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3D Human-Body Modeling for Medical Simulation: Usability and Robustness of Photogrammetry Techniques

3D Human-Body Modeling for Medical Simulation: Usability and...

2022 IEEE Nuclear Science Symposium, Medical Imaging Conference, and Room Temperature Semiconductor Detector Conference, IEEE NSS MIC RTSD 2022

作者： Boccacci, Patrizia Chessa, Manuela La Iacona, Marco University of Genoa Dept. of Informatics Bioengineering Robotics and Systems Engineering Italy

ISBN: (纸本)9781665488723

Total skin electron therapy TSET is mainly used in the treatment of mycosis fungoides, a rare cutaneous T-cell lymphoma affecting the first few millimeters of skin. The Skinscan project aims to optimize irradiation by creating a 3D model of the patient's body surface. This would avoid overdosing or underdosing in different skin areas compared to the prescribed dose and would reduce the inhomogeneity of dose distribution associated with current techniques used during TSET therapy. In SkinScan, we investigate the creation of 3D models of the human body, analyzing the compromise between usability of the software and robustness of the techniques. State-of-the-art techniques for the creation of the 3D models are RGBD and photogrammetry. The first ones require dedicated devices, the other are based on standard photographs. Commercial software to align the different views and to create the models are available, and they can be used by non-experts. The final application would indeed require the creation of ad-hoc models for a personalized medical intervention on the patients. Such models should be created in hospitals, without the intervention of computer scientists. Moreover, accurate 3D modeling often requires specific post-processing to remove noise without adding artifacts on the surfaces. We present the preliminary results to create the 3D models to be used as the input of the SkinScan simulation pipeline. We modeled a flat wall and a box composed of flat surfaces, to evaluate the amount of noise in the 3D reconstruction and the pre-processing of the images to remove it. We then modeled two different body parts, a hand and a shoulder, with the aim of understanding the best compromise between the accuracy of the model and its size, thus the simulation time. © 2022 IEEE.

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IMMERSE: IMMersive Environment for Representing Self-Avatar Easily

IMMERSE: IMMersive Environment for Representing Self-Avatar ...

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IEEE Games Media Entertainment (GEM)

作者： Eros Viola Matteo Martini Fabio Solari Manuela Chessa Dept. of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Italy

ISBN: (数字)9798350374537

ISBN: (纸本)9798350374544

Recently, the importance of having a representation of the users inside Virtual Reality (VR) by using avatars, which replicate the movements of real humans, has grown in several fields of application. Nowadays, developers can use many off-the-shelf devices for visualizations and tracking. Game engines like Unity3D and Unreal allow to easily integrate packages to manage head-mounted displays and other tracking devices. However, it is still difficult to combine different solutions and achieve a full representation of the human body, e.g., combining full-body and hand tracking or switching among different tracking modalities in an easy way. This paper describes IMMERSE, an open-source framework based on Unity3D, the XR Interaction toolkit, and an inverse kinematics solver. IMMERSE allows developers to insert a VR avatar in a virtual environment, animate it through different sources of 6DOF tracking measurements, which are also interchangeable during the simulation, and finally record the movements to animate other avatars or input to motion analysis techniques.

关键词： Visualization Tracking Avatars Virtual environments Entertainment industry Kinematics Switches

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Extended Reality and Artificial Intelligence for Exergaming: Opportunities and Open Challenges for Rehabilitation and Cognitive Training

Extended Reality and Artificial Intelligence for Exergaming:...

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IEEE International Forum on Research and Technologies for Society and Industry Leveraging a better tomorrow (RTSI)

作者： Manuela Chessa Lorenzo Gerini Razeen Hussain Matteo Martini Marianna Pizzo Fabio Solari Eros Viola Dept. of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Italy

ISBN: (数字)9798350362138

ISBN: (纸本)9798350362145

The increased interest in the use of Virtual, Augmented, and Mixed Reality technologies, also referred to by the wider term eXtended Reality (XR), to create effective and innovative serious games and exergames in the healthcare domain opens several questions and points out open and still unsolved issues. In this paper, we will describe the main available software and hardware technologies and discuss the opportunities and open challenges in rehabilitation. We will also discuss the need to fill the existing gap between the advancement of techniques in the XR domain and their effective use in healthcare. Specifically, we will describe some use cases recently developed and included in clinical trials.

关键词： Training Industries Technological innovation Extended reality Mixed reality Medical services Games Clinical trials Software Hardware

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Self representation and interaction in immersive virtual reality 16

Self representation and interaction in immersive virtual rea...

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16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, VISIGRAPP 2021

作者： Viola, Eros Solari, Fabio Chessa, Manuela Dept. of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Italy

ISBN: (纸本)9789897584886

Inserting a self-representation in Virtual Reality is an open problem with several implications for both the sense of presence and interaction in virtual environments. To cope the problem with low cost devices, we devise a framework to align the measurements of different acquisition devices used while wearing a tracked VR head-mounted display (HMD). Specifically, we use the skeletal tracking features of an RGB-D sensor (Intel Realsense d435) to build the user’s avatar, and compare different interaction technologies: a Leap Motion, the Manus Prime haptic gloves, and the Oculus Controllers. The effectiveness of the proposed systems is assessed through an experimental session, where an assembly task is proposed with the three different interaction mediums, with and without the self-representation. Users reported their feeling by answering the User Experience and Igroup Presence Questionnaires, and we analyze the total time to completion and the error rate. Copyright © 2021 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved.

关键词： Surveys

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3D Human-Body Modeling for Medical Simulation: Usability and Robustness of Photogrammetry Techniques

3D Human-Body Modeling for Medical Simulation: Usability and...

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IEEE Symposium on Nuclear Science (NSS/MIC)

作者： Patrizia Boccacci Manuela Chessa Marco La Iacona Dept. of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Italy

Total skin electron therapy TSET is mainly used in the treatment of mycosis fungoides, a rare cutaneous T-cell lymphoma affecting the first few millimeters of skin. The Skinscan project aims to optimize irradiation by creating a 3D model of the patient’s body surface. This would avoid overdosing or underdosing in different skin areas compared to the prescribed dose and would reduce the inhomogeneity of dose distribution associated with current techniques used during TSET therapy. In SkinScan, we investigate the creation of 3D models of the human body, analyzing the compromise between usability of the software and robustness of the techniques. State-of-the-art techniques for the creation of the 3D models are RGBD and photogrammetry. The first ones require dedicated devices, the other are based on standard photographs. Commercial software to align the different views and to create the models are available, and they can be used by non-experts. The final application would indeed require the creation of ad-hoc models for a personalized medical intervention on the patients. Such models should be created in hospitals, without the intervention of computer scientists. Moreover, accurate 3D modeling often requires specific post-processing to remove noise without adding artifacts on the surfaces. We present the preliminary results to create the 3D models to be used as the input of the SkinScan simulation pipeline. We modeled a flat wall and a box composed of flat surfaces, to evaluate the amount of noise in the 3D reconstruction and the pre-processing of the images to remove it. We then modeled two different body parts, a hand and a shoulder, with the aim of understanding the best compromise between the accuracy of the model and its size, thus the simulation time.

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Exploiting Information Theory for Intuitive Robot Programming of Manual Activities

arXiv

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arXiv 2024年

作者： Merlo, Elena Lagomarsino, Marta Lamon, Edoardo Ajoudani, Arash Istituto Italiano di Tecnologia Genoa Italy Dept. of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy Dept. of Information Engineering and Computer Science University of Trento Trento Italy

Observational learning is a promising approach to enable people without expertise in programming to transfer skills to robots in a user-friendly manner, since it mirrors how humans learn new behaviors by observing others. Many existing methods focus on instructing robots to mimic human trajectories, but motion-level strategies often pose challenges in skills generalization across diverse environments. This paper proposes a novel framework that allows robots to achieve a higher-level understanding of human-demonstrated manual tasks recorded in RGB videos. By recognizing the task structure and goals, robots generalize what observed to unseen scenarios. We found our task representation on Shannon’s Information Theory (IT), which is applied for the first time to manual tasks. IT helps extract the active scene elements and quantify the information shared between hands and objects. We exploit scene graph properties to encode the extracted interaction features in a compact structure and segment the demonstration into blocks, streamlining the generation of Behavior Trees for robot replicas. Experiments validated the effectiveness of IT to automatically generate robot execution plans from a single human demonstration. Additionally, we provide HANDSOME, an open-source dataset of HAND Skills demOnstrated by Multi-subjEcts, to promote further research and evaluation in this field. Copyright © 2024, The Authors. All rights reserved.

关键词： Demonstrations

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Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning

Robot-Assisted Navigation for Visually Impaired through Adap...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Pietro Balatti Idil Ozdamar Doganay Sirintuna Luca Fortini Mattia Leonori Juan M. Gandarias Arash Ajoudani HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Dept. of Informatics Bioengineering Robotics and System Engineering University of Genoa Genoa Italy Systems Engineering and Automation Department Robotics and Mechatronics Lab University of Malaga Malaga Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who gets guided by the robotic arm via physically coupling their hand with the cobot’s end-effector. These components, receiving a goal from the user, traverse a collision-free set of waypoints in a coordinated manner, while avoiding static and dynamic obstacles through an obstacle avoidance unit and a novel human guidance planner. With this aim, we also present a legs tracking algorithm that utilizes 2D LiDAR sensors integrated into the mobile base to monitor the human pose. Additionally, we introduce an adaptive pulling planner responsible for guiding the individual back to the intended path if they veer off course. This is achieved by establishing a target arm end-effector position and dynamically adjusting the impedance parameters in real-time through a impedance tuning unit. To validate the framework we present a set of experiments both in laboratory settings with 12 healthy blindfolded subjects and a proof-of-concept demonstration in a real-world scenario.

关键词： Target tracking Navigation Robot kinematics End effectors Real-time systems Path planning Sensors

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Evaluating leadership roles in human-robot interaction via highly dynamic collaborative tasks

Evaluating leadership roles in human-robot interaction via h...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Francesco Tassi Gustavo J. G. Lahr Doganay Sirintuna Arash Ajoudani Human-Robot Interfaces and Interaction Lab Istituto Italiano di Tecnologia Genoa Italy RAISE Ecosystem Genoa Italy Dept. of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

To enable a comprehensive human-robot interaction, it is essential to refer to human-human collaboration and decode complex non-verbal communication aspects that are essential for adaptive decision-making and task success. Indeed, for a robust collaboration, it is useful to understand the intricacies and complexities of human communication during human-human interaction and to compare it with the human-robot interaction case. We study this communication exchange and information flow by evaluating the leader/follower behavior during physical interaction with different agents and different control types, focusing on non-verbal cues, to identify collaborative or competitive attitudes. To achieve this, we consider a dynamic task of collaboratively catching a falling object, which, by its nature, favors non-verbal communication channels. Multiple subjects performed the same task with different collaborative agents (i.e., human and robot) and with different control modalities, to evaluate the leadership roles and their implication on task success (successfully catching the object while minimizing impact forces). We analyze how the impact force minimization induced by the velocity matching optimal planner affects the catching success rate. The information flow is analyzed, and the leadership roles are identified. Further qualitative data is gathered from questionnaires and compared with respect to the analytic results.

关键词： Measurement Leadership Force Collaboration Human-robot interaction Focusing Robot sensing systems Minimization Market research Object recognition

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An Ergonomic Role Allocation Framework for Dynamic Human-Robot Collaborative Tasks

arXiv

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arXiv 2023年

作者： Merlo, Elena Lamon, Edoardo Fusaro, Fabio Lorenzini, Marta Carfì, Alessandro Mastrogiovanni, Fulvio Ajoudani, Arash Human-Robot Interfaces and Interaction Istituto Italiano di Tecnologia Genoa Italy Dept. of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy Dept. of Electronics Information and Bioengineering Politecnico di Milano Milan Italy

By incorporating ergonomics principles into the task allocation processes, human-robot collaboration (HRC) frameworks can favour the prevention of work-related musculoskeletal disorders (WMSDs). In this context, existing offline methodologies do not account for the variability of human actions and states;therefore, planning and dynamically assigning roles in human-robot teams remains an unaddressed challenge. This study aims to create an ergonomic role allocation framework that optimises the HRC, taking into account task features and human state measurements. The presented framework consists of two main modules: the first provides the HRC task model, exploiting AND/OR Graphs (AOG)s, which we adapted to solve the allocation problem;the second module describes the ergonomic risk assessment during task execution through a risk indicator and updates the AOG-related variables to influence future task allocation. The proposed framework can be combined with any time-varying ergonomic risk indicator that evaluates human cognitive and physical burden. In this work, we tested our framework in an assembly scenario, introducing a risk index named Kinematic Wear. The overall framework has been tested with a multi-subject experiment. The task allocation results and subjective evaluations, measured with questionnaires, show that high-risk actions are correctly recognised and not assigned to humans, reducing fatigue and frustration in collaborative tasks. © 2023, CC BY-NC-ND.

关键词： Ergonomics

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Pushing in the Dark: A Reactive Pushing Strategy for Mobile Robots Using Tactile Feedback

arXiv

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arXiv 2024年

作者： Ozdamar, Idil Sirintuna, Doganay Arbaud, Robin Ajoudani, Arash HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Dept. of Informatics Bioengineering Robotics and System Engineering University of Genoa Genoa Italy

For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular, or fragile to grasp. The unpredictable behavior and varying physical properties of these objects significantly complicate manipulation tasks. To address this challenge, this manuscript proposes a novel Reactive Pushing Strategy. This strategy allows a mobile robot to dynamically adjust its base movements in real-time to achieve successful pushing maneuvers towards a target location. Notably, our strategy adapts the robot motion based on changes in contact location obtained through the tactile sensor covering the base, avoiding dependence on object-related assumptions and its modeled behavior. The effectiveness of the Reactive Pushing Strategy was initially evaluated in the simulation environment, where it significantly outperformed the compared baseline approaches. Following this, we validated the proposed strategy through real-world experiments, demonstrating the robot capability to push objects to the target points located in the entire vicinity of the robot. In both simulation and real-world experiments, the object-specific properties (shape, mass, friction, inertia) were altered along with the changes in target locations to assess the robustness of the proposed method comprehensively. Copyright © 2024, The Authors. All rights reserved.

关键词： Mobile robots

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