IEEE transactions on medical robotics and bionics最新文献_第5页

Development of a High-Precision and Large-Range FBG-Based Sensor Inspired by a Crank-Slider Mechanism for Wearable Measurement of Human Knee Joint Angles 受曲柄滑块机制启发开发基于 FBG 的高精度大范围传感器，用于穿戴式人体膝关节角度测量

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-19 DOI: 10.1109/TMRB.2024.3464096

Kaifeng Wang;Aofei Tian;Yupeng Hao;Chengzhi Hu;Chaoyang Shi

{"title":"Development of a High-Precision and Large-Range FBG-Based Sensor Inspired by a Crank-Slider Mechanism for Wearable Measurement of Human Knee Joint Angles","authors":"Kaifeng Wang;Aofei Tian;Yupeng Hao;Chengzhi Hu;Chaoyang Shi","doi":"10.1109/TMRB.2024.3464096","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464096","url":null,"abstract":"This article proposes a fiber Bragg grating (FBG) based angle sensor with an extensive measurement range and high precision for human knee joint measurement. The proposed sensor mainly comprises an angle-linear displacement conversion cam, a crank-slider mechanism-inspired conversion flexure, an optical fiber embedded with an FBG element, and a sensor package. The cam transforms the wide-range knee angle input into vertical linear displacement output. The conversion flexure further converts such vertical displacement into a reduced horizontal displacement/stretching applied to the optical fiber with a motion scale ratio of 6:1. The flexure design features a symmetrical structure to improve stability and depress hysteresis. The fiber is suspended on the flexure’s output beams with a two-point pasting configuration. Both theory analysis and finite element method (FEM)-based simulations revealed the linear relationship between the input angle and the fiber strain. Static and dynamic experiments have verified the performance of the proposed sensor, demonstrating a sensitivity of 62.03 pm/° with a small linearity error of 1.36% within [0, 140°]. The root mean square errors (RMSE) were 0.72° and 0.84° for angle velocities of 80°/s and 350°/s, respectively. Wearable experiments during sitting and walking have been performed to validate the effectiveness of the proposed sensor.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600324","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

Single-Motor Ultraflexible Robotic (SMUFR) Humanoid Hand 单电机超柔性机器人 (SMUFR) 人形手

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-19 DOI: 10.1109/TMRB.2024.3464107

Quan Xiong;Dannuo Li;Xuanyi Zhou;Wenci Xin;Chao Wang;Jonathan William Ambrose;Raye Chen-Hua Yeow

{"title":"Single-Motor Ultraflexible Robotic (SMUFR) Humanoid Hand","authors":"Quan Xiong;Dannuo Li;Xuanyi Zhou;Wenci Xin;Chao Wang;Jonathan William Ambrose;Raye Chen-Hua Yeow","doi":"10.1109/TMRB.2024.3464107","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464107","url":null,"abstract":"Humanoid robotic hands have significant potential in easing human burden and augmenting human labor. This paper introduces the SMUFR hand, a compliant and dexterous robotic humanoid hand powered by tendon-driven mechanisms, and features flexible beam-based bending joints serving as rotary joints with bidirectional bending compliance that ensure safety during human-robot interaction. Despite its light weight of only 363 g without remote transmission and actuation components, the SMUFR hand can grasp and support loads of up to 4.2 kg in various orientations, manipulate objects of different sizes and shapes, and even operate underwater. Of particular note is the SMUFR hand’s lightweight and compact one-to-more actuation system, comprising six rotary pneumatic clutches (RPC) for six active Degrees of Freedom (DoFs), all powered by a single motor. Each RPC, weighing 75 g, can exert up to 23 N force on the tendon. This innovative transmission system distributes the power of a single motor across five fingers and holds potential for configuring additional RPCs. We also integrated all the components on a compact wearable vest for potential mobile humanoid robotic applications. Additionally, a mathematical model was developed to predict tendon force and joint bending using the constant curvature deformation hypothesis. Experimental validation demonstrates the durability of both the RPC and the beam-based fingers of the SMUFR hand, which are capable of enduring up to 22,000 and 30,000 cycles, respectively.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600322","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

Autonomous Robotic System for Carotid Artery Ultrasound Scanning With Visual Servo Navigation 利用视觉伺服导航进行颈动脉超声扫描的自主机器人系统

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-19 DOI: 10.1109/TMRB.2024.3464109

Ziwen Wang;Yingying Han;Baoliang Zhao;Haiqin Xie;Liang Yao;Bing Li;Max Q.-H. Meng;Ying Hu

{"title":"Autonomous Robotic System for Carotid Artery Ultrasound Scanning With Visual Servo Navigation","authors":"Ziwen Wang;Yingying Han;Baoliang Zhao;Haiqin Xie;Liang Yao;Bing Li;Max Q.-H. Meng;Ying Hu","doi":"10.1109/TMRB.2024.3464109","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464109","url":null,"abstract":"Ultrasound (US) examination is widely used to diagnose carotid artery plaque, which requires the sonographer to guide the probe to scan along a specific path for complete coverage of the carotid artery region. Meanwhile, stable probe-neck interaction is important for high-quality image acquisition. In this study, a robotic system for autonomous carotid US scanning is proposed. To realize the autonomous visual servo movement of the probe, an object tracking method based on improved Siamese network is proposed. Meanwhile, a local quality assessment algorithm is proposed to ensure that carotid ultrasound images are clear and desirable for diagnosis. To address the issue of poor probe-neck contact and loss of carotid object during ultrasound scanning, an automatic recovery control method is proposed to ensure the continuity of the scanning process without the need to stop and restart the scanning. Experimental results show that the robotic system can successfully navigate the probe to move along a path that meets the clinical standard. In addition, the robot can autonomously rediscover the object and return to the normal scanning state if a stuck condition occurs.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600323","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

Rehabilitation Glove With Soft Inflatable Actuators for Precision Grasping: Design, Fabrication, Modeling and Preliminary Evaluation 用于精确抓取的带有软充气致动器的康复手套：设计、制造、建模和初步评估

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-19 DOI: 10.1109/TMRB.2024.3464115

Mohammad Mahdi Dalaee;Mohammad Zareinejad;Abdolreza Ohadi;Parsa Kabir

{"title":"Rehabilitation Glove With Soft Inflatable Actuators for Precision Grasping: Design, Fabrication, Modeling and Preliminary Evaluation","authors":"Mohammad Mahdi Dalaee;Mohammad Zareinejad;Abdolreza Ohadi;Parsa Kabir","doi":"10.1109/TMRB.2024.3464115","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464115","url":null,"abstract":"The hand is essential to a human’s daily activities. To rehabilitate patients with hand function disorders, the first step is the extension and flexion of fingers and then regaining the ability to pinch objects. A device suitable for pinch grasping rehabilitation has to be lightweight, small relative to a hand, work in a safe air pressure range, and produce enough range of motion and force. In this paper, a glove with the mentioned characteristics is designed, fabricated, and evaluated. The actuators used in the glove have undergone force and range of motion tests that show promising outputs, such as 3N of force at the tip of the finger, that is enough to pick a 240g object and sufficient range of motion for each joint to perform the box and block test. A model has been developed to be used in designing the device in accordance with the patient’s needs. This model can also be used to identify the stiffness of each knuckle to conduct better rehabilitation methods. The model was verified by being applied to a dummy finger. Furthermore, an actuation pack was developed and evaluated to enable device portability in everyday use conditions.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600313","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

Repetitive Control of Knee Interaction Torque via a Lower Extremity Exoskeleton for Improved Transparency During Walking 通过下肢外骨骼重复控制膝关节互动扭矩，提高行走时的透明度

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-19 DOI: 10.1109/TMRB.2024.3464119

Robert L. McGrath;Fabrizio Sergi

{"title":"Repetitive Control of Knee Interaction Torque via a Lower Extremity Exoskeleton for Improved Transparency During Walking","authors":"Robert L. McGrath;Fabrizio Sergi","doi":"10.1109/TMRB.2024.3464119","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464119","url":null,"abstract":"We developed, implemented, and assessed the performance of two forms of plug-in type repetitive controllers (RC) for enhancing the transparency of a lower extremity exoskeleton that operates to support walking function. One controller is a first order RC (SING) consisting of a single period matched to the self-selected cadence of the participant. The second is a novel ‘parallel’ RC (PARA) which consists of a library of integrated RCs with varying periods, intended to accommodate a wider range of gait cycle times. We assessed the effects of both RCs under free cadence walking (FREE) and when walking with a metronome prescribing a consistent cadence matching the participants’ self-selected value. Both conditions were evaluated both at fixed speed and under user-driven treadmill control (UDT), where the treadmill speed was regulated by the user’s anterior/posterior position on the treadmill. The implementation of RC to the knee joint of the ALEX II exoskeleton lead to a significant reduction in torque error of 10-15% at the knee joint during swing and smaller, non-significant effects at the hip joint. While the PARA RC reduced knee torque error more than the SING RC during the FREE cadence condition, a 15% reduction vs. 10% reduction, the difference between the two controllers was not statistically significant. During the UDT sections of walking conditions, participants increased GS under both the SING and PARA RC types. After controlling for the increase in torque error associated with speed, both the PARA and the SING controller reduced TE at the knee joint during swing relative to baseline by 13% and 14%, respectively, with no significant effects to the hip joint. Our work presents a novel formulation of RC and demonstrates the feasibility of applying RC to a robotic exoskeleton joint to assist walking. Future work should be geared toward improving the gait cycle prediction algorithm and developing robust methods for accounting for impact dynamics.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600398","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

Dynamic Reconfiguration for Multi-Magnet Tracking in Myokinetic Prosthetic Interfaces 肌动假肢接口中多磁体跟踪的动态重构

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-19 DOI: 10.1109/TMRB.2024.3464093

Sergio A. Pertuz Mendez;Davi De Alencar Mendes;Marta Gherardini;Daniel M. Muñoz;Helon Vicente Hultmann Ayala;Christian Cipriani

{"title":"Dynamic Reconfiguration for Multi-Magnet Tracking in Myokinetic Prosthetic Interfaces","authors":"Sergio A. Pertuz Mendez;Davi De Alencar Mendes;Marta Gherardini;Daniel M. Muñoz;Helon Vicente Hultmann Ayala;Christian Cipriani","doi":"10.1109/TMRB.2024.3464093","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464093","url":null,"abstract":"Recently myokinetic interfaces have been proposed to exploit magnet tracking for controlling bionic prostheses. This interface derives information about muscle contractions from permanent magnets implanted into the amputee’s forearm muscles. Machine learning models have been mapped on Field Programmable Gate Arrays (FPGAs) to track a single magnet, achieving good precision and computational efficiency, but consuming a large area and hardware resources. To track several magnets, here we propose a novel solution based on dynamic partial reconfiguration, switching three prediction models: a linear regressor, a radial basis function neural network, and a multi-layer perceptron neural network. A system with five magnets and 128 magnetic sensor inputs was used and experimental data were collected to train a system with five hardware predictors. To reduce the complexity of the models, we applied principal component analysis, ranking by correlation the number of inputs of each model. This run-time reconfigurable solution allows the circuits to be reconfigured in order to select the most reliable predictor model for each magnet while the rest of the circuit continues to operate extracting the most significant information from the captured signals. Thus, the proposed solution remarkably reduces the hardware occupation and improves the computational efficiency compared to previous solutions.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600315","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

Self-Steering Catheters for Neuroendovascular Interventions 用于神经内血管介入治疗的自转向导管

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-19 DOI: 10.1109/TMRB.2024.3464123

Colette Abah;Jared P. Lawson;Rohan Chitale;Nabil Simaan

{"title":"Self-Steering Catheters for Neuroendovascular Interventions","authors":"Colette Abah;Jared P. Lawson;Rohan Chitale;Nabil Simaan","doi":"10.1109/TMRB.2024.3464123","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464123","url":null,"abstract":"The size limitations and tortuosity of the neurovasculature currently exceed the capabilities of existing robotic systems. Furthermore, safety considerations require a fail-safe design whereby some passive compliance is used for an added layer of safety and for sensing the lateral load on the steerable portion of the catheter. To address these needs, we propose a novel multi-articulated robotic catheter technology that aims to increase technical precision, reduce procedural time and radiation exposure, and enable the semi-automation of catheters during neuroendovascular procedures. This catheter uses joint-level sensing and fluoroscopic imaging to actively bend in two separate planes. Its design also uses series-elastic actuation for increased safety and active compliance (self-steering). We present the design, kinematic modeling, and calibration of this system. A multi-mode real-time control architecture of the system was implemented and experimentally validated. We demonstrate the use of the robotic catheter for branch selection, insertion in an unknown channel under active compliance, and autonomous deployment within a 2D vasculature model. Furthermore, we developed algorithms for intra-operative catheter tracking and pose filtering. Methods presented in this paper make significant strides towards the future goal of enabling semi-autonomous navigation for neuroendovascular procedures.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10684241","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600394","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

Modeling Human Upper Limb Trajectories for Reaching Motions on CLEVERarm 在 CLEVERarm 上模拟人类上肢伸展运动轨迹

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-19 DOI: 10.1109/TMRB.2024.3464097

Kuang Nie;Reza Langari

{"title":"Modeling Human Upper Limb Trajectories for Reaching Motions on CLEVERarm","authors":"Kuang Nie;Reza Langari","doi":"10.1109/TMRB.2024.3464097","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464097","url":null,"abstract":"Given the significant potential for robot-assisted rehabilitation, developing well-planned trajectories plays a crucial role in enhancing the effectiveness of such rehabilitation methods. A critical aspect of this field, particularly concerning the movement of the human upper limb, is the redundancy resolution. In this study, we introduce a novel trajectory planning method aimed at addressing the redundancy resolution in reaching motions related to Activities of Daily Living (ADL). This method is inspired by prior studies on maximum manipulability while emphasizing the natural upper limb posture, particularly the human preference for maintaining a nearly steady elbow position during ADL movements unless, of course, the range of the desired motion requires otherwise. A trajectory-combining approach is developed for generating trajectories in the human configuration space. Additionally, we present a configuration transformation model for human-robot configuration alignment. Experimental results validate the hypothesis of a steady elbow position and combine features from the Minimum Jerk (MJ) and Minimum Angular Jerk (MAJ) methods, demonstrating more natural reaching motions. The configuration transformation model has been successfully tested on the TAMU CLEVERarm, a lightweight and compact upper limb exoskeleton.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600325","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

Automatic Centroid Angle Measurement From CT Image for Preoperative Rod Design of Robotic-Assisted Screw-Rod System Implantation 通过 CT 图像自动测量中心点角度，用于机器人辅助螺杆-螺柱系统植入术的术前螺杆设计

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-19 DOI: 10.1109/TMRB.2024.3464106

Jiajing Zhang;Wenqing Zhang;Haodong Liu;Yingying Liu;Ningning Chen;Jianjia Zhang;Changhong Wang

{"title":"Automatic Centroid Angle Measurement From CT Image for Preoperative Rod Design of Robotic-Assisted Screw-Rod System Implantation","authors":"Jiajing Zhang;Wenqing Zhang;Haodong Liu;Yingying Liu;Ningning Chen;Jianjia Zhang;Changhong Wang","doi":"10.1109/TMRB.2024.3464106","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464106","url":null,"abstract":"Robotic-assisted implantation of screw-rod systems serves as an advanced therapy for spinal diseases. A precise curvature fit between rods and spines is critical to postoperative spinal stability. Currently, rod curvature is determined intraoperatively to accommodate screw positions, which is hardly conducive to optimal rod bending and is vulnerable to surgeons’ expertise. To address this challenge, we propose an automated and efficient method for measuring the centroid angle to guide preoperative rod design from CT images. The centroid angle is defined by lines connecting centroids of the upper and lower vertebrae pairs, providing a reliable measurement for spinal deformities. The proposed pipeline includes (1) 3D spine segmentation with multiscale multitask deep learning; (2) vertebrae recognition using graphical morphology; (3) automatic and reproducible centroid angle measurement. Our method is evaluated on both healthy and pathological spines. Compared to manual measurements by professional surgeons, our method achieves an accuracy of 94.50% and 91.93% on adjacent and non-adjacent vertebrae, respectively. A Slicer-based plugin for robotic-assisted screw-rod systems implantation is built, providing a new clinical tool to personalize screw-rod systems consistent with the natural spinal curvature, thereby enhancing biomechanical properties.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600348","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

IEEE Transactions on Medical Robotics and Bionics Society Information 电气和电子工程师学会《医疗机器人与仿生学》学会信息

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-08-08 DOI: 10.1109/TMRB.2024.3434228

引用次数: 0