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A system for sensory motor rehabilitation of the upper limb with virtual reality, exoskeleton robot, and real objects

A system for sensory motor rehabilitation of the upper limb ...

引用

IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

作者： Katherine G. August Marco Guidali Mathini Sellathurai Saana Jenu Daniel Bleichenbacher Verena Klamroth-Marganska Sergei V. Adamovich Robert Riener Spinal Cord Injury Center University of Zurich Zurich Switzerland Spinal Cord Injury Center University of Zurich Switzerland Sensory-Motor Systems SMS Lab Institute of Robotics and Intelligent Systems IRIS ETH Zurich Switzerland Institute of Electronics Communications & Information Technology ECIT Queen''s University Belfast Belfast UK Queen's University Belfast Belfast Belfast GB New Jersey Institute of Technology University of Medicine and Dentistry of New Jersey USA

Technology assisted therapy has the potential to transform rehabilitation options available, and to dramatically increase the reach of today's healthcare system. Yet challenges persist in rendering translational application designs that optimize the full potential of technology and create value for the patient and the therapist. In a step towards optimizing value of technologies for practical applications to support very weak patients who might otherwise be unable to participate in traditional therapies, an integrated sensory motor training station was designed and developed. Inspired by recent neuroscientific research findings the goal of the design was to provide concurrent first person perspective immersive action observation of both virtual and real elements for motor and sensory experience; the system incorporates a virtual limb proxy that can be personalized and actuated by the robot and that is accompanied by exercise practice in peripersonal space for a plasticity promoting experience for the hand and arm. The station uses virtual reality and real objects for visual sensory experience, real objects also provide tactile sensory experience, and an exoskeleton upper limb robot provides assistance to patients. For many patients, successful movement and movement intensity required in rehabilitation is not achievable without the robot assistance. The multi-sensory features of the system promote a top-down strategy for training the upper limb (hand and arm) complementing the robot training; the system is ideally targeted for weak patients and those with tactile or proprioception sensory loss and those who are known to benefit from multi-sensory experiences.

关键词： Robot sensing systems Training Medical treatment Robot kinematics Visualization Humans

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Ensembles of neural networks for robust reinforcement learning

Ensembles of neural networks for robust reinforcement learni...

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9th International Conference on Machine Learning and Applications, ICMLA 2010

作者： Hans, Alexander Udluft, Steffen Neuroinformatics and Cognitive Robotics Lab. Ilmenau University of Technology Ilmenau Germany Intelligent Systems and Control Siemens AG Corporate Technology Munich Germany

ISBN: (纸本)9780769543000

Reinforcement learning algorithms that employ neural networks as function approximators have proven to be powerful tools for solving optimal control problems. However, their training and the validation of final policies can be cumbersome as neural networks can suffer from problems like local minima or overfitting. When using iterative methods, such as neural fitted Q-iteration, the problem becomes even more pronounced since the network has to be trained multiple times and the training process in one iteration builds on the network trained in the previous iteration. Therefore errors can accumulate. In this paper we propose to use ensembles of networks to make the learning process more robust and produce near-optimal policies more reliably. We name various ways of combining single networks to an ensemble that results in a final ensemble policy and show the potential of the approach using a benchmark application. Our experiments indicate that majority voting is superior to Q-averaging and using heterogeneous ensembles (different network topologies) is advisable. © 2010 IEEE.

关键词： Iterative methods

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Spatial and temporal enhancement of depth images captured by a time-of-flight depth sensor

Spatial and temporal enhancement of depth images captured by...

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International Conference on Pattern Recognition

作者： Kim, Sung-Yeol Cho, Ji-Ho Koschan, Andreas Abidi, Mongi A. Imaging Robotics and Intelligent Systems Lab. University of Tennessee Knoxville TN United States Dept. of Mechatronics Gwangju Institute of Science and Technology

ISBN: (纸本)9780769541099

In this paper, we present a new method to enhance depth images captured by a time-of-flight (TOF) depth sensor spatially and temporally. In practice, depth images obtained from TOF depth sensors have critical problems, such as optical noise existence, unmatched boundaries, and temporal inconsistency. In this work, we improve depth quality by performing a newly-designed joint bilateral filtering, color segmentation-based boundary refinement, and motion estimation-based temporal consistency. Experimental results show that the proposed method significantly minimizes the inherent problems of the depth images so that we can use them to generate a dynamic and realistic 3D scene. © 2010 IEEE.

关键词： Motion estimation

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On the design of deformable input- / state-lattice graphs

On the design of deformable input- / state-lattice graphs

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Martin Rufli Roland Siegwart Autonomous Systems Lab Institute for Robotics and Intelligent Systems ETH Zurich Zurich Switzerland

In this paper we describe a novel and simple to implement yet effective lattice design algorithm, which simultaneously produces input and state-space sampled lattice graphs. The presented method is an extension to the ideas suggested by Bicchi et al. on input lattices and is applicable to systems which can be brought into (2,n) chained form, such as kinematic models of unicycles, bicycles, differential-drive robots and car-like vehicles (pulling several trailers). We further show that a transformation from chained form to path coordinates allows the resulting lattice to be bent along any C 1 continuous path. We exploit this fact by shaping it along the skeleton of arbitrary structured environments, such as the center of road lanes and corridors. In our experiments in both structured (i.e. on-road) and unstructured (i.e. parking lot) scenarios, we successfully demonstrate for the first time the applicability of lattice-based planning approaches to search queries in arbitrary environments.

关键词： Lattices Smoothing methods Vehicle dynamics Robot kinematics Roads robotics and automation Algorithm design and analysis intelligent robots Motion planning Shape control

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ARMin and VR in peripersonal space to improve rehabilitation of paretic arm

ARMin and VR in peripersonal space to improve rehabilitation...

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4th International Conference on Cognitive systems, CogSys 2010

作者： August, Katherine Grace Guidali, Marco Klamroth-Marganska, Verena Riener, Robert Sensory-Motor Systems Lab. Inst. for Robotics and Intelligent Systems Dept. of Mechanical and Process Eng. Sonneggstrasse 3 CH-8092 Zurich Switzerland Spinal Cord Injury Center University Hospital Balgrist Faculty of Medicine Switzerland

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Passive dynamic walking with quadrupeds - Extensions towards 3D

Passive dynamic walking with quadrupeds - Extensions towards...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C. David Remy Marco Hutter Roland Siegwart Autonomous Systems Lab Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology ETH Zurich Zurich Switzerland

In the present study, we applied the principles of passive dynamic walking onto the three dimensional motion of a simplified quadrupedal model. We extended the simulation framework of a planar system to include a rolling degree of freedom and searched for limit cycles that represent periodic gaits. Among the eight different gaits that we identified, were three kinds of trots and paces, as well as a lateral and diagonal single foot sequence. We could show that a distinct relation exists between the lateral spacing of the legs and the relative phase of the front and the back legs, and a certain trade-off between efficiency and dynamic stability. In agreement with established bipedal models, our results showed that the lateral rolling motion is invariably unstable.

关键词： Legged locomotion Leg Foot Limit-cycles Humans intelligent robots robotics and automation USA Councils Stability Couplings

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Haptic terrain classification for legged robots

Haptic terrain classification for legged robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mark A. Hoepflinger C. David Remy Marco Hutter Luciano Spinello Roland Siegwart Autonomous Systems Lab Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology ETH Zurich Zurich Switzerland Social Robotics Lab Department of Computer Science University of Freiburg Freiberg Germany

In this paper, we are presenting a method to estimate terrain properties (such as small-scale geometry or surface friction) to improve the assessment of stability and the guiding of foot placement of legged robots in rough terrain. Haptic feedback, expressed through joint motor currents and ground contact force measurements that arises when prescribing a predefined motion was collected for a variety of ground samples (four different shapes and four different surface properties). Features were extracted from this data and used for training and classification by a multiclass AdaBoost machine learning algorithm. In a single leg testbed, the algorithm could correctly classify about 94% of the terrain shapes, and about 73% of the surface samples.

关键词： Haptic interfaces Legged locomotion Rough surfaces Surface roughness Machine learning algorithms Computational geometry Friction Stability Foot Force feedback

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Validating characterizations of sociality in HRI: The case of interaction patterns

Validating characterizations of sociality in HRI: The case o...

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2nd International Symposium on New Frontiers in Human-Robot Interaction - A Symposium at the AISB 2010 Convention

作者： Kahn, Peter H. Gill, Brain T Reichert, Aimee L. Kanda, Takayuki Ishiguro, Hiroshi Ruckert, Jolina H. Dept. of Psychology Univ. of Washington Seattle United States Dept. of Mathematics Seattle Pacific Univ. United States Intelligent Robotics and Communication Lab. ATR Kyoto Japan Dept. of Systems Innovation Osaka Univ. Japan

ISBN: (纸本)1902956877

As the HRI field evolves, researchers increasingly seek to provide characterizations of sociality in human-robot interaction. But how does one assess whether the characterizations are valid? Using our research on "interaction patterns" as a case in point, this paper offers 5 approaches toward establishing validity: The psychometric approach, literary approach, modeling approach, philosophical approach, and structural approach. We argue that when it comes to validating characterizations of sociality in HRI, too often people ask for evidence of psychometric validity, without clarity of what that involves, and without awareness of the benefits of these other approaches.

关键词： Human robot interaction

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A reliability assessment paradigm for automated video tracking systems

A reliability assessment paradigm for automated video tracki...

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2010 20th International Conference on Pattern Recognition, ICPR 2010

作者： Chen, Chung-Hao Yao, Yi Koschan, Andreas Abidi, Mongi Department of Math and Computer Science North Carolina Central University NC 27713 United States Global Research Center General Electric NY 12309 United States Imaging Robotics and Intelligent Systems Lab. University of Tennessee Knoxville TN 37996 United States

ISBN: (纸本)9780769541099

Most existing performance evaluation methods concentrate on defining separate metrics over a wide range of conditions and generating standard benchmarking video sequences for examining the effectiveness of video tracking systems. In other words, these methods attempt to design a robustness margin or factor for the system. These methods are deterministic in which a robustness factor, for example, 2 or 3 times the expected number of subjects to track or the strength of illumination would be required in the design. This often results in overdesign, thus increasing costs, or underdesign causing failure by unanticipated factors. In order to overcome these limitations, we propose in this paper an alternative framework to analyze the physics of the failure process and, through the concept of reliability, determine the time to failure in automated video tracking systems. The benefit of our proposed framework is that we can provide a unified and statistical index to evaluate the performance of automated video tracking system for a task to be performed. At the same time, the uncertainty problem about a failure process, which may be caused by the system's complexity, imprecise measurements of the relevant physical constants and variables, or the indeterminate nature of future events, can be addressed accordingly based on our proposed framework. © 2010 IEEE.

关键词： Benchmarking

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SLIP running with an articulated robotic leg

SLIP running with an articulated robotic leg

引用

2010 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Marco Hutter C. David Remy Mark A. Höpflinger Roland Siegwart Autonomous Systems Laboratory Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland Autonomous Systems Lab Swiss Federal Institute of Technology (ETHZ) Zurich Switzerland

SLIP models are generally known as one of the best and simplest abstractions describing the spring-like leg behavior found in human and animal running, and have thus been subject to exhaustive investigation. To exploit these findings in real robots, we utilize an operational space controller that projects the behavior of the SLIP model onto the dynamics of an actual segmented robotic leg. Additionally, we introduce a method to compensate for the energetic losses at the impact collisions, which are not accounted for in the simplified SLIP assumptions. This allows the direct application of existing dead-beat control strategies to arbitrary robotic legs, for which we can show that the collision and compensation effects in the actual leg enlarge the regions of stable running and reduce the minimally required locomotion speed. The necessary joint torque profiles can be generated in large part passively, for example by using high compliance series elastic actuators.

关键词： Leg Legged locomotion Springs Joints Aerospace electronics Dynamics

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