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Article ; Online: The control of the arm's equilibrium position.

Takagi, Atsushi / Burdet, Etienne / Koike, Yasuharu

2024 Volume 131, Issue 4, Page(s) 750–756

Abstract: To generate a force, the brain activates muscles that act like springs to pull the arm toward a new equilibrium position. The equilibrium position (EP) is central to our understanding of the biological control of viscoelastic muscles. Although there is ... ...

Abstract	To generate a force, the brain activates muscles that act like springs to pull the arm toward a new equilibrium position. The equilibrium position (EP) is central to our understanding of the biological control of viscoelastic muscles. Although there is evidence of the EP during the control of limb posture, EPs have not been directly identified when the limb exerts a force against the environment. Here, we asked participants to apply a constant force in one of eight directions against a point-like constraint. This constraint was released abruptly to observe the final position to which the arm converged. Importantly, the same force magnitude was maintained while changing the arm's stiffness by modulating the strength of the hand's power grasp. The final position moved further away from the constraint as the arm became less stiff and was inversely proportional to the arm's stiffness, thereby confirming that the final position was the arm's EP. These results demonstrate how the EP changes with the arm's stiffness to produce a desired force in different directions.
MeSH term(s)	Humans ; Arm/physiology ; Movement/physiology ; Posture ; Brain ; Biomechanical Phenomena
Language	English
Publishing date	2024-03-20
Publishing country	United States
Document type	Journal Article
ZDB-ID	80161-6
ISSN	1522-1598 ; 0022-3077
ISSN (online)	1522-1598
ISSN	0022-3077
DOI	10.1152/jn.00011.2024
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Article ; Online: Object Recognition Using Mechanical Impact, Viscoelasticity, and Surface Friction During Interaction.

Uttayopas, Pakorn / Cheng, Xiaoxiao / Eden, Jonathan / Burdet, Etienne

IEEE transactions on haptics

2023 Volume 16, Issue 2, Page(s) 251–260

Abstract: Current robotic haptic object recognition relies on statistical measures derived from movement dependent interaction signals such as force, vibration or position. Mechanical properties, which can be estimated from these signals, are intrinsic object ... ...

Abstract	Current robotic haptic object recognition relies on statistical measures derived from movement dependent interaction signals such as force, vibration or position. Mechanical properties, which can be estimated from these signals, are intrinsic object properties that may yield a more robust object representation. Therefore, this paper proposes an object recognition framework using multiple representative mechanical properties: stiffness, viscosity and friction coefficient as well as the coefficient of restitution, which has been rarely used to recognise objects. These properties are estimated in real-time using a dual Kalman filter (without tangential force measurements) and then are used for object classification and clustering. The proposed framework was tested on a robot identifying 20 objects through haptic exploration. The results demonstrate the technique's effectiveness and efficiency, and that all four mechanical properties are required for the best recognition rate of 98.18 ± 0.424%. For object clustering, the use of these mechanical properties also results in superior performance when compared to methods based on statistical parameters.
MeSH term(s)	Humans ; Touch Perception ; Friction ; Viscosity ; Visual Perception
Language	English
Publishing date	2023-06-20
Publishing country	United States
Document type	Journal Article ; Research Support, Non-U.S. Gov't
ISSN	2329-4051
ISSN (online)	2329-4051
DOI	10.1109/TOH.2023.3267523
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Article ; Online: Can Training Make Three Arms Better Than Two Heads for Trimanual Coordination?

Huang, Yanpei / Eden, Jonathan / Ivanova, Ekaterina / Burdet, Etienne

IEEE open journal of engineering in medicine and biology

2023 Volume 4, Page(s) 148–155

Abstract: Supernumerary effectors have been proposed to enable users to perform tasks alone that normally require assistance from a partner. While various supernumerary robotic limbs have been developed in the last decade, the capability of users to operate them ... ...

Abstract	Supernumerary effectors have been proposed to enable users to perform tasks alone that normally require assistance from a partner. While various supernumerary robotic limbs have been developed in the last decade, the capability of users to operate them effectively has not yet been proven. Here we tested whether users (i) can complete a task that requires simultaneous and fine control of three effectors, and (ii) can be trained to do so with similar or superior performance as through collaboration with a human partner. As in previous studies, initial augmented capability was less than that of working with a partner. However, one hour of dedicated solo trimanual training across three days significantly increased task performance, so that participants became able to perform trimanual control alone as well as or better than they could with a new partner. This shows the viability of augmentation systems for applications such as in robotic surgery or industrial assembly, which can be further validated on real tasks with physical systems.
Language	English
Publishing date	2023-08-16
Publishing country	United States
Document type	Journal Article
ISSN	2644-1276
ISSN (online)	2644-1276
DOI	10.1109/OJEMB.2023.3305808
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Article ; Online: Design, Fabrication and Evaluation of a Stretchable High-Density Electromyography Array.

Varghese, Rejin John / Pizzi, Matteo / Kundu, Aritra / Grison, Agnese / Burdet, Etienne / Farina, Dario

Sensors (Basel, Switzerland)

2024 Volume 24, Issue 6

Abstract: The adoption of high-density electrode systems for human-machine interfaces in real-life applications has been impeded by practical and technical challenges, including noise interference, motion artefacts and the lack of compact electrode interfaces. To ... ...

Abstract	The adoption of high-density electrode systems for human-machine interfaces in real-life applications has been impeded by practical and technical challenges, including noise interference, motion artefacts and the lack of compact electrode interfaces. To overcome some of these challenges, we introduce a wearable and stretchable electromyography (EMG) array, and present its design, fabrication methodology, characterisation, and comprehensive evaluation. Our proposed solution comprises dry-electrodes on flexible printed circuit board (PCB) substrates, eliminating the need for time-consuming skin preparation. The proposed fabrication method allows the manufacturing of stretchable sleeves, with consistent and standardised coverage across subjects. We thoroughly tested our developed prototype, evaluating its potential for application in both research and real-world environments. The results of our study showed that the developed stretchable array matches or outperforms traditional EMG grids and holds promise in furthering the real-world translation of high-density EMG for human-machine interfaces.
MeSH term(s)	Humans ; Electromyography ; Electrodes ; Artifacts ; Motion
Language	English
Publishing date	2024-03-11
Publishing country	Switzerland
Document type	Journal Article
ZDB-ID	2052857-7
ISSN	1424-8220 ; 1424-8220
ISSN (online)	1424-8220
ISSN	1424-8220
DOI	10.3390/s24061810
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Article ; Online: A systematic investigation of detectors for low signal-to-noise ratio EMG signals.

Yuvaraj, Monisha / Raja, Priyanka / David, Ann / Burdet, Etienne / Skm, Varadhan / Balasubramanian, Sivakumar

F1000Research

2024 Volume 12, Page(s) 429

Abstract: Background: Active participation of stroke survivors during robot-assisted movement therapy is essential for sensorimotor recovery. Robot-assisted therapy contingent on movement intention is an effective way to encourage patients' active engagement. For ...

Abstract	Background: Active participation of stroke survivors during robot-assisted movement therapy is essential for sensorimotor recovery. Robot-assisted therapy contingent on movement intention is an effective way to encourage patients' active engagement. For severely impaired stroke patients with no residual movements, a surface electromyogram (EMG) has been shown to be a viable option for detecting movement intention. Although numerous algorithms for EMG detection exist, the detector with the highest accuracy and lowest latency for low signal-to-noise ratio (SNR) remains unknown. Methods: This study, therefore, investigates the performance of 13 existing EMG detection algorithms on simulated low SNR (0dB and -3dB) EMG signals generated using three different EMG signal models: Gaussian, Laplacian, and biophysical model. The detector performance was quantified using the false positive rate (FPR), false negative rate (FNR), and detection latency. Any detector that consistently showed FPR and FNR of no more than 20%, and latency of no more than 50ms, was considered an appropriate detector for use in robot-assisted therapy. Results: The results indicate that the Modified Hodges detector - a simplified version of the threshold-based Hodges detector introduced in the current study - was the most consistent detector across the different signal models and SNRs. It consistently performed for ~90% and ~40% of the tested trials for 0dB and -3dB SNR, respectively. The two statistical detectors (Gaussian and Laplacian Approximate Generalized Likelihood Ratio) and the Fuzzy Entropy detectors have a slightly lower performance than Modified Hodges. Conclusions: Overall, the Modified Hodges, Gaussian and Laplacian Approximate Generalized Likelihood Ratio, and the Fuzzy Entropy detectors were identified as the potential candidates that warrant further investigation with real surface EMG data since they had consistent detection performance on low SNR EMG data.
MeSH term(s)	Electromyography/methods ; Humans ; Signal-To-Noise Ratio ; Algorithms ; Signal Processing, Computer-Assisted
Language	English
Publishing date	2024-04-18
Publishing country	England
Document type	Journal Article ; Research Support, Non-U.S. Gov't
ZDB-ID	2699932-8
ISSN	2046-1402 ; 2046-1402
ISSN (online)	2046-1402
ISSN	2046-1402
DOI	10.12688/f1000research.132382.4
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Article ; Online: Increasing the Motivation to Train Through Haptic Social Interaction - Pilot study.

Nehrujee, Aravind / Ivanova, Ekaterina / Srinivasan, Sujatha / Balasubramanian, Sivakumar / Burdet, Etienne

IEEE ... International Conference on Rehabilitation Robotics : [proceedings

2023 Volume 2023, Page(s) 1–6

Abstract: Motivation is crucial in stroke rehabilitation, as it enhances patient engagement, adherence, and recovery. Robots can be employed to improve motivation through multiplayer rehabilitation games, which allow patients to collaborate and interact in a ... ...

Abstract	Motivation is crucial in stroke rehabilitation, as it enhances patient engagement, adherence, and recovery. Robots can be employed to improve motivation through multiplayer rehabilitation games, which allow patients to collaborate and interact in a virtual environment through multimodal sensory cues. This social interaction can provide social support and increase motivation, resulting in better therapy engagement. A hand rehabilitation robot (PLUTO) was used to investigate the potential of social interaction to implement haptic multiplayer games. Twelve unimpaired participants (6 dyads) played in solo, collaborative, and competitive game modes. Surprisingly, no difference was found in self-reported engagement, tension, or competence between solo and multiplayer games. However, the IMI scale indicated that engagement for multiplayer games was rated higher than for solo games. The collaborative game was preferred by 10 out of 12 participants, highlighting its potential for promoting behavioural involvement and engagement. This study indicates that using PLUTO with multiplayer game modes can enhance therapy engagement. This can potentially improve rehabilitation outcomes if translated to the patient population.
MeSH term(s)	Humans ; Social Interaction ; Pilot Projects ; Motivation ; Haptic Technology ; Exercise Therapy/methods ; Video Games
Language	English
Publishing date	2023-11-09
Publishing country	United States
Document type	Journal Article
ISSN	1945-7901
ISSN (online)	1945-7901
DOI	10.1109/ICORR58425.2023.10304751
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Article ; Online: Redundancy Resolution in Trimanual vs. Bimanual Tracking Tasks.

Sanmartin-Senent, Ana / Pena-Perez, Nuria / Burdet, Etienne / Eden, Jonathan

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference

2023 Volume 2023, Page(s) 1–5

Abstract: Supernumerary limbs promise to allow users to perform complex tasks that would otherwise require the actions of teams. However, how the user's capability for multimanual coordination compares to bimanual coordination, and how the motor system decides to ... ...

Abstract	Supernumerary limbs promise to allow users to perform complex tasks that would otherwise require the actions of teams. However, how the user's capability for multimanual coordination compares to bimanual coordination, and how the motor system decides to configure its limb contributions given task redundancy is unclear. We conducted bimanual and trimanual (with the foot as a third-hand controller) virtual reality visuomotor tracking experiments to study how 32 healthy participants changed their limb coordination in response to uninstructed cursor mapping changes. This used a shared cursor mapped to the average limbs' position for different limb combinations. The results show that most participants correctly identified the different mappings during bimanual tracking, and accordingly minimized task-irrelevant motion. Instead during trimanual coordination, participants consistently moved all three limbs concurrently, showing weaker ipsilateral hand-foot coordination. These findings show how redundancy resolution and the resulting coordination patterns differ between similar bimanual and trimanual tasks. Further research is needed to consider the effect of learning on coordination behaviour.
MeSH term(s)	Humans ; Psychomotor Performance/physiology ; Movement/physiology ; Upper Extremity/physiology ; Foot ; Motion
Language	English
Publishing date	2023-12-11
Publishing country	United States
Document type	Journal Article ; Research Support, Non-U.S. Gov't
ISSN	2694-0604
ISSN (online)	2694-0604
DOI	10.1109/EMBC40787.2023.10340722
Database	MEDical Literature Analysis and Retrieval System OnLINE

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Article ; Online: Human Performance of Three Hands in Unimanual, Bimanual and Trimanual Tasks.

Huang, Yanpei / Eden, Jonathan / Ivanova, Ekaterina / Burdet, Etienne

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference

2022 Volume 2022, Page(s) 1493–1497

Abstract: Trimanual operation using a robotic supernumerary limb is a new and challenging mechanism for human operators that could enable a single user to perform tasks requiring more than two hands. Foot-controlled interfaces have previously proven able to be ... ...

Abstract	Trimanual operation using a robotic supernumerary limb is a new and challenging mechanism for human operators that could enable a single user to perform tasks requiring more than two hands. Foot-controlled interfaces have previously proven able to be intuitively controlled, enabling simple tasks to be performed. However, the effect of going from unimanual to bimanual and then to trimanual tasks on subjects performance and coordination is not well understood. In this paper, unimanual, bimanual and trimanual teleoperation tasks were performed in a virtual reality scene to evaluate the impact of extending to trimanual actions. 15 participants were required to move their limbs together in a coordinated reaching activity. The results show that the addition of another hand resulted in an increase in operating time, where the time increased in going from unimanual to bimanual operation and then increased further when going from bimanual to trimanual. Moreover, the success rate for performing bimanual and trimanual tasks was strongly influenced by the subject's performance in ipsilateral hand-foot activities, where the ipsilateral combination had a lower success rate than contralateral limbs. The addition of a hand did not affect any two-hand coordination rate and even in some cases reduced coordination deviations. Clinical relevance - This work can contribute to build efficient training and learning framework on human multiple limbs motion control and coordination for both rehabilitation and augmentation.
MeSH term(s)	Functional Laterality ; Humans ; Psychomotor Performance ; Robotics ; Upper Extremity
Language	English
Publishing date	2022-09-09
Publishing country	United States
Document type	Journal Article ; Research Support, Non-U.S. Gov't
ISSN	2694-0604
ISSN (online)	2694-0604
DOI	10.1109/EMBC48229.2022.9871248
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Article ; Online: Author Correction: Adapting the visuo-haptic perception through muscle coactivation.

Carboni, Gerolamo / Nanayakkara, Thrishantha / Takagi, Atsushi / Burdet, Etienne

Scientific reports

2022 Volume 12, Issue 1, Page(s) 18505

Language	English
Publishing date	2022-11-02
Publishing country	England
Document type	Published Erratum
ZDB-ID	2615211-3
ISSN	2045-2322 ; 2045-2322
ISSN (online)	2045-2322
ISSN	2045-2322
DOI	10.1038/s41598-022-23215-8
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Book ; Online: Open-Set Object Recognition Using Mechanical Properties During Interaction

Uttayopas, Pakorn / Cheng, Xiaoxiao / Burdet, Etienne

2023

Abstract: while most of the tactile robots are operated in close-set conditions, it is challenging for them to operate in open-set conditions where test objects are beyond the robots' knowledge. We proposed an open-set recognition framework using mechanical ... ...

Abstract	while most of the tactile robots are operated in close-set conditions, it is challenging for them to operate in open-set conditions where test objects are beyond the robots' knowledge. We proposed an open-set recognition framework using mechanical properties to recongise known objects and incrementally label novel objects. The main contribution is a clustering algorithm that exploits knowledge of known objects to estimate cluster centre and sizes, unlike a typical algorithm that randomly selects them. The framework is validated with the mechanical properties estimated from a real object during interaction. The results show that the framework could recognise objects better than alternative methods contributed by the novelty detector. Importantly, our clustering algorithm yields better clustering performance than other methods. Furthermore, the hyperparameters studies show that cluster size is important to clustering results and needed to be tuned properly.
Keywords	Computer Science - Robotics ; Computer Science - Artificial Intelligence
Subject code	004
Publishing date	2023-11-02
Publishing country	us
Document type	Book ; Online
Database	BASE - Bielefeld Academic Search Engine (life sciences selection)

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