IEEE transactions on medical robotics and bionics最新文献_第9页

Grasp Force Assistance via Throttle-Based Wrist Angle Control on a Robotic Hand Orthosis for C6-C7 Spinal Cord Injury 基于节流手腕角度控制的C6-C7脊髓损伤机械手矫形器抓取力辅助

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-11-21 DOI: 10.1109/TMRB.2024.3503992

Joaquin Palacios;Alexandra Deli-Ivanov;Ava Chen;Lauren Winterbottom;Dawn M. Nilsen;Joel Stein;Matei Ciocarlie

引用次数: 0

Stochastic Sequential Sensory Selection for Gesture Recognition in KineticoMyoGraphy Guided Bionic Hands 随机序列感官选择用于 KineticoMyoGraphy 导向仿生手的手势识别

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-11-21 DOI: 10.1109/TMRB.2024.3503993

Arman Abasian;Hamed Rafiei;Mohammad-R. Akbarzadeh-T.;Alireza Akbarzadeh;Ali Moradi;Amir-M. Naddaf-Sh

{"title":"Stochastic Sequential Sensory Selection for Gesture Recognition in KineticoMyoGraphy Guided Bionic Hands","authors":"Arman Abasian;Hamed Rafiei;Mohammad-R. Akbarzadeh-T.;Alireza Akbarzadeh;Ali Moradi;Amir-M. Naddaf-Sh","doi":"10.1109/TMRB.2024.3503993","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3503993","url":null,"abstract":"KineticoMyoGraphy (KMG) is an emerging sensor technology offering innovative solutions for tracking amputees’ fine muscle movements, promising better hand gesture recognition with greater sustainability than existing methods. The primary challenge in KMG technology lies in the required number and placement of magnetic sensors to balance accuracy, sustainability, and cost-efficiency for practical hand gesture interpretation. To tackle this issue, we propose a Stochastic Sequential Strategy for Magnetic Sensory Selection (S3MSS). We apply this strategy to a configuration of 16 magnetic sensors surrounding surgically implanted magnets in a patient’s forearm. The method uses an Error-Correcting Output Codes (ECOC) framework with Multiclass Linear Discriminant Analysis (MCLDA) and Multiclass Support Vector Machines (MCSVM). Our approach emphasizes robust sensory selection and consistent performance through time-based seeding and K-fold cross-validation. Clinical results indicate consistency in sensory selection across two independent trials, underlining this factor as crucial for reliability. Statistical significance test confirms the superiority of the MCLDA over the MCSVM approach, achieving a 93% accuracy in the classification of Fingers, Wrist, and Thumb gestures using only five sensors near the magnets’ motion range. This underscores our strategy’s effectiveness in accurately detecting hand movements, highlighting its potential for clinical application and improving amputees’ quality of life.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 1","pages":"325-336"},"PeriodicalIF":3.4,"publicationDate":"2024-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143521349","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

Design and Testing of a Planar Device for Haptic Interactions During Handwriting Teaching and Learning 手写教学中触觉互动平面装置的设计与测试

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-11-21 DOI: 10.1109/TMRB.2024.3503917

Joel J. Way;Silvia Buscaglione;Giorgia Giovannetti;Domenico Formica

引用次数: 0

IEEE Transactions on Medical Robotics and Bionics Publication Information 电气和电子工程师学会《医用机器人与仿生学论文集》（IEEE Transactions on Medical Robotics and Bionics）出版信息

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-11-12 DOI: 10.1109/TMRB.2024.3487341

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 : 2024-11-12 DOI: 10.1109/TMRB.2024.3487343

引用次数: 0

Guest Editorial Special section on the Hamlyn Symposium 2023—Immersive Tech: The Future of Medicine 特约编辑 Hamlyn 2023 年研讨会--交互式技术特刊：医学的未来

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-11-12 DOI: 10.1109/TMRB.2024.3484068

Alan Kuntz;Blake Hannaford;Robert J. Webster

引用次数: 0

IEEE Transactions on Medical Robotics and Bionics Information for Authors 电气和电子工程师学会《医用机器人与仿生学学报》（IEEE Transactions on Medical Robotics and Bionics）为作者提供的信息

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-11-12 DOI: 10.1109/TMRB.2024.3487345

引用次数: 0

Design and Characterization of a Low-Profile Haptic System for Telemanipulation 用于远程操控的低矮型触觉系统的设计与特性分析

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-31 DOI: 10.1109/TMRB.2024.3488840

C. F. Blanco-Diaz;G. Degl'Innocenti;E. Vendrame;M. Uliano;M. Controzzi;L. Cappello

{"title":"Design and Characterization of a Low-Profile Haptic System for Telemanipulation","authors":"C. F. Blanco-Diaz;G. Degl'Innocenti;E. Vendrame;M. Uliano;M. Controzzi;L. Cappello","doi":"10.1109/TMRB.2024.3488840","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3488840","url":null,"abstract":"In telemanipulation, supplementary feedback can enhance operator perception and control precision. This study introduces a haptic interface designed to convey temporally discrete tactile cues when remotely controlling a robot. Low-profile piezoelectric sensors were integrated in the thumb of a robotic hand to capture the key events of the manipulation task (i.e., object contact and release). Synchronously with such events, pressure bursts were delivered to the operator’s fingertip through a soft textile thimble equipped with inflatable pockets. Both this haptic display and the sensing module were individually evaluated. The pneumatic system responsible for pockets inflation was characterized in terms of reaction time, proving suitable for the application with a latency of less than 70 ms. Regarding the sensing module, the behavior of the sensorized thumb was first evaluated under static conditions, identifying contact and release events when grasping with the robotic hand differently shaped objects fixed on a table. Then, the accuracy of the touch event detection was assessed while performing a more complex manipulation task (i.e., a pick and lift task). This evaluation was conducted first with the robot programmed to grasp and lift an object following pre-defined trajectories, where we measured accuracy of 100% for contact and 90% for release event detection. Then, we performed a telemanipulation pilot study involving eight participants, where the system proved capable of correctly detecting object contact and release events with an accuracy of 100% and 86.4%. Despite preliminary, these results confirmed proper functioning of the system and paved the way for the exploration of a new haptic feedback policy in telemanipulation based on temporally discrete tactile events.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 1","pages":"100-107"},"PeriodicalIF":3.4,"publicationDate":"2024-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10740009","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143529893","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

Embedded Force Sensor for Soft Robots With Deep Transformation Calibration 具有深度变换校准功能的嵌入式软机器人力传感器

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-14 DOI: 10.1109/TMRB.2024.3479878

Navid Masoumi;Andrés C. Ramos;Tannaz Torkaman;Liane S. Feldman;Jake Barralet;Javad Dargahi;Amir Hooshiar

{"title":"Embedded Force Sensor for Soft Robots With Deep Transformation Calibration","authors":"Navid Masoumi;Andrés C. Ramos;Tannaz Torkaman;Liane S. Feldman;Jake Barralet;Javad Dargahi;Amir Hooshiar","doi":"10.1109/TMRB.2024.3479878","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3479878","url":null,"abstract":"A novel soft sensor calibration method is proposed for minimally invasive surgery, based on our developed gelatin-graphite sensor with high compliance and adaptability. This approach uses convolutional deep learning that accounts for a sensor’s non-linear behavior and reduces noise amplification. This technique offers a smaller minimum detectable force than other approaches and is particularly useful in sensitive surgical scenarios. The sensor’s performance is characterized by its fine resolution (\u0000<inline-formula> <tex-math>$leq 1$ </tex-math></inline-formula>\u0000mN) and accurate force estimation, especially for forces below 400 mN of amplitude. The best calibration (Morse) scheme provides high performance, with a Mean Absolute Error of \u0000<inline-formula> <tex-math>$leq 7.9$ </tex-math></inline-formula>\u0000 mN. This work was validated through comparison among other representative studies and offered a path toward future directions for optimizing and implementing soft robotic sensors in minimally invasive surgeries. The application of this sensor can revolutionize surgical procedures and capitalize on the benefits of soft robotics, potentially enhancing precision and reducing trauma in surgeries.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1363-1374"},"PeriodicalIF":3.4,"publicationDate":"2024-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600357","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

ENTRI: Enhanced Navigational Toolkit for Robotic Interventions ENTRI：机器人干预增强导航工具包

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-14 DOI: 10.1109/TMRB.2024.3475827

Manish Sahu;Hisashi Ishida;Laura Connolly;Hongyi Fan;Anton Deguet;Peter Kazanzides;Francis X. Creighton;Russell H. Taylor;Adnan Munawar

引用次数: 0