IEEE transactions on medical robotics and bionics最新文献_第10页

Highly Interpretable Representation for Multi-Dimensional Tactile Perception 多维触觉感知的高可解释性表征

IEEE transactions on medical robotics and bionics Pub Date : 2024-01-04 DOI: 10.1109/TMRB.2024.3349622

Mei-Jiang Gui;Xiao-Hu Zhou;Xiao-Liang Xie;Shi-Qi Liu;Zhen-Qiu Feng;Hao Li;Tian-Yu Xiang;De-Xing Huang;Bo-Xian Yao;Yong-Gen Ling;Zeng-Guang Hou

{"title":"Highly Interpretable Representation for Multi-Dimensional Tactile Perception","authors":"Mei-Jiang Gui;Xiao-Hu Zhou;Xiao-Liang Xie;Shi-Qi Liu;Zhen-Qiu Feng;Hao Li;Tian-Yu Xiang;De-Xing Huang;Bo-Xian Yao;Yong-Gen Ling;Zeng-Guang Hou","doi":"10.1109/TMRB.2024.3349622","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3349622","url":null,"abstract":"Magnetic tactile perception systems have received increasing attention owing to their simple wiring framework and large-area sensing capabilities. However, existing systems often rely on data-driven methods, which is challenging to extract appropriate tactile representations, especially in complex interaction scenarios. To address such a challenge, this paper realizes a highly interpretable representation of the system’s two-stage conversion process (i.e., from changes in magnetic fields to spatial displacements and subsequently into tactile information) with the magnetic dipole model and dynamic Young’s modulus. Furthermore, the proposed representation method is incorporated into a novel spherical-array-based system for multi-dimensional tactile perception. Comprehensive experiments in simulated and real environments are conducted on four systems with various array arrangements. The proposed method can achieve relative errors of 0.54% and 1.75% under normal and tangential deformations, outperforming traditional data-driven approaches. It is envisaged that this study would benefit a wide range of industrial and domestic applications, such as remote surgery, dexterous manipulation, and human-robot interaction.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139654631","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Simultaneous Polyp and Lumen Detection Framework Toward Autonomous Robotic Colonoscopy 面向自主机器人结肠镜检查的息肉和管腔同步检测框架

IEEE transactions on medical robotics and bionics Pub Date : 2024-01-04 DOI: 10.1109/TMRB.2024.3349623

Wing Yin Ng;Yehui Li;Tianle Pan;Yichong Sun;Qi Dou;Pheng Ann Heng;Philip Wai Yan Chiu;Zheng Li

{"title":"A Simultaneous Polyp and Lumen Detection Framework Toward Autonomous Robotic Colonoscopy","authors":"Wing Yin Ng;Yehui Li;Tianle Pan;Yichong Sun;Qi Dou;Pheng Ann Heng;Philip Wai Yan Chiu;Zheng Li","doi":"10.1109/TMRB.2024.3349623","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3349623","url":null,"abstract":"Colorectal Cancer is one of the deadliest diseases with a high incidence and mortality worldwide. Robotic colonoscopes have been extensively developed to provide alternative solutions for colon screening. Nevertheless, most robotic colonoscopes remain a low autonomy level, which leads to non-intuitive manipulation and limits their clinical translation. This paper proposes a deep learning-based framework for simultaneous polyp and lumen detection, which aims to automates robotic colonoscopes to achieve intelligent and autonomous manipulations in two aspects of navigation and diagnosis. Two fully annotated datasets, including a real colon dataset, with 40186 images, and a colon phantom dataset, are developed to facilitate polyp and lumen detection in both clinical and laboratory environments. Benchmarking of various object detection models achieve an average precision of 0.827, and an average recall of 0.866. Experimental validation is conducted in both a commercialized colon phantom and an ex-vivo porcine colon using an electromagnetically actuated soft-tethered colonoscope as a case study, with the results indicate that the colonoscope can successfully perform autonomous navigation and automatic polyp detection under the proposed unified framework. This work promotes clinical applications of robotic colonoscopy by enhancing its autonomy level with artificial intelligence techniques.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139654722","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Toward Safe and Collaborative Robotic Ultrasound Tissue Scanning in Neurosurgery 在神经外科中实现安全协作的机器人超声组织扫描

IEEE transactions on medical robotics and bionics Pub Date : 2024-01-04 DOI: 10.1109/TMRB.2024.3349626

Michael Dyck;Alistair Weld;Julian Klodmann;Alexander Kirst;Luke Dixon;Giulio Anichini;Sophie Camp;Alin Albu-Schäffer;Stamatia Giannarou

{"title":"Toward Safe and Collaborative Robotic Ultrasound Tissue Scanning in Neurosurgery","authors":"Michael Dyck;Alistair Weld;Julian Klodmann;Alexander Kirst;Luke Dixon;Giulio Anichini;Sophie Camp;Alin Albu-Schäffer;Stamatia Giannarou","doi":"10.1109/TMRB.2024.3349626","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3349626","url":null,"abstract":"Intraoperative ultrasound imaging is used to facilitate safe brain tumour resection. However, due to challenges with image interpretation and the physical scanning, this tool has yet to achieve widespread adoption in neurosurgery. In this paper, we introduce the components and workflow of a novel, versatile robotic platform for intraoperative ultrasound tissue scanning in neurosurgery. An RGB-D camera attached to the robotic arm allows for automatic object localisation with ArUco markers, and 3D surface reconstruction as a triangular mesh using the ImFusion Suite software solution. Impedance controlled guidance of the US probe along arbitrary surfaces, represented as a mesh, enables collaborative US scanning, i.e., autonomous, teleoperated and hands-on guided data acquisition. A preliminary experiment evaluates the suitability of the conceptual workflow and system components for probe landing on a custom-made soft-tissue phantom. Further assessment in future experiments will be necessary to prove the effectiveness of the presented platform.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139654676","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Development and Mobile Deployment of a Stair Recognition System for Human–Robot Locomotion 开发和移动部署用于人机运动的楼梯识别系统

IEEE transactions on medical robotics and bionics Pub Date : 2024-01-04 DOI: 10.1109/TMRB.2024.3349602

Andrew Garrett Kurbis;Alex Mihailidis;Brokoslaw Laschowski

{"title":"Development and Mobile Deployment of a Stair Recognition System for Human–Robot Locomotion","authors":"Andrew Garrett Kurbis;Alex Mihailidis;Brokoslaw Laschowski","doi":"10.1109/TMRB.2024.3349602","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3349602","url":null,"abstract":"Environment sensing and recognition can improve the safety and autonomy of human-robot locomotion, especially during transitions between environmental states such as walking to and from stairs. However, accurate and real-time perception on edge devices with limited computational resources is an open problem. Here we present the development and mobile deployment of StairNet, a vision-based stair recognition system powered by deep learning. Building on ExoNet, the largest open-source dataset of egocentric images of real-world walking environments, we designed a new dataset for stair recognition with over 515,000 images. We trained a lightweight and efficient convolutional neural network for image classification, which predicted complex stair environments with 98.4% accuracy. We also studied different model compression optimization methods and deployed our system on several mobile devices running a custom-designed iOS application with onboard accelerators using CPU, GPU, and/or NPU backend computing. Of the designs that we studied, our highest performing system showed negligible reductions in classification accuracy due to model conversion for mobile deployment and achieved an inference time of 2.75 ms. The high speed and accuracy of StairNet on edge devices opens new opportunities for environment-adaptive control of robotic prosthetic legs, exoskeletons, and other assistive technologies for human locomotion.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139654462","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Evaluation of Communication and Human Response Latency for (Human) Teleoperation 评估（人类）远程操作的通信和人类响应延迟

IEEE transactions on medical robotics and bionics Pub Date : 2024-01-04 DOI: 10.1109/TMRB.2024.3349612

David G. Black;Dragan Andjelic;Septimiu E. Salcudean

{"title":"Evaluation of Communication and Human Response Latency for (Human) Teleoperation","authors":"David G. Black;Dragan Andjelic;Septimiu E. Salcudean","doi":"10.1109/TMRB.2024.3349612","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3349612","url":null,"abstract":"We previously introduced a novel mixed reality teleguidance system dubbed human teleoperation (David Black et al., 2023 and Black and Salcudean, 2023), in which a human (expert) leader and a human (novice) follower are tightly coupled through mixed reality and haptics. Our first evaluation of human teleoperation is in the context of tele ultrasound, in which a sonographer or radiologist’s gestures are copied by a remote novice to carry out an ultrasound examination. In this paper, a communication system suitable for implementation of human teleoperation is presented and characterized in various network conditions, over Ethernet, Wi-Fi, 4G LTE, and 5G. To obtain a full understanding of latency in the system, the human response time is additionally characterized through a series of step response tests with 11 volunteers. The step responses were obtained by tracking the position of, and force exerted by, the human hand in response to a change in the mixed reality target. Different rendering methods were evaluated. The round-trip communication latency is 40 ± 10 ms over 5G, and down to 1 ± 0.6 ms over Ethernet for typical throughputs. The human response time to a step change in position depends on the step magnitude, but is between 485 to 535 ms, while the reaction time to a change in force is 150 to 200 ms. Both lag times are greatly decreased when tracking a smooth motion. Thus, we demonstrate that the system is network agnostic and can achieve good teleoperation performance and secure, low latency communication in appropriate network conditions. This brings the human teleoperation concept a step closer to human trials in a clinical environment, and the presented tools and concepts are applicable to any high-performance teleoperation system, and especially for mixed reality guidance.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139655040","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Image-Based Force Localization and Estimation of a Micro-Scale Continuum Guidewire Robot 基于图像的微尺度连续导丝机器人力定位和估算

IEEE transactions on medical robotics and bionics Pub Date : 2024-01-04 DOI: 10.1109/TMRB.2024.3349598

Timothy A. Brumfiel;Ronghuai Qi;Sharan Ravigopal;Jaydev P. Desai

{"title":"Image-Based Force Localization and Estimation of a Micro-Scale Continuum Guidewire Robot","authors":"Timothy A. Brumfiel;Ronghuai Qi;Sharan Ravigopal;Jaydev P. Desai","doi":"10.1109/TMRB.2024.3349598","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3349598","url":null,"abstract":"Many intravascular procedures are prefaced by the placement of a slender wire called a guidewire. Steering these guidewires is met with challenges in controlling the distal end along with the possibility of damaging vessel walls, or even perforation, which can be fatal. To this end, utilizing robotic guidewires can improve steerability and enable force feedback through intrinsic force sensing. Enabling force sensing contains challenges such as discrete sensor placements in continuous structures and non-unique force distributions for a given deflection. In this work, we utilize image feedback and a Cosserat rod model to estimate and localize forces along the body of a micro-scale tendon-driven guidewire robot. This includes additional modeling of friction and hysteresis that is often neglected for force sensing. The model is tested on a variety of notched nitinol tubes under gravity loading with the shape predictions having an average RMSE of 0.46 mm. Utilization of friction and hysteresis models provide shape predictions with an RMSE of 1.22 mm compared to an uncompensated model (RMSE \u0000<inline-formula> <tex-math>${=}$ </tex-math></inline-formula>\u0000 1.62 mm) for approximately 180° bends. The methods presented are able to localize forces with an average error of 4.79 mm (5.15% of the length) while force magnitudes are estimated with an average error of 13.03 mN.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139654632","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Brace-Type Wearable Robot for Adaptive Lumbar Stabilization: A Pilot Experimental Study 用于自适应腰椎稳定的支架式可穿戴机器人：试点实验研究

IEEE transactions on medical robotics and bionics Pub Date : 2024-01-04 DOI: 10.1109/TMRB.2024.3349606

Joowan Kim;Woosup Cho;Jaehoon Sim;Keewon Kim;Sungun Chung;Jaeheung Park

{"title":"Brace-Type Wearable Robot for Adaptive Lumbar Stabilization: A Pilot Experimental Study","authors":"Joowan Kim;Woosup Cho;Jaehoon Sim;Keewon Kim;Sungun Chung;Jaeheung Park","doi":"10.1109/TMRB.2024.3349606","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3349606","url":null,"abstract":"Lumbar braces are recommended for lumbar diseases or low back pain, particularly for use in activities of daily living. However, prolonged use of lumbar braces can lead to functional limitations and side effects such as muscle atrophy and psychological dependence due to their static nature. To address these limitations, this study proposes a wearable robot in the form of a lumbar brace to provide adaptive lumbar stabilization. The proposed robot uses an actuator to drive a tension wire, which applies force to the pulley mechanism located on both sides of the brace. This mechanism provides dynamic abdominal pressure to the torso. The assisting force is determined based on the lumbar motion, which is measured using inertial sensors. By providing abdominal pressure and dynamic support, the proposed robot is able to compensate for the shortcomings of current braces and increase lumbar stability. To assess the effectiveness, a pilot experiment was conducted with five healthy subjects. The subjects performed lumbar-specific exercises, Electromyography and linear acceleration were taken to evaluate the impact on muscle activity and lumbar stability. The results indicated that proposed device is possible to reduce the burden on the muscles and increase the spine stability by dynamically providing abdominal pressure.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139654637","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The SATA-Drive: A Modular Robotic Drive for Reusable Steerable Laparoscopic Instruments SATA 驱动器：用于可重复使用的可转向腹腔镜器械的模块化机器人驱动器

IEEE transactions on medical robotics and bionics Pub Date : 2023-12-06 DOI: 10.1109/TMRB.2023.3339846

Tomas Lenssen;Jenny Dankelman;Tim Horeman

{"title":"The SATA-Drive: A Modular Robotic Drive for Reusable Steerable Laparoscopic Instruments","authors":"Tomas Lenssen;Jenny Dankelman;Tim Horeman","doi":"10.1109/TMRB.2023.3339846","DOIUrl":"https://doi.org/10.1109/TMRB.2023.3339846","url":null,"abstract":"Introduction: Most robotic instruments and their drives still risk residual contamination due to cleaning complexities, rendering them limited reusable, and tend to have larger instruments than the 5mm laparoscopic standard. The novel steerable laparoscopic SATA-LRS uses modularity for cleanability and exchangeability. The SATA-Drive: a robotic driver designed for the actuation of a 3mm scaled version of the SATA-LRS is presented. Methods: A modular, expandable gear mechanism was designed to efficiently rotate and translate the instrument shafts. The 3mm SATA-LRS is controlled as proof. An user-experiment is conducted to test the (de)coupling of the instrument to and from the drive. Results: A video shows the SATA-Driver successfully articulating, rotating and grasping the end-effector. End-effector dis- and reassembly is possible in 36 (13 SD) seconds, while complete instrument coupling requires 28(8 SD) seconds and de-coupling requires 16 (7 SD) seconds. Discussion: A non-surgical robot arm, mounted with the SATA-drive has effectively been transformed into a system similar to robot assisted laparoscopy. The modularity of the drive’s segmented build can easily be adapted and could benefit the adoption of future instruments. The SATA-LRS’s cleanability features and its end-effector changes without disassembly are expected to benefit medical robotics. The 3mm SATA-LRS shows the instrument’s potential for mini-laparoscopy.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10345695","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139654633","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design and Accuracy Assessment of an Automated Image-Guided Robotic Osteotomy System 自动图像引导机器人截骨系统的设计与精度评估

IEEE transactions on medical robotics and bionics Pub Date : 2023-12-06 DOI: 10.1109/TMRB.2023.3339876

Prathamesh V. Bhagvath;Philippe Mercier;Andrew F. Hall

{"title":"Design and Accuracy Assessment of an Automated Image-Guided Robotic Osteotomy System","authors":"Prathamesh V. Bhagvath;Philippe Mercier;Andrew F. Hall","doi":"10.1109/TMRB.2023.3339876","DOIUrl":"https://doi.org/10.1109/TMRB.2023.3339876","url":null,"abstract":"Image-guided robotic spine surgery systems, currently used only for pedicle screw placement, have been in clinical use since 2004. Robotic spine osteotomy (bone removal and shaping), however, is still in the research phase. This article presents the development and evaluation of a KUKA-based image-guided robotic system that automates the osteotomy process, from automatic milling path determination to milling execution, using laminectomy as the experimental paradigm. An approach to quantify milling (overall path) and margin (from thecal sac penetration) accuracy is also described. System accuracy was evaluated in two experiments. In the first, common preoperative images and image fiducial points were used to perform a bilateral laminectomy on 10 identical 3D-printed vertebrae phantoms. In the second, individual preoperative images with individually identified fiducial points were used to perform a bilateral laminectomy on 4 identical 3D-printed vertebrae phantoms. The accuracy results for the first experiment were 0.19 ± 0.16 mm (milling) and 0.69 ± 0.37 mm (margin). For the second, the accuracy results were 0.24 ± 0.15 mm and 0.42 ± 0.26 mm, respectively. The results compare favorably to current accepted clinical standards for laminectomy. The system developed here implements a valuable new role for robotics in spinal surgery.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10345751","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139654883","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Development of a 2-DoFs Actuated Wrist for Enhancing the Dexterity of Myoelectric Hands 开发用于增强肌电手灵活性的 2-DoFs 驱动手腕

IEEE transactions on medical robotics and bionics Pub Date : 2023-12-01 DOI: 10.1109/TMRB.2023.3336993

Nicolò Boccardo;Michele Canepa;Samuel Stedman;Lorenzo Lombardi;Andrea Marinelli;Dario Di Domenico;Riccardo Galviati;Emanuele Gruppioni;Lorenzo De Michieli;Matteo Laffranchi

{"title":"Development of a 2-DoFs Actuated Wrist for Enhancing the Dexterity of Myoelectric Hands","authors":"Nicolò Boccardo;Michele Canepa;Samuel Stedman;Lorenzo Lombardi;Andrea Marinelli;Dario Di Domenico;Riccardo Galviati;Emanuele Gruppioni;Lorenzo De Michieli;Matteo Laffranchi","doi":"10.1109/TMRB.2023.3336993","DOIUrl":"https://doi.org/10.1109/TMRB.2023.3336993","url":null,"abstract":"Developing a prosthetic system that emulates the complexity of the human upper limb is a formidable challenge. Unfortunately, abandonment rates for such devices remain high, primarily due to the limited intuitiveness of control and poor dexterity. Specifically, inadequate wrist mobility, i.e., the absence of actively controllable flexion-extension and pronation-supination degrees of freedom, often results in subpar dexterity in upper limb prostheses. This work introduces an anthropomorphic wrist prosthesis featuring active flexion-extension and pronation-supination capabilities, integrated with the poly-articulated Hannes hand. The central focus of this study is to compare the functionality of this prosthetic system with the natural wrist movement of healthy participants, demonstrating that the biomechanical range of motion falls within that of the mechatronic system. The overarching goal is to improve the performance of trans-radial prostheses by enhancing their dexterity and overall functionality. Our preliminary findings from healthy subjects demonstrate that the incorporation of a 2 Degrees-of-Freedom active biomimetic wrist into the prosthesis can approximate human-like capabilities in upper limb prostheses. Moreover, the resulting development confirm its enhanced dexterity when operated by amputees. These results provide valuable insights into the potential applications of this technology for amputees, offering a basis for future investigations.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139655039","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0