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Characterization of Hand Movements using a Sensing Glove in Hand Assisted Laparoscopic Surgery

TitleCharacterization of Hand Movements using a Sensing Glove in Hand Assisted Laparoscopic Surgery
Publication TypeConference Paper
Year of Publication2017
Conference NameProceedings of the second International Conference on Medical Information and Bioengineering
AuthorsSantos, L, Carbonaro, N, Tognetti, A, Gonzales, R, Fraile, JC, Turiel, JP, De La Fuente, E
Abstract

The past thirty years have seen increasingly rapid advances in the field of laparoscopic surgery, in part because of the use of robots. A well-known example is the da Vinci surgical system. However, far too little attention has been paid to Hand Assisted Laparoscopic Surgery (HALS), a surgery in which the surgeon introduces the non-dominant hand into the abdomen of the patient. The risk of collision between the hand of the surgeon and the tool moved by the robot is the reason why these robots for laparoscopic surgery are not appropriate for HALS. On the other hand, in recent years, there has been an increasing interest in wearables, which have been introduced in our daily life. This interest and the lack of surgery robots for HALS are the reasons to develop a sensing glove which co-works whit a collaborative robot in this kind of surgery. The aim of this paper is to study the use of a sensing glove which will provide information of the movements of the surgeon’s hand to the collaborative robot. This information determinates the actions that the robot will carry on. The first step was to define different movements of the hand which could be identified. An algorithm identifies these movements using the data given by the sensing glove. For the purpose of algorithm accuracy measurement, 4 persons wearing the sensing glove made a sequence with different movements. The evidence from this study suggests that a sensing glove can be used to send information of the movements of the surgeon’s hand to a collaborative robot during a HALS.

Refereed DesignationRefereed

Estimating Contact Forces from Postural Measures in a class of Under-Actuated Robotic Hands

TitleEstimating Contact Forces from Postural Measures in a class of Under-Actuated Robotic Hands
Publication TypeConference Paper
Year of Publication2017
Conference NameIEEE International Conference of Intelligent Robots and Systems (IROS2017)
AuthorsC. Della Santina,, Piazza, C, Santaera, G, Grioli, G, Catalano, MG, Bicchi, A
PublisherIEEE
Conference LocationVancouver, Canada, September 24–28, 2017
KeywordsRobotics
Refereed DesignationRefereed

Design, control and validation of the variable stiffness exoskeleton FLExo

TitleDesign, control and validation of the variable stiffness exoskeleton FLExo
Publication TypeConference Paper
Year of Publication2017
Conference NameInternational Conference on Rehabilitation Robotics (ICORR)
Pagination539 - 546
AuthorsMghames, S, Laghi, M, C. Della Santina,, Garabini, M, Catalano, MG, Grioli, G, Bicchi, A
PublisherIEEE
Conference LocationLondon, UK, 17-20 July 2017
Accession Number17101547
KeywordsRobotics
Abstract

In this paper we present the design of a one degree of freedom assistive platform to augment the strength of upper limbs. The core element is a variable stiffness actuator, closely reproducing the behavior of a pair of antagonistic muscles. The novelty introduced by this device is the analogy of its control parameters with those of the human muscle system, the threshold lengths. The analogy can be obtained from a proper tuning of the mechanical system parameters. Based on this, the idea is to control inputs by directly mapping the estimation of the muscle activations, e.g. via ElectroMyoGraphic(EMG) sensors, on the exoskeleton. The control policy resulting from this mapping acts in feedforward in a way to exploit the muscle-like dynamics of the mechanical device. Thanks to the particular structure of the actuator, the exoskeleton joint stiffness naturally results from that mapping. The platform as well as the novel control idea have been experimentally validated and the results show a substantial reduction of the subject muscle effort.

URLhttp://ieeexplore.ieee.org/document/8009304/
DOI10.1109/ICORR.2017.8009304
Refereed DesignationRefereed

Design and characterization of a novel high-compliance spring for robots with soft joints

TitleDesign and characterization of a novel high-compliance spring for robots with soft joints
Publication TypeConference Paper
Year of Publication2017
Conference NameIEEE International Conference on Advanced Intelligent Mechatronics (AIM)
AuthorsNegrello, F, Catalano, MG, Garabini, M, Poggiani, M, Caldwell, DG, Tsagarakis, NG, Bicchi, A
PublisherIEEE
Conference LocationMunich, Germany, 3-7 July 2017
Accession Number17136847
KeywordsRobotics
Abstract

Low stiffness elements have a number of applications in Soft Robotics, from Series Elastic Actuators (SEA) to torque sensors for compliant systems. In its general formulation, the design problem of elastic components is complex and depends on several variables: material properties, load range, shape factor and size constraints. Consequently, most of the spring designs presented in literature are based on heuristics or are optimized for specific working conditions. This work presents the design study and characterization of a scalable spoked elastic element with hinge tip constraints. We compared the proposed design with three existing spring principles, showing that the spoked solution is the convenient option for low-stiffness and low shape factor elastic elements. Therefore, a design analysis on the main scaling parameters of the spoked spring, namely number of spokes and type of constraints, is presented. Finally, an experimental characterization has been conducted on physical prototypes. The agreement among simulations and experimental results demonstrates the effectiveness of the proposed concept.

URLhttp://ieeexplore.ieee.org/document/8014029/
DOI10.1109/AIM.2017.8014029
Refereed DesignationRefereed

Preliminary results toward a naturally controlled multi-synergistic prosthetic hand

TitlePreliminary results toward a naturally controlled multi-synergistic prosthetic hand
Publication TypeConference Paper
Year of Publication2017
Conference NameInternational Conference on Rehabilitation Robotics (ICORR)
AuthorsRossi, M, C. Della Santina,, Piazza, C, Grioli, G, Catalano, MG, Bicchi, A
ISBN Number978-1-5386-2296-4
KeywordsRobotics
Abstract

Robotic hands embedding human motor control principles in their mechanical design are getting increasing interest thanks to their simplicity and robustness, combined with good performance. Another key aspect of these hands is that humans can use them very effectively thanks to the similarity of their behavior with real hands. Nevertheless, controlling more than one degree of actuation remains a challenging task. In this paper, we take advantage of these characteristics in a multi-synergistic prosthesis. We propose an integrated setup composed of Pisa/IIT SoftHand 2 and a control strategy which simultaneously and proportionally maps the human hand movements to the robotic hand. The control technique is based on a combination of non-negative matrix factorization and linear regression algorithms. It also features a real-time continuous posture compensation of the electromyographic signals based on an IMU. The algorithm is tested on five healthy subjects through an experiment in a virtual environment. In a separate experiment, the efficacy of the posture compensation strategy is evaluated on five healthy subjects and, finally, the whole setup is successfully tested in performing realistic daily life activities.

URLhttp://ieeexplore.ieee.org/abstract/document/8009437/
DOI10.1109/ICORR.2017.8009437
Refereed DesignationRefereed

Modular One-to-many Clutchable Actuator for a Soft Elbow Exosuit

TitleModular One-to-many Clutchable Actuator for a Soft Elbow Exosuit
Publication TypeConference Paper
Year of Publication2017
Conference Name International Conference on Rehabilitation Robotics (ICORR 2017)
Pagination1679-1685
Date Published07/2017
AuthorsCanesi, M, Xiloyannis, M, A. Ajoudani, Bicchi, A, Masia, L
Conference LocationLondon, UK, July 17 - 20, 2017
KeywordsRobotics
DOI10.1109/ICORR.2017.8009489
Refereed DesignationRefereed

A Bilateral Tele-Impedance Controller for Remote Interaction with Transmission Time Delay

TitleA Bilateral Tele-Impedance Controller for Remote Interaction with Transmission Time Delay
Publication TypeConference Paper
Year of Publication2017
Conference NameIEEE International Conference of Intelligent Robots and Systems (IROS2017)
AuthorsLaghi, M, A. Ajoudani, Catalano, MG, Bicchi, A
PublisherIEEE
Conference LocationVancouver, Canada, September 24–28, 2017
KeywordsRobotics
Refereed DesignationRefereed

Distributed Task-priority Based Control in Area Coverage & Adaptive Sampling

TitleDistributed Task-priority Based Control in Area Coverage & Adaptive Sampling
Publication TypeConference Paper
Year of Publication2017
Conference NameMTS/IEEE Oceans 2017
AuthorsFabbri, T, Simetti, E, Casalino, G, Pallottino, L, Caiti, A
PublisherIEEE
Conference LocationAberdeen, Scotland, June 2017
KeywordsRobotics
Abstract

The paper presents the first simulative results and algorithmic developments of the task-priority based control applied to a distributed sampling network in an area coverage or adaptive sampling mission scenario. The proposed approach allowing the fulfilment of a chain of tasks with decreasing priority each of which directly related to both operability and safety aspects of the entire mission. The task-priority control is presented both in the centralized and decentralized implementations showing a comparison of performance. Finally simulations of the area coverage mission scenario are provided showing the effectiveness of the proposed approach.

Refereed DesignationRefereed

Cerebellar-Inspired Learning Rule for Gain Adaptation of Feedback Controllers

TitleCerebellar-Inspired Learning Rule for Gain Adaptation of Feedback Controllers
Publication TypeConference Paper
Year of Publication2017
Conference NameIEEE Mediterranean Conference on Control and Automation
AuthorsHerreros, I, Arsiwalla, XD, C. Della Santina,, Puigbo, J-Y, Bicchi, A, Verschure, PFMJ
PublisherIEEE
Conference Location3-6 July 2017 in Valletta, Malta
Abstract

The cerebellum is a crucial brain structure in enabling precise motor control in animals. Recent advances suggest that the timing of the plasticity rule of Purkinje cells, the main cells of the cerebellum, is matched to behavioral function.Simultaneously, counter-factual predictive control (CFPC), a cerebellar-based control scheme, has shown that the optimal rule for learning feed-forward action in an adaptive filter playing the role of the cerebellum must include a forward model of the system controlled. Here we show how the same learning rule obtained in CFPC, which we term as Model-enhanced least mean squares (ME-LMS), emerges in the problem of learning the gains of a feedback controller. To that end, we frame a model-reference adaptive control (MRAC) problem and derive an adaptive control scheme treating the gains of a feedback controller as if they were the weights of an adaptive linear unit. Our results demonstrate that the approach of controlling plasticity with a forward model of the subsystem controlled can provide a solution to a wide set of adaptive control problems

Refereed DesignationRefereed

Tactile Slip and Hand Displacement: Bending Hand Motion with Tactile Illusions

TitleTactile Slip and Hand Displacement: Bending Hand Motion with Tactile Illusions
Publication TypeConference Paper
Year of Publication2017
Conference NameIEEE World Haptic Conference
Date Published06/2017
AuthorsBianchi, M, Moscatelli, A, Ciotti, S, Bettelani, GC, Fioretti, F, Lacquaniti, F, Bicchi, A
PublisherIEEE
Conference LocationFürstenfeldbruck (Munich), Germany, June 6-9, 2017
KeywordsHaptics
Abstract

Touch provides an important cue to perceive the physical properties of the external objects. Recent studies showed that tactile sensation also contributes to our sense of hand position and displacement in perceptual tasks. In this study, we tested the hypothesis that, sliding our hand over a stationary surface, tactile motion may provide a feedback for guiding hand trajectory. We asked participants to touch a plate having parallel ridges at different orientations and to perform a self-paced, straight movement of the hand. In our daily-life experience, tactile slip motion is equal and opposite to hand motion. Here, we used a well-established perceptual illusion to dissociate, in a controlled manner, the two motion estimates. According to previous studies, this stimulus produces a bias in the perceived direction of tactile motion, predicted by tactile flow model. We showed a systematic deviation in the movement of the hand towards a direction opposite to the one predicted by tactile flow, supporting the hypothesis that touch contributes to motor control of the hand. We suggested a model where the perceived hand motion is equal to a weighted sum of the estimate from classical proprioceptive cues (e.g., from musculoskeletal system) and the estimate from tactile slip.

Notes

 This work is supported in part by the European Research Council under the Advanced Grant SoftHands “A Theory of Soft Synergies for a New Generation of Artificial Hands” no. ERC-291166, by the EU H2020 project “SOFTPRO: Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn” (no. 688857) and by the EU FP7 project (no. 601165), “WEARable HAPtics for Humans and Robots (WEARHAP)”. We thank Priscilla Balestrucci and Colleen P. Ryan for helpful comments and suggestions.

Refereed DesignationRefereed

The Rice Haptic Rocker: skin stretch haptic feedback with the Pisa/IIT SoftHand

TitleThe Rice Haptic Rocker: skin stretch haptic feedback with the Pisa/IIT SoftHand
Publication TypeConference Paper
Year of Publication2017
Conference NameIEEE World Haptics Conference
Date Published06/2017
AuthorsBattaglia, E, Clark, JP, Bianchi, M, Catalano, MG, Bicchi, A, O'Malley, MK
PublisherIEEE
Conference LocationFürstenfeldbruck (Munich), Germany, June 6-9, 2017
KeywordsHaptics
Abstract

Myoelectric prostheses have seen increased application in clinical practice and research, due to their potential for good functionality and versatility. Yet, myoelectric prostheses still suffer from a lack of intuitive control and haptic feedback, which can frustrate users and lead to abandonment. To address this problem, we propose to convey proprioceptive information for a prosthetic hand with skin stretch using the Rice Haptic Rocker. This device was integrated with the myo-controlled version of Pisa/IIT SoftHand and a size discrimination test with 18 able bodied subjects was performed to evaluate the effectiveness of the proposed approach. Results show that the Rice Haptic Rocker can be successfully used to convey proprioceptive information. A Likert survey was also presented to the experiment participants, who evaluated the integrated setup as easy to use and effective in conveying proprioception.

Notes

The authors gratefully acknowledge Matteo Rossi for his valuable advice and Mikaela Juzswik for her unique contribution in the physical realization of some of the equipment used in the experiments. This work was partially supported by the European Community funded project WEARHAP (contract 601165), by the European Commission project (Horizon 2020 research program) SOFTPRO (no. 688857), by the ERC Advanced Grant no. 291166 SoftHands and by the NSF grant IIS-1065497.

Refereed DesignationRefereed

Design of an Under-Actuated Wrist Based on Adaptive Synergies

TitleDesign of an Under-Actuated Wrist Based on Adaptive Synergies
Publication TypeConference Paper
Year of Publication2017
Conference NameIEEE International Conference of Robotics and Automation, ICRA2017
AuthorsCasini, S, Tincani, V, Averta, G, Poggiani, M, C. Della Santina,, Battaglia, E, Catalano, MG, Bianchi, M, Grioli, G, Bicchi, A
PublisherIEEE
Conference LocationSingapore, 29 May-3 June 2017
KeywordsHaptics, Robotics
Abstract

An effective robotic wrist represents a key enabling element in robotic manipulation, especially in prosthetics. In this paper, we propose an under-actuated wrist system, which is also adaptable and allows to implement different under-actuation schemes. Our approach leverages upon the idea of soft synergies - in particular the design method of adaptive synergies - as it derives from the field of robot hand design. First we introduce the design principle and its implementation and function in a configurable test bench prototype, which can be used to demonstrate the feasibility of our idea. Furthermore, we report on results from preliminary experiments with humans, aiming to identify the most probable wrist pose during the pre-grasp phase in activities of daily living. Based on these outcomes, we calibrate our wrist prototype accordingly and demonstrate its effectiveness to accomplish grasping and manipulation tasks.

URLhttp://ieeexplore.ieee.org/document/7989789/
DOI10.1109/ICRA.2017.7989789
Refereed DesignationRefereed

Noninteracting Constrained Motion Planning and Control for Robot Manipulators

TitleNoninteracting Constrained Motion Planning and Control for Robot Manipulators
Publication TypeConference Paper
Year of Publication2017
Conference NameIEEE International Conference of Robotics and Automation, ICRA2017
Pagination4038 - 4043
AuthorsBonilla, M, Pallottino, L, Bicchi, A
PublisherIEEE
KeywordsRobotics
Abstract

In this paper we present a novel geometric approach
to motion planning for constrained robot systems.
This problem is notoriously hard, as classical sampling-based
methods do not easily apply when motion is constrained in
a zero-measure submanifold of the configuration space. Based
on results on the functional controllability theory of dynamical
systems, we obtain a description of the complementary spaces
where rigid body motions can occur, and where interaction
forces can be generated, respectively. Once this geometric setting
is established, the motion planning problem can be greatly
simplified. Indeed, we can relax the geometric constraint, i.e.,
replace the lower–dimensional constraint manifold with a fulldimensional
boundary layer. This in turn allows us to plan
motion using state-of-the-art methods, such as RRT*, on points
within the boundary layer, which can be efficiently sampled. On
the other hand, the same geometric approach enables the design
of a completely decoupled control scheme for interaction forces,
so that they can be regulated to zero (or any other desired
value) without interacting with the motion plan execution.
A distinguishing feature of our method is that it does not
use projection of sampled points on the constraint manifold,
thus largely saving in computational time, and guaranteeing
accurate execution of the motion plan. An explanatory example
is presented, along with an experimental implementation of the
method on a bimanual manipulation workstation.

URLhttp://ieeexplore.ieee.org/document/7989463/
DOI10.1109/ICRA.2017.7989463
Refereed DesignationRefereed

Soft Robots that Mimic the Neuromusculoskeletal System

TitleSoft Robots that Mimic the Neuromusculoskeletal System
Publication TypeConference Paper
Year of Publication2016
Conference Name3rd International Conference on NeuroRehabilitation (ICNR2016)
Edited VolumeConverging Clinical and Engineering Research on Neurorehabilitation
Pagination259-263
Date Published10/2016
Publication Languageenglish
AuthorsGarabini, M, C. Della Santina,, Bianchi, M, Catalano, MG, Grioli, G, Bicchi, A
PublisherSpringer
KeywordsRobotics
Abstract

In motor control studies, the question on which
parameters human beings and animals control through their
nervous system has been extensively explored and discussed,
and several hypotheses proposed. It is widely acknowledged
that useful inputs in this problem could be provided by
developing artificial replication of the neuromusculoskeletal
system, to experiment different motor control hypothesis. In
this paper we present such device, which reproduces many of
the characteristics of an agonistic-antagonistic muscular pair
acting on a joint.

URLhttp://link.springer.com/chapter/10.1007/978-3-319-46669-9_45
DOI10.1007/978-3-319-46669-9_45
Refereed DesignationRefereed

Development of a robotic teaching interface for human to human skill transfer

TitleDevelopment of a robotic teaching interface for human to human skill transfer
Publication TypeConference Paper
Year of Publication2016
Conference NameIEEE International Conference on Intelligent Robots and Systems
Pagination710-716
Date Published11/2016
Publication Languageenglish
AuthorsYang, C, Liang, P, A. Ajoudani, Li, Z, Bicchi, A
PublisherIEEE
Conference LocationDanjeon, Korea
KeywordsRobotics
URLhttps://www.scopus.com/inward/record.uri?eid=2-s2.0-85006355804&doi=10.1109%2fIROS.2016.7759130&partnerID=40&md5=7f982e3eb493c1a6047d1dcc2acbe208
DOI10.1109/IROS.2016.7759130
Refereed DesignationRefereed

Influence of Force Feedback on Grasp Force Modulation in Prosthetic Applications: a Preliminary Study

TitleInfluence of Force Feedback on Grasp Force Modulation in Prosthetic Applications: a Preliminary Study
Publication TypeConference Paper
Year of Publication2016
Conference NameEngineering in Medicine and Biology Society (EMBC), 2016 38th Annual International Conference
AuthorsGodfrey, SB, Bianchi, M, Bicchi, A, Santello, M
Conference LocationOrlando, USA, August 16-20, 2016
URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7591957
DOI10.1109/EMBC.2016.7591957

Towards a Novel Generation of Haptic and Robotic Interfaces: Integrating A ective Physiology in Human-Robot Interaction

TitleTowards a Novel Generation of Haptic and Robotic Interfaces: Integrating A ective Physiology in Human-Robot Interaction
Publication TypeConference Paper
Year of Publication2016
Conference NameIEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) 2016.
AuthorsBianchi, M, Valenza, G, Greco, A, Nardelli, M, Battaglia, E, Bicchi, A, Scilingo, EP
Conference LocationNew York, August 26-31, 2016
Notes
This work is supported in part by the European Re-
search Council under the Advanced Grant SoftHands “A
Theory of Soft Synergies for a New Generation of Artificial
Hands” (no. ERC-291166), by the EU FP7 project “WEAR-
able HAPtics for Humans and Robots (WEARHAP)” (no.
601165) and by the EU H2020 project “SoftPro: Synergy-
based Open-source Foundations and Technologies for Pros-
thetics and RehabilitatiOn” (H2020-ICT-688857).
URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7745100
DOI10.1109/ROMAN.2016.7745100

Motion Primitive Based Random Planning for Loco–Manipulation Tasks

TitleMotion Primitive Based Random Planning for Loco–Manipulation Tasks
Publication TypeConference Paper
Year of Publication2016
Conference NameIEEE International Conference on Humanoid Robots (HUMANOIDS 2016)
AuthorsSettimi, A, Caporale, D, Kryczka, P, Ferrati, M, Pallottino, L
PublisherIEEE
Conference LocationCancun, Mexico, 15-17 Nov. 2016
ISBN Number978-1-5090-4718-5
KeywordsRobotics
Abstract

Several advanced control laws are available for
complex robotic systems such as humanoid robots and mobile
manipulators. Controls are usually developed for locomotion or
for manipulation purposes. Resulting motions are usually executed
sequentially and the potentiality of the robotic platform
is not fully exploited.
In this work we consider the problem of loco–manipulation
planning for a robot with given parametrized control laws
known as primitives. Such primitives, may have not been
designed to be executed simultaneously and by composing
them instability may easily arise. With the proposed approach,
primitives combination that guarantee stability of the system
are obtained resulting in complex whole–body behavior.
A formal definition of motion primitives is provided and a
random sampling approach on a manifold with limited dimension
is investigated. Probabilistic completeness and asymptotic
optimality are also proved. The proposed approach is tested
both on a mobile manipulator and on the humanoid robot
Walk-Man, performing loco–manipulation tasks.

Notes
This work is supported by the European commission project Walk-Man EU FP7-ICT no. 611832 and the ECs Horizon 2020 robotics program ICT-23-2014 under grant agreement 644727 (CogIMon)
URLhttp://ieeexplore.ieee.org/document/7803402/
DOI10.1109/HUMANOIDS.2016.7803402
Refereed DesignationRefereed

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