Related papers: Surgical task expertise detected by a self-organiz…
This paper builds on our previous work by exploiting Artificial Intelligence to predict individual grip force variability in manual robot control. Grip forces were recorded from various loci in the dominant and non dominant hands of…
This concept paper draws from our previous research on individual grip force data collected from biosensors placed on specific anatomical locations in the dominant and non dominant hands of operators performing a robot assisted precision…
Analysis of grip force signals tailored to hand and finger movement evolution and changes in grip force control during task execution provide unprecedented functional insight into somatosensory cognition. Somatosensory cognition is the…
The human somatosensory cortex is intimately linked to other central brain functions such as vision, audition, mechanoreception, and motor planning and control. These links are established through brain learning, and display a considerable…
Results of neural network learning are always subject to some variability, due to the sensitivity to initial conditions, to convergence to local minima, and, sometimes more dramatically, to sampling variability. This paper presents a set of…
Simulator training for image guided surgical interventions would benefit from intelligent systems that detect the evolution of task performance, and take control of individual speed precision strategies by providing effective automatic…
The Self-Organizing Map (SOM) is a brain-inspired neural model that is very promising for unsupervised learning, especially in embedded applications. However, it is unable to learn efficient prototypes when dealing with complex datasets. We…
Hands are used for communicating with the surrounding environment and have a complex structure that enables them to perform various tasks with their multiple degrees of freedom. Hand amputation can prevent a person from performing their…
Wearable sensor systems with transmitting capabilities are currently employed for the biometric screening of exercise activities and other performance data. Such technology is generally wireless and enables the noninvasive monitoring of…
Tool manipulation is vital for facilitating robots to complete challenging task goals. It requires reasoning about the desired effect of the task and thus properly grasping and manipulating the tool to achieve the task. Task-agnostic…
This paper introduces the concept of a bi-scale metric for use in the cooperative phase of the self-organizing map (SOM) algorithm. Use of a bi-scale metric allows segmentation of the map into a number of regions, corresponding to…
Indirect simultaneous positioning (ISP), where internal tissue points are placed at desired locations indirectly through the manipulation of boundary points, is a type of subtask frequently performed in robotic surgeries. Although…
Acquisition of bimanual motor skills, critical in several applications ranging from robotic teleoperations to surgery, is associated with a protracted learning curve. Brain connectivity based on functional Near Infrared Spectroscopy (fNIRS)…
Previous soft tissue manipulation studies assumed that the grasping point was known and the target deformation can be achieved. During the operation, the constraints are supposed to be constant, and there is no obstacles around the soft…
A self-organizing map (SOM) is a type of competitive artificial neural network, which projects the high-dimensional input space of the training samples into a low-dimensional space with the topology relations preserved. This makes SOMs…
Accurate estimation of human hand configuration and the forces they exert is critical for effective teleoperation and skill transfer in robotic manipulation. A deeper understanding of human interactions with objects can further enhance…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
Simulations are a pedagogical means of enabling a risk-free way for healthcare practitioners to learn, maintain, or enhance their knowledge and skills. Such simulations should provide an optimum amount of cognitive load to the learner and…
The need for automatic surgical skills assessment is increasing, especially because manual feedback from senior surgeons observing junior surgeons is prone to subjectivity and time consuming. Thus, automating surgical skills evaluation is a…
Loss of hand function due to conditions like stroke or multiple sclerosis significantly impacts daily activities. Robotic rehabilitation provides tools to restore hand function, while novel methods based on surface electromyography (sEMG)…