IEEE transactions on medical robotics and bionics最新文献_第4页

IEEE Transactions on Medical Robotics and Bionics Society Information 医学机器人与仿生学学会汇刊

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-08-17 DOI: 10.1109/TMRB.2026.3716576

引用次数: 0

Guest Editorial Soft and Continuum Robots for Surgery 手术用软机器人和连续机器人

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-08-17 DOI: 10.1109/TMRB.2026.3716775

Giulio Dagnino;Anzhu Gao;Guang-Zhong Yang

引用次数: 0

Manipulation Degree: A Novel Metric to Evaluate the Maneuverability of Magnetic Guidewires 操纵度：一种评价磁导丝可操作性的新指标

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-06-02 DOI: 10.1109/TMRB.2026.3699221

Bo-Xian Yao;Xiao-Hu Zhou;Mei-Jiang Gui;Xiao-Liang Xie;Shi-Qi Liu;Shuang-Yi Wang;Guo-Tao Li;Yong-Qiang Tang;Ying-Tian Li;Zeng-Guang Hou

{"title":"Manipulation Degree: A Novel Metric to Evaluate the Maneuverability of Magnetic Guidewires","authors":"Bo-Xian Yao;Xiao-Hu Zhou;Mei-Jiang Gui;Xiao-Liang Xie;Shi-Qi Liu;Shuang-Yi Wang;Guo-Tao Li;Yong-Qiang Tang;Ying-Tian Li;Zeng-Guang Hou","doi":"10.1109/TMRB.2026.3699221","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3699221","url":null,"abstract":"Maneuverability is a critical factor in the clinical advantages of magnetic guidewires (magwires) for minimally invasive vascular interventions. However, the absence of standardized evaluation metrics often results in inconsistent or subjective assessments. This study proposes the <italic>Manipulation Degree, a novel metric that quantitatively evaluates maneuverability of magwires in an objective and standardized manner. The Manipulation Degree is defined by two key factors: the workspace area, which is the total surface area reachable by the magwires tip, and instability. It exhibits a positive correlation with workspace area and a negative correlation with instability, offering a concise evaluation framework. Experimental validation using three representative magwires demonstrates that increasing the number of magnetic segments and decreasing the magwire’s diameter increase the Manipulation Degree. Furthermore, magwires exhibiting a high Manipulation Degree in less constrained scenarios maintain this advantage in highly constrained scenarios. A strong linear correlation (<inline-formula> <tex-math>$R^{2} geq 0.99$ </tex-math></inline-formula>) is also observed between the Manipulation Degree and both delivery time and translation force, highlighting its predictive value for clinical performance. These findings establish the Manipulation Degree as a robust and practical metric for assessing the maneuverability of magwires, offering insights for the design optimization of magwires.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1408-1419"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148748956","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

NeuroKinect: A Deep Learning Framework for Hand Kinematics Reconstruction From EEG Signals 神经kinect：基于脑电图信号的手部运动重建的深度学习框架

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-06-02 DOI: 10.1109/TMRB.2026.3699211

Sidharth Pancholi;Amita Giri

{"title":"NeuroKinect: A Deep Learning Framework for Hand Kinematics Reconstruction From EEG Signals","authors":"Sidharth Pancholi;Amita Giri","doi":"10.1109/TMRB.2026.3699211","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3699211","url":null,"abstract":"Brain-Computer Interface (BCI) technology facilitates direct brain-to-device communication, empowering individuals to control their surroundings through brain signals. However, prevalent BCI methods encounter challenges: a) time-intensive preprocessing, b) improper loss function use, and c) non-intuitive hyperparameter settings. To overcome these challenges, we propose NeuroKinect, a novel deep learning framework designed to reconstruct hand kinematics from electroencephalography (EEG) signals. Trained on Grasp and Lift (GAL) task data with streamlined preprocessing, NeuroKinect enhances computational efficiency. NeuroKinect introduces a task-specific loss function, <inline-formula> <tex-math>${mathcal {L}}_{text {Stat}}$ </tex-math></inline-formula>, which balances correlation and error metrics to better align predicted and actual motion. Driven by scientific intuition, we analyze motor task dynamics via event-related potentials and brain source localization to optimize hyperparameters. Extensive evaluation on EEG data collected during grasp-and-lift tasks demonstrates NeuroKinect’s ability to accurately decode 3D hand movement trajectories. The model achieves strong correlation between predicted and actual motion across all spatial dimensions (mean Pearson coefficients: <inline-formula> <tex-math>$0.92pm 0.015$ </tex-math></inline-formula> for X, <inline-formula> <tex-math>$0.93pm 0.019$ </tex-math></inline-formula> for Y, and <inline-formula> <tex-math>$0.83pm 0.018$ </tex-math></inline-formula> forzdimensions), supported by low mean squared error values (MSE: <inline-formula> <tex-math>$0.016pm 0.001$ </tex-math></inline-formula> for X, <inline-formula> <tex-math>$0.015pm 0.002$ </tex-math></inline-formula> for Y, and <inline-formula> <tex-math>$0.017pm 0.005$ </tex-math></inline-formula> for Z). These results highlight NeuroKinect’s potential for enhancing real-time BCI systems for motor control and rehabilitation.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1349-1360"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148747507","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 Bio-Inspired Ankle-Foot Prosthesis With Tactile Sensing Capability to Facilitate Reflex Control of Toe-Gripping Function During Unexpected Perturbations 一种具有触觉感应能力的仿生踝足假体，在意外扰动下促进脚趾抓握功能的反射控制

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-07-13 DOI: 10.1109/TMRB.2026.3712803

Yangyang Xu;YuXin Ma;Ji Huang;Hu Luo;Qingjun Nong;Xiang Geng;Xin Ma;Wen-Ming Chen

{"title":"A Bio-Inspired Ankle-Foot Prosthesis With Tactile Sensing Capability to Facilitate Reflex Control of Toe-Gripping Function During Unexpected Perturbations","authors":"Yangyang Xu;YuXin Ma;Ji Huang;Hu Luo;Qingjun Nong;Xiang Geng;Xin Ma;Wen-Ming Chen","doi":"10.1109/TMRB.2026.3712803","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3712803","url":null,"abstract":"Existing ankle-foot prostheses predominantly focus on structural-level functional replication of the biological joint, yet fail to adequately address the essential role of active plantar sensation for pressure and shear forces. In the absence of this sensory mechanism, restoration of the force feedback loop and generation of reflex-like responses necessary for dynamic balance are compromised, resulting in diminished stability, particularly under unexpected perturbations. In this study, a novel bio-inspired ankle-foot prosthesis was developed, emulating the reflex control behavior of human toes. The prosthesis incorporates a rotation-translation coupled metatarsophalangeal joint (MTPJ) to enable active ground-gripping movements. Importantly, a vision-based multidimensional tactile-sensing toe module was integrated for real-time monitoring of plantar shear force distribution. A reflexive control mechanism was further implemented, triggering fast and involuntary toe-gripping responses within tens of milliseconds upon detecting ground perturbations, thereby exhibiting biological “perception-response” characteristics. Experimental results demonstrated that the prosthesis reproduced human-like shear force patterns and achieved a response latency of approximately 93 ms, closely aligning with biological reflex times. The proposed prosthesis demonstrated enhanced stability and adaptability under unexpected perturbations, thereby validating the feasibility of embedding toe-inspired biomechanical mechanisms into advanced prosthetic systems.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1311-1322"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148747641","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

Off-Axis Compliant RCM Joint With Near-Isotropic Stiffness and Minimal Parasitic Error 近各向同性刚度和最小寄生误差的离轴柔性RCM关节

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-07-13 DOI: 10.1109/TMRB.2026.3712832

Federico Mariano;Elena De Momi;Giovanni Berselli;Jovana Jovanova;Just L. Herder;Leonardo S. Mattos

{"title":"Off-Axis Compliant RCM Joint With Near-Isotropic Stiffness and Minimal Parasitic Error","authors":"Federico Mariano;Elena De Momi;Giovanni Berselli;Jovana Jovanova;Just L. Herder;Leonardo S. Mattos","doi":"10.1109/TMRB.2026.3712832","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3712832","url":null,"abstract":"This paper presents an off-axis, monolithic compliant Remote Center of Motion (RCM) joint for neuroendoscopic manipulation, combining near-isotropic stiffness with minimal parasitic motion. Based on the Tetra II concept, the end-effector is placed outside the tetrahedral flexure to improve line of sight, facilitate sterilization, and allow rapid tool release. Design proceeds in two stages: mobility panels are sized with a compliance-based isotropy objective, then constraining panels are synthesized through finite-element feasibility exploration to trade stiffness isotropy against RCM drift. The joint is modeled with beam elements and validated via detailed finite-element analyses, including fatigue-bounded stress constraints. A PA12 prototype is fabricated by selective laser sintering and characterized on a benchtop: a 2 N radial load is applied at the end-effector while a 6-DOF electromagnetic sensor records pose. The selected configuration produces a stiffness-ellipse principal axis ratio (PAR) of 1.37 and a parasitic-to-useful rotation ratio (PRR) of 0.63%. Under a 4.5° commanded rotation, the predicted RCM drift remains sub-millimetric (<inline-formula> <tex-math>$0.015-0.172$ </tex-math></inline-formula> mm). Fatigue analysis predicts a usable rotational workspace of <inline-formula> <tex-math>$12.1^{circ } -34.4^{circ } $ </tex-math></inline-formula> depending on direction. Experiments reproduce the simulated directional stiffness trend with typical deviations of <inline-formula> <tex-math>$6-30%$ </tex-math></inline-formula>, demonstrating a compact, fabrication-ready RCM module for constrained surgical access.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1264-1275"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11606475","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148747894","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

Gait Analysis Using mmWave Radar: A Skeleton-Based Approach With Point Cloud Transformer 毫米波雷达步态分析：基于骨架的点云变压器方法

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-07-16 DOI: 10.1109/TMRB.2026.3713991

Jiahao Tang;Shuting Hu;Siyang Cao;Jennifer Barton;Melvin G. Hector;Mindy J. Fain;Nima Toosizadeh

{"title":"Gait Analysis Using mmWave Radar: A Skeleton-Based Approach With Point Cloud Transformer","authors":"Jiahao Tang;Shuting Hu;Siyang Cao;Jennifer Barton;Melvin G. Hector;Mindy J. Fain;Nima Toosizadeh","doi":"10.1109/TMRB.2026.3713991","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3713991","url":null,"abstract":"This study presents a skeleton-based approach for gait analysis using millimeter-Wave radar sensors. mmWave radar is non-intrusive, privacy-preserving, unaffected by lighting conditions, and both cost-effective and energy-efficient. Current radar-based gait analysis methods typically use micro-Doppler signatures to identify walking phases and extract features. In contrast, our approach leverages a pose-estimation model to reconstruct the human skeleton from radar point cloud data, enabling comprehensive full-body analysis. This enables a more intuitive and detailed gait analysis while also allowing for direct signal-level comparisons with wearable sensor-based approaches. In our study, we recruited 78 participants and conducted gait tests across four distinct environments to evaluate the effectiveness of the proposed method. The results showed that gait features, including stride time, stride length, and stride velocity, exhibited good to excellent Intraclass Correlation Coefficients (ICCs) when compared with wearable sensors. Additionally, we are the first to analyze sub-phase features such as swing, stance, and double support using a radar system. Our findings show that mmWave radar sensors can accurately capture stride-level gait features, while their performance is less effective for detailed sub-phase analysis. This study underscores the significant potential of mmWave radar for gait analysis in older adults, providing a low-cost, non-contact, and privacy-preserving solution.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1299-1310"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148747993","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

MADRA: Quadruped Robotic Guide Dog 四足机器导盲犬

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-07-13 DOI: 10.1109/TMRB.2026.3712814

Maximiliano Delgado;Hemendra Worlikar;Ian McCabe;Andrew Simpkin;Tejaswini Manavi;David Tiernan;Jack Pinder;Derek O'Keeffe

引用次数: 0

A Semi-Active Ankle Prosthesis With Automatic Transitions Between Passive and Active Modes 具有主动和被动模式自动转换的半主动踝关节假体

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-07-16 DOI: 10.1109/TMRB.2026.3713999

Vishnu Aishwaryan Subra Mani;Connelly Ray Buchanan;Lukas Gabert;Tommaso Lenzi

{"title":"A Semi-Active Ankle Prosthesis With Automatic Transitions Between Passive and Active Modes","authors":"Vishnu Aishwaryan Subra Mani;Connelly Ray Buchanan;Lukas Gabert;Tommaso Lenzi","doi":"10.1109/TMRB.2026.3713999","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3713999","url":null,"abstract":"The most commonly prescribed ankle/foot prostheses are energy storage and return (ESR) devices, which have good performance in level ground walking, but have limited functionality in tasks requiring ankle mobility, such as stair ascent or descent. Powered prostheses aim to address this limitation by actively controlling the joint with actuators, but they tend to be heavier and taller and become unusable when the battery is depleted, hindering their clinical adoption. In this paper, we present a semi-active ankle prosthesis that integrates the energy storage and return characteristics of a passive prosthesis with the active joint articulation of a powered prosthesis. The proposed prosthesis combines a novel brake mechanism with a series elastic actuator to enable <italic>Passive and <italic>Active operation modes within a compact build height (141 mm) and lightweight (1.4 kg without batteries) form factor. Experimental validation with one lower-limb amputee demonstrates that the proposed prosthesis reproduces the gait dynamics of a passive prosthesis, independent of battery charge, in <italic>Passive mode, and matches the range of motion and actuation capabilities of a powered device during stair ascent and sit-to-stand transitions in <italic>Active mode. Automatic transitions between modes within a gait cycle allow for incline adaptation. Moreover, automatic transitions between gait cycles allow for seamless transitions between passive walking and active stair ambulation. This combination of functionalities has never been demonstrated in an ankle prosthesis and has the potential to improve mobility among the amputee population.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1336-1348"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11612950","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148748773","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

Tele-Operated Robotic System for Endoscopic Diagnosis in Otolaryngology 用于耳鼻喉科内窥镜诊断的遥控机器人系统

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-07-13 DOI: 10.1109/TMRB.2026.3712816

Seongbo Shim;Deokgi Jeung;Jae-Min Shin;Tae Hoon Kim;Joonho Seo

{"title":"Tele-Operated Robotic System for Endoscopic Diagnosis in Otolaryngology","authors":"Seongbo Shim;Deokgi Jeung;Jae-Min Shin;Tae Hoon Kim;Joonho Seo","doi":"10.1109/TMRB.2026.3712816","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3712816","url":null,"abstract":"This study presents a tele-operated robotic system that enables remote nasal endoscopy for respiratory disease diagnosis. The system consists of a leader device and a follower robot based on a Stewart platform, providing precise and compact endoscopic manipulation. To ensure sufficient diagnostic workspace while maintaining a small footprint, an insertion mechanism with translational and rotational joints is integrated into the robot. The leader–follower architecture decouples robot motion, allowing intuitive and independent control of insertion and orientation. For enhanced safety, an image-based automatic insertion strategy is activated in non-contact regions and combined with a collision warning algorithm during advancement. In addition, a three-dimensional volumetric model of the nasal cavity is reconstructed using monocular depth estimation and SLAM to provide spatial context after endoscopic image acquisition. Experimental validation demonstrated the technical feasibility of the proposed platform. The leader–follower trajectory tracking experiment without insertion mechanism actuation yielded a root-mean-square error of 2.33 mm. In phantom experiments, the 3D reconstruction error of the nasal cavity model was 1.32 mm. The proposed system has the potential to reduce infection risks associated with nasal endoscopic examinations, thereby potentially improving the safety and convenience of remote diagnosis.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1143-1151"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148749752","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