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  1. Book ; Online: New Developments in Biomedical Engineering

    Campolo, Domenico

    2010  

    Keywords Medical ethics & professional conduct ; Medical bioinformatics
    Size 1 electronic resource (724 pages)
    Publisher IntechOpen
    Document type Book ; Online
    Note English ; Open Access
    HBZ-ID HT021049125
    ISBN 9789535164135 ; 9535164139
    Database ZB MED Catalogue: Medicine, Health, Nutrition, Environment, Agriculture

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  2. Article ; Online: Tracing curves in the plane: Geometric-invariant learning from human demonstrations.

    Turlapati, Sri Harsha / Grigoryeva, Lyudmila / Ortega, Juan-Pablo / Campolo, Domenico

    PloS one

    2024  Volume 19, Issue 2, Page(s) e0294046

    Abstract: The empirical laws governing human-curvilinear movements have been studied using various relationships, including minimum jerk, the 2/3 power law, and the piecewise power law. These laws quantify the speed-curvature relationships of human movements ... ...

    Abstract The empirical laws governing human-curvilinear movements have been studied using various relationships, including minimum jerk, the 2/3 power law, and the piecewise power law. These laws quantify the speed-curvature relationships of human movements during curve tracing using critical speed and curvature as regressors. In this work, we provide a reservoir computing-based framework that can learn and reproduce human-like movements. Specifically, the geometric invariance of the observations, i.e., lateral distance from the closest point on the curve, instantaneous velocity, and curvature, when viewed from the moving frame of reference, are exploited to train the reservoir system. The artificially produced movements are evaluated using the power law to assess whether they are indistinguishable from their human counterparts. The generalisation capabilities of the trained reservoir to curves that have not been used during training are also shown.
    MeSH term(s) Humans ; Models, Biological ; Biomechanical Phenomena ; Movement ; Mathematics ; Generalization, Psychological
    Language English
    Publishing date 2024-02-28
    Publishing country United States
    Document type Journal Article
    ZDB-ID 2267670-3
    ISSN 1932-6203 ; 1932-6203
    ISSN (online) 1932-6203
    ISSN 1932-6203
    DOI 10.1371/journal.pone.0294046
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  3. Article ; Online: Design of a Passive Wearable Device Using an Optimized Mechanical Metamaterial for Mirror Therapy.

    Kulkarni, Suhas Raghavendra / Accoto, Dino / Campolo, Domenico

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

    2023  Volume 2023, Page(s) 1–6

    Abstract: Mirror Therapy (MT) is an effective therapeutic method used in the rehabilitation of hemiplegics. The effectiveness of this method is improved by employing a bi-modal approach which requires the synchronous movement of the affected and unaffected arm. ... ...

    Abstract Mirror Therapy (MT) is an effective therapeutic method used in the rehabilitation of hemiplegics. The effectiveness of this method is improved by employing a bi-modal approach which requires the synchronous movement of the affected and unaffected arm. For this purpose, we describe the design of a wearable device using a Mechanical Metamaterial (MM) that is optimized for the specific user to provide passive assistance of wrist flexion-extension and enable synchronous motion of the affected and unaffected arm during MT.
    MeSH term(s) Humans ; Mirror Movement Therapy ; Wrist ; Wrist Joint ; Movement ; Wearable Electronic Devices
    Language English
    Publishing date 2023-11-09
    Publishing country United States
    Document type Journal Article ; Research Support, Non-U.S. Gov't
    ISSN 1945-7901
    ISSN (online) 1945-7901
    DOI 10.1109/ICORR58425.2023.10304724
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  4. Article ; Online: How to Train Your Posture: Haptic Feedback Can be Used for Postural Adaptation of the Trunk During Upper-Limb Motor Training.

    Agarwal, Rakhi / Hussain, Asif / Campolo, Domenico / Skm, Varadhan

    IEEE transactions on haptics

    2023  Volume 16, Issue 2, Page(s) 182–193

    Abstract: Poor trunk posture, especially during long periods of sitting, could lead to problems such as Low Back Pain (LBP) and Forward Head Posture (FHP). Typical solutions are based on visual or vibration-based feedback. However, these systems could lead to ... ...

    Abstract Poor trunk posture, especially during long periods of sitting, could lead to problems such as Low Back Pain (LBP) and Forward Head Posture (FHP). Typical solutions are based on visual or vibration-based feedback. However, these systems could lead to feedback being ignored by the user and phantom vibration syndrome, respectively. In this study, we propose using haptic feedback for postural adaptation. In this two-part study, twenty-four healthy participants (age 25.87 ± 2.17 years) adapted to three different postural targets in the anterior direction while performing a unimanual reaching task using a robotic device. Results suggest a strong adaptation to the desired postural targets. Mean anterior trunk bending after the intervention is significantly different compared to baseline measurements for all postural targets. Additional analysis of movement straightness and smoothness indicates an absence of any negative interference of posture-based feedback on the performance of reaching movement. Taken together, these results suggest that haptic feedback-based systems could be used for postural adaptation applications. Also, this type of postural adaptation system can be used during the rehabilitation of stroke patients to reduce trunk compensation in lieu of typical physical constraint-based methods.
    MeSH term(s) Humans ; Young Adult ; Adult ; Feedback ; Haptic Technology ; Touch Perception ; Posture ; Upper Extremity ; Postural Balance
    Language English
    Publishing date 2023-06-20
    Publishing country United States
    Document type Journal Article
    ISSN 2329-4051
    ISSN (online) 2329-4051
    DOI 10.1109/TOH.2023.3248619
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  5. Book ; Online: A Basic Geometric Framework for Quasi-Static Mechanical Manipulation

    Campolo, Domenico / Cardin, Franco

    2023  

    Abstract: In this work, we propose a geometric framework for analyzing mechanical manipulation, for example, by a robotic agent. Under the assumption of conservative forces and quasi-static manipulation, we use energy methods to derive a metric. We first review ... ...

    Abstract In this work, we propose a geometric framework for analyzing mechanical manipulation, for example, by a robotic agent. Under the assumption of conservative forces and quasi-static manipulation, we use energy methods to derive a metric. We first review and show that the natural geometric setting is represented by the cotangent bundle and its Lagrangian submanifolds. These are standard concepts in geometric mechanics but usually presented within dynamical frameworks. We review the basic definitions from a static mechanics perspective and show how Lagrangian submanifolds are naturally derived from a first order analysis. Then, via a second order analysis, we derive the Hessian of total energy. As this is not necessarily positive-definite from a control perspective, we propose the use of the squared-Hessian for optimality measures, motivated by insights {derived from both mechanics (Gauss's Principle) and biology (Separation Principle)}. We conclude by showing how such methods can be applied, for example, to the simple case of an elastically driven pendulum. The example is simple enough to allow for analytical solution. However, an extension is further derived and numerically solved, which is more realistically connected with actual robotic manipulation problems.

    Comment: 28 pages, 6 figures, 1 table
    Keywords Mathematics - Optimization and Control ; Computer Science - Robotics
    Publishing date 2023-07-19
    Publishing country us
    Document type Book ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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  6. Article ; Online: Haptic feedback system for postural adaptation during robotic rehabilitation of upper limb.

    Agarwal, Rakhi / Hussain, Asif / Skm, Varadhan / Campolo, Domenico

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

    2022  Volume 2022, Page(s) 1–6

    Abstract: Although trunk compensation during stroke rehabilitation is widely studied, the proposed solutions primarily include a trunk constraint, which has several disadvantages. In this study, we have proposed a haptic feedback-based system for postural training ...

    Abstract Although trunk compensation during stroke rehabilitation is widely studied, the proposed solutions primarily include a trunk constraint, which has several disadvantages. In this study, we have proposed a haptic feedback-based system for postural training during upper-limb motor rehabilitation. We have tested the proposed system on six healthy people in this preliminary study. Participants performed a simple 1-dimensional reaching task while their posture was being monitored. They received haptic feedback based on their trunk posture. Preliminary results revealed a significant decline in postural error (p<0.05) after the haptic-based training. The reduction in error was maintained even after haptic feedback was turned off. This study shows that haptic feedback could be a viable alternative to the traditional constraint-based methods for postural adaptation. Additional studies need to be conducted to further evaluate the influence of using such feedback strategies.
    MeSH term(s) Feedback ; Haptic Technology ; Humans ; Robotic Surgical Procedures ; Stroke Rehabilitation/methods ; Upper Extremity
    Language English
    Publishing date 2022-09-29
    Publishing country United States
    Document type Journal Article
    ISSN 1945-7901
    ISSN (online) 1945-7901
    DOI 10.1109/ICORR55369.2022.9896531
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  7. Article: Let the force guide you: a performance-based adaptive algorithm for postural training using haptic feedback.

    Agarwal, Rakhi / Hussain, Asif / Skm, Varadhan / Campolo, Domenico

    Frontiers in human neuroscience

    2022  Volume 16, Page(s) 968669

    Abstract: Motor learning is an essential component of human behavior. Many different factors can influence the process of motor learning, such as the amount of practice and type of feedback. Changes in task difficulty during training can also considerably impact ... ...

    Abstract Motor learning is an essential component of human behavior. Many different factors can influence the process of motor learning, such as the amount of practice and type of feedback. Changes in task difficulty during training can also considerably impact motor learning. Typical motor learning studies include a sequential variation of task difficulty, i.e., easy to challenging, irrespective of user performance. However, many studies have reported the importance of performance-based task difficulty variation for effective motor learning and skill transfer. A performance-based adaptive algorithm for task difficulty variation based on the challenge-point framework is proposed in this study. The algorithm is described for postural adaptation during simultaneous upper-limb training. Ten healthy participants (28 ± 2.44 years) were recruited to validate the algorithm. Participants adapted to a postural target of 20° in the anterior direction from the initial upright posture while performing a unimanual reaching task using a robotic device. Results suggest a significant decrease in postural error after training. The algorithm successfully adapted the task difficulty based on the performance of the user. The proposed algorithm could be modified for different motor skills and can be further evaluated for different applications in order to maximize the potential benefits of rehabilitation sessions.
    Language English
    Publishing date 2022-11-24
    Publishing country Switzerland
    Document type Journal Article
    ZDB-ID 2425477-0
    ISSN 1662-5161
    ISSN 1662-5161
    DOI 10.3389/fnhum.2022.968669
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  8. Book ; Online: Control of a pendulum system

    Natarajan, Iyer Venkataraman / Campolo, Domenico / Turlapati, Sri Harsha

    From simulation to reality

    2023  

    Abstract: Control theory deals with the study of controlling dynamical systems. Robots today are growing increasingly complex and moving out of factory floors to real world environment. These robots have to interact with real world environment factors such as ... ...

    Abstract Control theory deals with the study of controlling dynamical systems. Robots today are growing increasingly complex and moving out of factory floors to real world environment. These robots have to interact with real world environment factors such as disturbances and this requires the robot to have a control system that is robust. Testing control algorithms on robots in real world environment can pose critical safety issues and can be financially expensive. This has resulted in a heavy emphasis on using simulation to test control algorithms before deploying them in real world environments. Designing control algorithms is an iterative process that starts with modelling the target system in simulation, designing a controller, testing the controller in simulation and then changing the controller parameters to design a better controller. This report explores how an approximated system model of a target hardware system can be developed, which can then be used to design a LQR controller for the target system. The controller is then tested under a disturbance, on hardware and in simulation, and the system response is recorded. The system response from hardware and simulation are then compared to validate the use of approximated system models in simulation for designing and testing control algorithms.
    Keywords Computer Science - Robotics
    Subject code 629
    Publishing date 2023-12-08
    Publishing country us
    Document type Book ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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  9. Article ; Online: Learning Compliant Box-in-Box Insertion through Haptic-Based Robotic Teleoperation.

    Kana, Sreekanth / Gurnani, Juhi / Ramanathan, Vishal / Ariffin, Mohammad Zaidi / Turlapati, Sri Harsha / Campolo, Domenico

    Sensors (Basel, Switzerland)

    2023  Volume 23, Issue 21

    Abstract: In modern logistics, the box-in-box insertion task is representative of a wide range of packaging applications, and automating compliant object insertion is difficult due to challenges in modelling the object deformation during insertion. Using Learning ... ...

    Abstract In modern logistics, the box-in-box insertion task is representative of a wide range of packaging applications, and automating compliant object insertion is difficult due to challenges in modelling the object deformation during insertion. Using Learning from Demonstration (LfD) paradigms, which are frequently used in robotics to facilitate skill transfer from humans to robots, can be one solution for complex tasks that are difficult to mathematically model. In order to automate the box-in-box insertion task for packaging applications, this study makes use of LfD techniques. The proposed framework has three phases. Firstly, a master-slave teleoperated robot system is used in the initial phase to haptically demonstrate the insertion task. Then, the learning phase involves identifying trends in the demonstrated trajectories using probabilistic methods, in this case, Gaussian Mixture Regression. In the third phase, the insertion task is generalised, and the robot adjusts to any object position using barycentric interpolation. This method is novel because it tackles tight insertion by taking advantage of the boxes' natural compliance, making it possible to complete the task even with a position-controlled robot. To determine whether the strategy is generalisable and repeatable, experimental validation was carried out.
    Language English
    Publishing date 2023-10-25
    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/s23218721
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  10. Article ; Online: Haptic Manipulation of 3D Scans for Geometric Feature Enhancement.

    Turlapati, Sri Harsha / Accoto, Dino / Campolo, Domenico

    Sensors (Basel, Switzerland)

    2021  Volume 21, Issue 8

    Abstract: Localisation of geometric features like holes, edges, slots, etc. is vital to robotic planning in industrial automation settings. Low-cost 3D scanners are crucial in terms of improving accessibility, but pose a practical challenge to feature localisation ...

    Abstract Localisation of geometric features like holes, edges, slots, etc. is vital to robotic planning in industrial automation settings. Low-cost 3D scanners are crucial in terms of improving accessibility, but pose a practical challenge to feature localisation because of poorer resolution and consequently affect robotic planning. In this work, we address the possibility of enhancing the quality of a 3D scan by a manual 'touch-up' of task-relevant features, to ensure their automatic detection prior to automation. We propose a framework whereby the operator (i) has access to both the actual work-piece and its 3D scan; (ii) evaluates the missing salient features from the scan; (iii) uses a haptic stylus to physically interact with the actual work-piece, around such specific features; (iv) interactively updates the scan using the position and force information from the haptic stylus. The contribution of this work is the use of haptic mismatch for geometric update. Specifically, the geometry from the 3D scan is used to predict haptic feedback at a point on the work-piece surface. The haptic mismatch is derived as a measure of error between this prediction and the real interaction forces from physical contact at that point on the work-piece. The geometric update is driven until the haptic mismatch is minimised. Convergence of the proposed algorithm is first numerically verified on an analytical surface with simulated physical interaction. Error analysis of the surface position and orientations were also plotted. Experiments were conducted using a motion capture system providing sub-mm accuracy in position and a 6 axis F/T sensor. Missing features are successfully detected after the update of the scan using the proposed method in an experiment.
    Language English
    Publishing date 2021-04-12
    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/s21082716
    Database MEDical Literature Analysis and Retrieval System OnLINE

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