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5th International Symposium on Measurement, Analysis and Modelling of Human Functions, ISHF 2013

作者： Pellegrino, L. Saiano, M. Casadio, M. Summa, S. Garbarino, E. Sanguineti, V. Dept. Informatics Bioengineering Robotics and Systems Engineering University of Genoa Italy ASL3 Genovese Dipartimento Cure Primarie e Attivit Distrettuali Italy

ISBN: (纸本)9781632660251

Persons with Autism Spectrum Disorder (ASD) exhibit an impairment in social interaction capabilities. The main objective of the study is to explore the interaction with virtual environments (VE) by natural interfaces (NI) as a way to facilitate the acquisition of social skills. The study involved a total of four subjects with ASD. After an initial assessment of their basic skills and a familiarization phase with the VE and NI, participants performed 3 exercise sessions of 45 minutes each, with increasing levels of difficulty. During each session, participants completed two different paths in the VE, following arrows and signs directed toward either a pharmacy or a police station. We developed a metric for evaluating both the ability to interact with the VE and the acquisition of the specific social skill. Preliminary results showed improvements in both competences.

关键词： Virtual reality

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Reward-based learning of a redundant task

Reward-based learning of a redundant task

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IEEE International Conference on Rehabilitation robotics

作者： Irene Tamagnone Maura Casadio Vittorio Sanguineti Dept Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy

ISBN: (纸本)9781467360210

Motor skill learning has different components. When we acquire a new motor skill we have both to learn a reliable action-value map to select a highly rewarded action (task model) and to develop an internal representation of the novel dynamics of the task environment, in order to execute properly the action previously selected (internal model). Here we focus on a 'pure' motor skill learning task, in which adaptation to a novel dynamical environment is negligible and the problem is reduced to the acquisition of an action-value map, only based on knowledge of results. Subjects performed point-to-point movement, in which start and target positions were fixed and visible, but the score provided at the end of the movement depended on the distance of the trajectory from a hidden via-point. Subjects did not have clues on the correct movement other than the score value. The task is highly redundant, as infinite trajectories are compatible with the maximum score. Our aim was to capture the strategies subjects use in the exploration of the task space and in the exploitation of the task redundancy during learning. The main findings were that (i) subjects did not converge to a unique solution;rather, their final trajectories are determined by subject-specific history of exploration. (ii) with learning, subjects reduced the trajectory's overall variability, but the point of minimum variability gradually shifted toward the portion of the trajectory closer to the hidden via-point.

关键词： Reward-based learning task

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Quantitative assessment of manual stabilization of low back muscles during reaching movements in chronic stroke survivors

Quantitative assessment of manual stabilization of low back ...

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5th International Symposium on Measurement, Analysis and Modelling of Human Functions, ISHF 2013

作者： De Luca, A. Vernetti, H. Giannoni, P. Lentino, C. Checchia, G.A. De Santis, D. Morasso, P. Casadio, M. Rehabilitation and Functional Reeducation Unit Santa Corona Hospital ASL 2 Pietra Ligure Italy Dept. Informatics Bioengineering Robotics and Systems Engineering University of Genoa Italy ART Education and Rehabilitation Center Genoa Italy Istituto Italiano di Tecnologia Genoa Italy

ISBN: (纸本)9781632660251

The goal of this study is to provide a quantitative evaluation of a specific therapeutic maneuver used by physical therapists for improving core stability of stroke survivors. The maneuver is a simple, bilateral touch with light pressure on the low back muscles, applied to the subjects, while sitting on a force platform. Functional improvements were measured by looking at reaching movements with the unimpaired arm, motion of the center of pressure, and muscle activity. Preliminary results show that the maneuver induces a radical reorganization of the subjects posture, consisting of a righting reaction with an antero-version rotation of the pelvis and a consecutive shift forward of the center of pressure, thus increasing stability and enhancing movement performance.

关键词： Physical therapy

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Supervisory Model Predictive Control for Freeway Traffic systems

Supervisory Model Predictive Control for Freeway Traffic Sys...

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IEEE Annual Conference on Decision and Control

作者： Antonella Ferrara Simona Sacone Silvia Siri Dept. of Electrical Computer and Biomedical Engineering University of Pavia Italy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy

ISBN: (纸本)9781467357159

The application of Model Predictive Control schemes to real world complex plants, such as freeway traffic systems, is sometimes limited because of the necessity of tuning the control action depending on the system operating condition, and the significant computational burden inherent to the methodology. The MPC-based scheme presented in this paper aims at overcoming the mentioned limitations by using a supervisory control approach. The supervisor, at each time step, chooses among three possible actions: i) the controller needs to be changed and the new control action is computed, ii) no change is made to the controller, but it is necessary to recompute the control action, iii) neither is the controller varied, nor it is necessary to recompute the control action and the already determined control law is kept. In other terms, the control sequence is recomputed according to an event-triggered mechanism in which the control action is properly tuned to the system conditions. In the paper, the proposed control scheme is developed with reference to a class of non-linear systems admitting a model of Mixed Logical Dynamical type, which is suitable to describe freeway traffic systems, and the input-to-state practical stability of the controlled system is proved. Finally, the application of the proposed control scheme to a freeway traffic system is discussed and studied via simulation.

关键词： Traffic control Monitoring Vectors Switches Supervisory control Stability analysis

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Modelling the recovery of acute stroke survivors during adaptive rob ot-assisted training

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Gait & Posture 2014年 40卷 S28-S29页

作者： Tamagnone, I. Sterpi, I. Squeri, V. Basteris, A. Casadio, M. Sanguineti, V. Sessarego, P. Dept. Informatics Bioengineering Robotics and System Engineering University of Genoa Italy Service of Rehabilitation Eng. IRCCS Salvatore Maugeri Foundation Pavia Italy Dept. of Robotics Brain and Cognitive Sciences Italian Institute of Technology Genoa Italy School of Computer Science Hertfordshire UK Rehabilitation Institute IRCCS Salvatore Maugeri Foundation Genoa Italy

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Investigating Visual Discomfort With 3D Displays: The Stereoscopic Discomfort Scale 31

Investigating Visual Discomfort With 3D Displays: The Stereo...

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31st Annual CHI Conference on Human Factors in Computing systems:, CHI EA 2013

作者： Bracco, Fabrizio Chiorri, Carlo Glowinski, Donald Vercelli, Gianni Nia, Beatrice Hosseini University of Genoa Dept. of Educational Sciences C.so A. Podestà 2 Genoa16128 Italy University of Genoa Dept. of Educational Sciences C.so A. Podestà 2 Genoa16128 Italy University of Genoa - DIBRIS InfoMus Lab-Casa Paganini Via Opera Pia 13 Genoa16145 Italy University of Genoa - DIBRIS Dept. of Informatics Bioengineering Robotics and Systems Engineering Via all'Opera Pia 13 Genoa16145 Italy University of Genoa Dept. of Educational Sciences C.so A. Podestà 2 Genoa16128 Italy

ISBN: (纸本)9781450318990

Notwithstanding their widespread diffusion, stereoscopic media have important drawbacks in terms of viewers’ visual discomfort. Current assessment methods are mainly based on measures of objective parameters such as eye physiology or media characteristics. On the other hand, subjective methods only evaluate the personal experience related to the physiological symptoms. In this pilot study we developed and validated the Stereoscopic Discomfort Scale (SDS), a self-assessment tool for the subjective evaluation of physiological and psychological symptoms related to stereoscopic viewing. The results show evidence of internal consistency, unidimensionality and construct validity of the scale. Since SDS scores were also strongly correlated with facets of presence, we argue that the SDS could be a useful tool for the investigation of users’ experience related to stereoscopic media.

关键词： Three dimensional displays

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Robot ontologies for sensor- and Image-guided surgery

Robot ontologies for sensor- and Image-guided surgery

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International Workshop on Robot Sensing (ROSE)

作者： Tamás Haidegger Marcos Barreto Paulo J. S. Goncalves Maki K. Habib S. Veera Ragavan Howard Li Alberto Vaccarella Roberta Perrone Edson Prestes Austrian Center for Medical Innov. and Techn. (ACMIT) Wiener Neustadt Austria UFBA Distributed Systems Laboratory (LaSiD) Brazil IDMEC Center of Intelligent Systems Portugal The American University in Cairo Cairo Egypt Monash University Selangor Malaysia Dept. of Electrical and Computer Engineering University of New Brunswick Canada Dept. of Electronics Information and Bioengineering (DEIB) NearLab Medical Robotics Milan Italy UFRGS Instituto de Informática Brazil

Robots and robotics are becoming more complex and flexible, due to technological advancement, improved sensing capabilities and machine intelligence. Service robots target a wide range of applications, relying on advanced Human-Robot Interaction. Medical robotics is becoming a leading application area within, and the number of surgical, rehabilitation and hospital assistance robots is rising rapidly. However, the complexity of the medical environment has been a major barrier, preventing a wider use of robotic technology, thus mostly teleoperated, human-in-the-loop control solutions emerged so far. Providing smarter and better medical robots requires a systematic approach in describing and translating human processes for the robots. It is believed that ontologies can bridge human cognitive understanding and robotic reasoning (machine intelligence). Besides, ontologies serve as a tool and method to assess the added value robotic technology brings into the medical environment. The purpose of this paper is to identify relevant ontology research in medical robotic, and to review the state-of-the-art. It focuses on the surgical domain, fundamental terminology and interactions are described for two example applications in neurosurgery and orthopaedics.

关键词： Robot sensing systems Surgery Lead Ontologies Biomedical optical imaging

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Poster abstracts

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Sleep and Biological Rhythms 2016年第1期5卷 A1-A189页

作者： J. Ferrie M. Shipley F. Cappuccio E. Brunner M. Miller M. Kumari M. Marmot A. Coenen J. L. Castillo F. Araya G. Bustamante L. Montecino C. Torres S. Oporto J. Gronli E. Fiske R. Murison B. Bjorvatn E. Sorensen R. Ursin C. M. Portas S. Rajaraman A. Gribok N. Wesensten T. Balkin J. Reifman N. Dursunoglu S. Ozkurt S. Baser O. Delen S. Sarikaya P. Sadler P. Mitchell D. Françon M. Decobert B. Herve A. Richard G. Griebel P. Avenet B. Scatton G. L. Fur D. Eckert A. Jordan A. Wellman S. Smith A. Malhotra D. White D. Bruck I. Thomas A. Kritikos W. Oertel K. Stiasny-Kolster D. Garcia-Borreguero W. Poewe B. Hoegl R. Kohnen E. Schollmayer J. Keffel C. Trenkwalder A. Valle S. Roizenblatt F. Fregni P. Boggio S. Tufik K. Ward L. Robertson L. Palmer P. Eastwood D. Hillman J. Lee S. Mukherjee V. de Padova G. Barbato G. Ficca I. Zilli P. Salzarulo M. Veldi T. Hion V. Vasar M. Kull L. Nowak J. Davis Y. Latzer O. Tzischinsky S. Crowley M. Carskadon M. Anca-Herschkovitsch D. Frey J. Ortega C. Wiseman C. Farley K. Wright A. Campbell A. Neill K. Spiegel R. Leproult E. Tasali N. Scherberg E. van Cauter A. T. Noradina N. A. Karim I. Norlinah A. A. Raymond R. Sahathevan B. Hamidon E. Werth R. Poryazova R. Khatami C. Bassetti R. G. Beran L. Ainley G. Holand J. Duncan H. Kinney B. Davis B. Hood S. Frey C. Schmidt M. Hofstetter P. Peigneux C. Cajochen W.-P. Hu J.-D. Li C. Zhang L. Boehmer J. Siegel Q.-Y. Zhou Y. Sagawa H. Kondo T. Takemura H. Kanayama Y. Kaneko M. Sato T. Kanbayashi Y. Hishikawa T. Shimizu A. Viola L. James L. Schlangen D.-J. Dijk R. Andretic Y.-C. Kim K.-A. Han F. Jones R. Greenspan L. Sanford L. Yang X. Tang K. Dieter E. Uta H. Sven M. Richard N. Oyane S. Pallesen F. Holsten Y. Inoue M. Fujita N. Emura K. Kuroda N. Uchimura A. Johnston J. Astbury G. Kennedy K. Hoedlmoser M. Schabus T. Pecherstorfer S. Moser G. Gruber P. Anderer W. Klimesch N. Naidoo M. Ferber A. Pack D. Neu O. Mairesse G. Hoffmann A. Dris L. Lambrecht P. Linkowski P. Verbanck O. Le Bon N. Matsuura M. Yamao N. Adachi R. Aritomi Y. Komada H. Tanaka S. Shirak University College London London UK University College London London USA Warwick Medical School London UK Warwick Medical School Coventry USA Radboud University Nijmegen Nijmegen Netherlands Department of Neurology University of Chile Santiago Chile Neurology Service Hospital del Salvador Santiago Chile Family Health Center Juan Pablo II Santiago Chile Department of Biomedicine Section on Physiology Univeristy of Bergen Bergen Norway Department of Public Health and Primary Health Care Univeristy of Bergen Bergen Norway Department of Public Health and Primary Health Care University of Bergen Bergen Norway Norwegian Competence Center for Sleep Disorders Haukeland University Hospital Bergen Norway Department of Child and Adolescent Psychiatry Haukeland University Hospital Univeristy of Bergen Bergen Norway Department of Biomedicine University of Bergen Bergen Norway US Army Medical Research and Materiel Command Fort Detrick Frederick USA Walter Reed Army Institute of Research Silver Spring USA Department of Behavioral Biology Walter Reed Army Institute of Research Silver Spring USA Faculty Department of Pulmonology Pamukkale University Medical Denizli Turkey University of Ballarat Ballarat Australia Sanofi-Aventis Recherche et Developpement Paris France Brigham and Women’s Hospital Harvard Medical School Boston USA The University of Queensland Adelaide Australia School of Psychology University of Queensland Brisbane Australia The University of Queensland Brisbane Australia Victoria University Melbourne Australia Department of Psychology Victoria University Melbourne Australia School of Psychology Victoria University Melbourne Australia Philips-Universität Marburg Germany Philips-Universitaet-Marburg Marburg Germany Instituto de Investigaciones del Sueno Madrid Spain Universitätsklinik für Neurologie Innsbruck Austria Universitaetsklinik fuer Neurologie Innsbruck Austria IMEREM GmbH Nuernberg Germany Schwarz Pharma AG Monheim Germany

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Learning human reach-to-grasp strategies: Towards EMG-based control of robotic arm-hand systems

Learning human reach-to-grasp strategies: Towards EMG-based ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Minas V. Liarokapis Panagiotis K. Artemiadis Pantelis T. Katsiaris Kostas J. Kyriakopoulos Elias S. Manolakos Control Systems Lab School of Mechanical Engineering National Technical University of Athens Athens Greece ASU Human-Oriented Robotics and Control (HORC) Lab School for Engineering of Matter Transport and Energy Ira A. Fulton Schools of Engineering Arizona State University Tempe AZ USA Dept. of Informatics & Telecommunications University of Athens (UOA) Greece

Reaching and grasping of objects in an everyday-life environment seems so simple for humans, though so complicated from an engineering point of view. Humans use a variety of strategies for reaching and grasping anything from the simplest to the most complicated objects, achieving high dexterity and efficiency. This seemingly simple process of reach-to-grasp relies on the complex coordination of the musculoskeletal system of the upper limbs. In this paper, we study the muscular co-activation patterns during a variety of reach-to-grasp motions, and we introduce a learning scheme that can discriminate between different strategies. This scheme can then classify reach-to-grasp strategies based on the muscular co-activations. We consider the arm and hand as a whole system, therefore we use surface ElectroMyoGraphic (sEMG) recordings from muscles of both the upper arm and the forearm. The proposed scheme is tested in extensive paradigms proving its efficiency, while it can be used as a switching mechanism for task-specific motion and force estimation models, improving EMG-based control of robotic arm-hand systems.

关键词： Electromyography Muscles Support vector machines Grasping Training Accuracy Humans

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Bimanual control of an unstable task: Stiffness vs. intermittent control strategy

Bimanual control of an unstable task: Stiffness vs. intermit...

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19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010

作者： Saha, Devjani J. Morasso, Pietro Northwestern University Dept. of Biomedical Engineering Chicago IL 60611 United States Italian Institute of Technology Dept. of Robotics Brain and Cognitive Sciences Genoa Italy University of Genoa Dept. of Informatics Systems Telecommunications Genoa Italy

ISBN: (纸本)9781424479917

The goal of this study is to better understand how the central nervous system chooses a stable control strategy when presented with an unstable task. A haptic, bimanual manipulandum has been used to implement an unstable task, which requires subjects to stabilize a mass-load under the action of a saddle force field with two non-linear springs, whose stiffness increases when stretched. Subjects learn to position and stabilize the mass at various target points by adjusting the length, and thus the stiffness of the two springs. Subjects can stabilize the mass either by 1) applying large forces to stretch the springs and increase the mechanical stiffness of the system (stiffness strategy) or by 2) applying force impulses that intermittently adjust the position of the mass (intermittent strategy). The former control policy is simple but fatiguing, while the latter one is less fatiguing but computationally more challenging. Preliminary results indicate that human subjects can adopt one strategy or the other and the choice is correlated with the bimanual orientation of the arms. Specifically, when the hands are aligned along the unstable manifold of the force field, subjects tend to use the stiffness strategy, whereas when the hands are aligned along the stable manifold, subjects tend to use the intermittent strategy. © 2010 IEEE.

关键词： Stiffness

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