Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第2页

Effects of Personalization on Gait-State Tracking Performance Using Extended Kalman Filters. 个性化对使用扩展卡尔曼滤波器的步态跟踪性能的影响

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2023-10-01 Epub Date: 2023-12-13 DOI: 10.1109/iros55552.2023.10342498

José A Montes-Pérez, Gray Cortright Thomas, Robert D Gregg

{"title":"Effects of Personalization on Gait-State Tracking Performance Using Extended Kalman Filters.","authors":"José A Montes-Pérez, Gray Cortright Thomas, Robert D Gregg","doi":"10.1109/iros55552.2023.10342498","DOIUrl":"10.1109/iros55552.2023.10342498","url":null,"abstract":"Emerging partial-assistance exoskeletons can enhance able-bodied performance and aid people with pathological gait or age-related immobility. However, every person walks differently, which makes it difficult to directly compute assistance torques from joint kinematics. Gait-state estimation-based controllers use phase (normalized stride time) and task variables (e.g., stride length and ground inclination) to parameterize the joint torques. Using kinematic models that depend on the gait-state, prior work has used an Extended Kalman filter (EKF) to estimate the gait-state online. However, this EKF suffered from kinematic errors since it used a subject-independent measurement model, and it is still unknown how personalization of this measurement model would reduce gait-state tracking error. This paper quantifies how much gait-state tracking improvement a personalized measurement model can have over a subject-independent measurement model when using an EKF-based gait-state estimator. Since the EKF performance depends on the measurement model covariance matrix, we tested on multiple different tuning parameters. Across reasonable values of tuning parameters that resulted in good performance, personalization improved estimation error on average by 8.5 ± 13.8% for phase (mean ± standard deviation), 27.2 ± 8.1% for stride length, and 10.5 ± 13.5% for ground inclination. These findings support the hypothesis that personalization of the measurement model significantly improves gait-state estimation performance in EKF based gait-state tracking (<math><mrow><mi>P</mi><mo>≪</mo><mn>0.05</mn></mrow></math>), which could ultimately enable reliable responses to faster human gait changes.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2023 ","pages":"6068-6074"},"PeriodicalIF":0.0,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10732269/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138833407","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

An Energetic Approach to Task-Invariant Ankle Exoskeleton Control. 任务不变踝关节外骨骼控制的能量方法

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2023-10-01 Epub Date: 2023-12-13 DOI: 10.1109/iros55552.2023.10342136

Katharine Walters, Gray C Thomas, Jianping Lin, Robert D Gregg

{"title":"An Energetic Approach to Task-Invariant Ankle Exoskeleton Control.","authors":"Katharine Walters, Gray C Thomas, Jianping Lin, Robert D Gregg","doi":"10.1109/iros55552.2023.10342136","DOIUrl":"10.1109/iros55552.2023.10342136","url":null,"abstract":"Robotic ankle exoskeletons have been shown to reduce human effort during walking. However, existing ankle exoskeleton control approaches are limited in their ability to apply biomimetic torque across diverse tasks outside of the controlled lab environment. Energy shaping control can provide task-invariant assistance without estimating the user's state, classifying task, or reproducing pre-defined torque trajectories. In previous work, we showed that an optimally task-invariant energy shaping controller implemented on a knee-ankle exoskeleton reduced the effort of certain muscles for a range of tasks. In this paper, we extend this approach to the sensor suite available at the ankle and present its implementation on a commercially-available, bilateral ankle exoskeleton. An experiment with three healthy subjects walking on a circuit and on a treadmill showed that the controller can approximate biomimetic profiles for varying terrains and task transitions without classifying tasks or switching control modes.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2023 ","pages":"6082-6089"},"PeriodicalIF":0.0,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10732252/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138833405","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

Landmark Based Bronchoscope Localization for Needle Insertion Under Respiratory Deformation. 基于地标定位的支气管镜在呼吸变形情况下的针头插入。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2023-10-01 Epub Date: 2023-12-13 DOI: 10.1109/iros55552.2023.10342115

Inbar Fried, Janine Hoelscher, Jason A Akulian, Stephen Pizer, Ron Alterovitz

{"title":"Landmark Based Bronchoscope Localization for Needle Insertion Under Respiratory Deformation.","authors":"Inbar Fried, Janine Hoelscher, Jason A Akulian, Stephen Pizer, Ron Alterovitz","doi":"10.1109/iros55552.2023.10342115","DOIUrl":"10.1109/iros55552.2023.10342115","url":null,"abstract":"Bronchoscopy is currently the least invasive method for definitively diagnosing lung cancer, which kills more people in the United States than any other form of cancer. Successfully diagnosing suspicious lung nodules requires accurate localization of the bronchoscope relative to a planned biopsy site in the airways. This task is challenging because the lung deforms intraoperatively due to respiratory motion, the airways lack photometric features, and the anatomy's appearance is repetitive. In this paper, we introduce a real-time camera-based method for accurately localizing a bronchoscope with respect to a planned needle insertion pose. Our approach uses deep learning and accounts for deformations and overcomes limitations of global pose estimation by estimating pose relative to anatomical landmarks. Specifically, our learned model considers airway bifurcations along the airway wall as landmarks because they are distinct geometric features that do not vary significantly with respiratory motion. We evaluate our method in a simulated dataset of lungs undergoing respiratory motion. The results show that our method generalizes across patients and localizes the bronchoscope with accuracy sufficient to access the smallest clinically-relevant nodules across all levels of respiratory deformation, even in challenging distal airways. Our method could enable physicians to perform more accurate biopsies and serve as a key building block toward accurate autonomous robotic bronchoscopy.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2023 ","pages":"6593-6600"},"PeriodicalIF":0.0,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11214542/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141473252","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

A Unified Controller for Natural Ambulation on Stairs and Level Ground with a Powered Robotic Knee Prosthesis. 使用电动机器人膝关节假肢在楼梯和平地上自然行走的统一控制器。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2023-10-01 Epub Date: 2023-12-13 DOI: 10.1109/iros55552.2023.10341691

Marissa Cowan, Suzi Creveling, Liam M Sullivan, Lukas Gabert, Tommaso Lenzi

{"title":"A Unified Controller for Natural Ambulation on Stairs and Level Ground with a Powered Robotic Knee Prosthesis.","authors":"Marissa Cowan, Suzi Creveling, Liam M Sullivan, Lukas Gabert, Tommaso Lenzi","doi":"10.1109/iros55552.2023.10341691","DOIUrl":"10.1109/iros55552.2023.10341691","url":null,"abstract":"Powered lower-limb prostheses have the potential to improve amputee mobility by closely imitating the biomechanical function of the missing biological leg. To accomplish this goal, powered prostheses need controllers that can seamlessly adapt to the ambulation activity intended by the user. Most powered prosthesis control architectures address this issue by switching between specific controllers for each activity. This approach requires online classification of the intended ambulation activity. Unfortunately, any misclassification can cause the prosthesis to perform a different movement than the user expects, increasing the likelihood of falls and injuries. Therefore, classification approaches require near-perfect accuracy to be used safely in real life. In this paper, we propose a unified controller for powered knee prostheses which allows for walking, stair ascent, and stair descent without the need for explicit activity classification. Experiments with one individual with an above-knee amputation show that the proposed controller enables seamless transitions between activities. Moreover, transition between activities is possible while leading with either the sound-side or the prosthesis. A controller with these characteristics has the potential to improve amputee mobility.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2023 ","pages":"2146-2151"},"PeriodicalIF":0.0,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10984323/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140338541","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

Improving Amputee Endurance over Activities of Daily Living with a Robotic Knee-Ankle Prosthesis: A Case Study. 使用机器人膝踝假肢提高截肢者日常生活活动的耐力：案例研究。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2023-10-01 Epub Date: 2023-12-13 DOI: 10.1109/iros55552.2023.10341643

T Kevin Best, Curt A Laubscher, Ross J Cortino, Shihao Cheng, Robert D Gregg

{"title":"Improving Amputee Endurance over Activities of Daily Living with a Robotic Knee-Ankle Prosthesis: A Case Study.","authors":"T Kevin Best, Curt A Laubscher, Ross J Cortino, Shihao Cheng, Robert D Gregg","doi":"10.1109/iros55552.2023.10341643","DOIUrl":"10.1109/iros55552.2023.10341643","url":null,"abstract":"Robotic knee-ankle prostheses have often fallen short relative to passive microprocessor prostheses in time-based clinical outcome tests. User ambulation endurance is an alternative clinical outcome metric that may better highlight the benefits of robotic prostheses. However, previous studies were unable to show endurance benefits due to inaccurate high-level classification, discretized mid-level control, and insufficiently difficult ambulation tasks. In this case study, we present a phase-based mid-level prosthesis controller which yields biomimetic joint kinematics and kinetics that adjust to suit a continuum of tasks. We enrolled an individual with an above-knee amputation and challenged him to perform repeated, rapid laps of a circuit comprising activities of daily living with both his passive prosthesis and a robotic prosthesis. The participant demonstrated improved endurance with the robotic prosthesis and our mid-level controller compared to his passive prosthesis, completing over twice as many total laps before fatigue and muscle discomfort required him to stop. We also show that time-based outcome metrics fail to capture this endurance improvement, suggesting that alternative metrics related to endurance and fatigue may better highlight the clinical benefits of robotic prostheses.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2023 ","pages":"2101-2107"},"PeriodicalIF":0.0,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10732247/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138833408","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

Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions. 用于增强医疗干预灵巧性的混合肌腱和球链连续机器人。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2023-10-01 Epub Date: 2023-12-13 DOI: 10.1109/iros55552.2023.10341686

Giovanni Pittiglio, Margherita Mencattelli, Abdulhamit Donder, Yash Chitalia, Pierre E Dupont

引用次数: 0

A Telescopic Tendon-Driven Needle Robot for Minimally Invasive Neurosurgery. 用于微创神经外科手术的伸缩式腱驱动针机器人。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2023-10-01 Epub Date: 2023-12-13 DOI: 10.1109/iros55552.2023.10341660

Saeed Rezaeian, Behnam Badie, Jun Sheng

引用次数: 0

Powered Knee and Ankle Prosthesis Control for Adaptive Ambulation at Variable Speeds, Inclines, and Uneven Terrains. 在不同速度、坡度和不平整地形下进行自适应行走的膝关节和踝关节假体动力控制。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2023-10-01 Epub Date: 2023-12-13 DOI: 10.1109/iros55552.2023.10342504

Liam M Sullivan, Suzi Creveling, Marissa Cowan, Lukas Gabert, Tommaso Lenzi

{"title":"Powered Knee and Ankle Prosthesis Control for Adaptive Ambulation at Variable Speeds, Inclines, and Uneven Terrains.","authors":"Liam M Sullivan, Suzi Creveling, Marissa Cowan, Lukas Gabert, Tommaso Lenzi","doi":"10.1109/iros55552.2023.10342504","DOIUrl":"10.1109/iros55552.2023.10342504","url":null,"abstract":"Ambulation in everyday life requires walking at variable speeds, variable inclines, and variable terrains. Powered prostheses aim to provide this adaptability through control of the actuated joints. Some powered prosthesis controllers can adapt to discrete changes in speed and incline but require manual tuning to determine the control parameters, leading to poor clinical viability. Other data-driven controllers can continuously adapt to changes in speed and incline but do so by imposing the same non-amputee gait patterns for all amputee subjects, which does not consider subjective preferences and differing clinical needs of users. Here, we present a controller for powered knee and ankle prostheses that can continuously adapt to different walking speeds, inclines, and uneven terrains without enforcing a specific prosthesis position, impedance, or torque. A virtual biarticular muscle connection determines the knee flexion torque, which changes with both speed and slope. Adaptation to inclines and uneven terrains is based solely on the global shank orientation. Continuously variable damping allows for speed adaptation. Minimum-jerk programming defines the prosthesis swing trajectory at variable cadences. Experiments with one individual with an above-knee amputation suggest that the proposed controller can effectively adapt to different walking speeds, inclines, and rough terrains.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2023 ","pages":"2128-2133"},"PeriodicalIF":0.0,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10958618/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140208467","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

Controlling Powered Prosthesis Kinematics over Continuous Transitions Between Walk and Stair Ascent. 在步行和爬楼梯之间的连续转换中控制动力假肢运动学

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2023-10-01 Epub Date: 2023-12-13 DOI: 10.1109/iros55552.2023.10341457

Shihao Cheng, Curt A Laubscher, Robert D Gregg

{"title":"Controlling Powered Prosthesis Kinematics over Continuous Transitions Between Walk and Stair Ascent.","authors":"Shihao Cheng, Curt A Laubscher, Robert D Gregg","doi":"10.1109/iros55552.2023.10341457","DOIUrl":"10.1109/iros55552.2023.10341457","url":null,"abstract":"One of the primary benefits of emerging powered prosthetic legs is their ability to facilitate step-over-step stair ascent by providing positive mechanical work. Existing control methods typically have distinct steady-state activity modes for walking and stair ascent, where activity transitions involve discretely switching between controllers and often must be initiated with a particular leg. However, these discrete transitions do not necessarily replicate able-bodied joint biomechanics, which have been shown to continuously adjust over a transition stride. This paper presents a phase-based kinematic controller for a powered knee-ankle prosthesis that enables continuous, biomimetic transitions between walking and stair ascent. The controller tracks joint angles from a data-driven kinematic model that continuously interpolates between the steady-state kinematic models, and it allows both the prosthetic and intact leg to lead the transitions. Results from experiments with two transfemoral amputee participants indicate that knee and ankle kinematics smoothly transition between walking and stair ascent, with comparable or lower root mean square errors compared to variations from able-bodied data.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2023 ","pages":"2108-2115"},"PeriodicalIF":0.0,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10732262/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138833406","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

Recognition and Prediction of Surgical Gestures and Trajectories Using Transformer Models in Robot-Assisted Surgery. 在机器人辅助手术中使用变压器模型识别和预测手术手势和轨迹。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2022-10-01 Epub Date: 2022-12-26 DOI: 10.1109/IROS47612.2022.9981611

Chang Shi, Yi Zheng, Ann Majewicz Fey

{"title":"Recognition and Prediction of Surgical Gestures and Trajectories Using Transformer Models in Robot-Assisted Surgery.","authors":"Chang Shi, Yi Zheng, Ann Majewicz Fey","doi":"10.1109/IROS47612.2022.9981611","DOIUrl":"10.1109/IROS47612.2022.9981611","url":null,"abstract":"Surgical activity recognition and prediction can help provide important context in many Robot-Assisted Surgery (RAS) applications, for example, surgical progress monitoring and estimation, surgical skill evaluation, and shared control strategies during teleoperation. Transformer models were first developed for Natural Language Processing (NLP) to model word sequences and soon the method gained popularity for general sequence modeling tasks. In this paper, we propose the novel use of a Transformer model for three tasks: gesture recognition, gesture prediction, and trajectory prediction during RAS. We modify the original Transformer architecture to be able to generate the current gesture sequence, future gesture sequence, and future trajectory sequence estimations using only the current kinematic data of the surgical robot end-effectors. We evaluate our proposed models on the JHU-ISI Gesture and Skill Assessment Working Set (JIGSAWS) and use Leave-One-User-Out (LOUO) cross validation to ensure generalizability of our results. Our models achieve up to 89.3% gesture recognition accuracy, 84.6% gesture prediction accuracy (1 second ahead) and 2.71mm trajectory prediction error (1 second ahead). Our models are comparable to and able to outperform state-of-the-art methods while using only the kinematic data channel. This approach can enabling near-real time surgical activity recognition and prediction.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2022 ","pages":"8017-8024"},"PeriodicalIF":0.0,"publicationDate":"2022-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10288529/pdf/nihms-1903542.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9772669","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