessing Tennis Leg injuries. However, their integration into tele-ultrasonography systems faces various challenges, including operator dependency and lack of a viable procedure to acquire clinically effective ultrasound images at home. Here, we introduce a standardized ultrasound procedure to address these challenges, ensuring the remote acquisition of images with accurate and repeatable visualization of the target lesion. The procedure includes the use of a wearable, removable skin tattoo to guarantee a correct and repeatable position of the ultrasound probe by non-expert users and an image processing method to recognize and quantify the lesion area and contrast automatically. The feasibility of this procedure was tested on a volunteer, who conducted self-acquisitions on day 0 and on day 48 after the evaluation made by an expert clinician. Results demonstrate the feasibility of standardizing ultrasound data acquisition with accurate visualizations of the target lesion, evidencing the potential of this procedure for tele-ultrasound platforms. Moreover, for the first time, we introduce two objective measurements based on area and texture analysis to detect changes in the tennis leg injuries.

关键词： Legged locomotion Ultrasonic imaging Accuracy Data visualization Skin Lesions Probes Injuries Sports Biomedical imaging