相关论文: Diagnostic Posture Control System for Seated-Style…
This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three…
Surface electromyography (s-EMG) sensors are a promising way to control upper-limb prostheses. However a training session is necessary in order to set up the controller that will make s-EMG based movement possible. All data recorded during…
This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate…
Heart disease is one of the most common diseases causing morbidity and mortality. Electrocardiogram (ECG) has been widely used for diagnosing heart diseases for its simplicity and non-invasive property. Automatic ECG analyzing technologies…
Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…
Postural instability is prevalent in aging and neurodegenerative disease, decreasing quality of life and independence. Quantitatively monitoring balance control is important for assessing treatment efficacy and rehabilitation progress.…
This paper presents design and control innovations of wearable robots that tackle two barriers to widespread adoption of powered exoskeletons, namely restriction of human movement and versatile control of wearable co-robot systems. First,…
Traditional echocardiographic parameters such as ejection fraction (EF) and global longitudinal strain (GLS) have limitations in the early detection of cardiac dysfunction. EF often remains normal despite underlying pathology, and GLS is…
An important paradigm in smart health is developing diagnosis tools and monitoring a patient's heart activity through processing Electrocardiogram (ECG) signals is a key example, sue to high mortality rate of heart-related disease. However,…
Over the past decades, we have witnessed a rapid emergence of soft and reconfigurable robots thanks to their capability to interact safely with humans and adapt to complex environments. However, their softness makes accurate control very…
The increase in cardiac and pulmonary diseases presents an alarming and pervasive health challenge on a global scale responsible for unexpected and premature mortalities. In spite of how serious these conditions are, existing methods of…
The human lung and its functions are extremely sensitive to orientation and posture, and debate continues as to the role of gravity and the surrounding anatomy in determining lung function and heterogeneity of perfusion and ventilation.…
Purpose: Spinal instability is a widespread condition that causes pain, fatigue, and restricted mobility, profoundly affecting patients' quality of life. In clinical practice, the gold standard for diagnosis is dynamic X-ray imaging.…
OBJECTIVE: The TER system is a robot-based tele-echography system allowing remote ultrasound examination. The specialist moves a mock-up of the ultrasound probe at the master site, and the robot reproduces the movements of the real probe,…
Ultrasound (US) imaging is widely used in diagnosing and staging abdominal diseases due to its lack of non-ionizing radiation and prevalent availability. However, significant inter-operator variability and inconsistent image acquisition…
In the ever-evolving landscape of medical diagnostics, this study details the systematic design process and concept selection methodology for developing an advanced digital stethoscope, demonstrating the evolution from traditional acoustic…
This paper presents the first implementation of autonomous robotic auscultation of heart and lung sounds. To select auscultation locations that generate high-quality sounds, a Bayesian Optimization (BO) formulation leverages visual…
Postural sway assessment is important for detecting balance problems and identifying people at risk of falls. Force plates (FP) are considered the gold standard postural sway assessment method in laboratory conditions, but their lack of…
Traditionally, cardiac surgery has been performed through a median sternotomy, which allows the surgeon generous access to the heart and surrounding great vessels. As a paradigm shift in the size and location of incisions occurs in cardiac…
In collaborative tasks where humans work alongside machines, the robot's movements and behaviour can have a significant impact on the operator's safety, health, and comfort. To address this issue, we present a multi-stereo camera system…