More Like this

1. Online Recognition of Bimanual Coordination Provides Important Context for Movement Data in Bimanual Teleoperated Robots

   Boehm, J. ; Fey, N. ; Majewicz Fey, A. ( September 2021 , IEEE International Conference on Robotics and Automation)

   null (Ed.)

   An important problem in designing human-robot systems is the integration of human intent and performance in the robotic control loop, especially in complex tasks. Bimanual coordination is a complex human behavior that is critical in many fine motor tasks, including robot-assisted surgery. To fully leverage the capabilities of the robot as an intelligent and assistive agent, online recognition of bimanual coordination could be important. Robotic assistance for a suturing task, for example, will be fundamentally different during phases when the suture is wrapped around the instrument (i.e., making a c- loop), than when the ends of the suture are pulled apart. In this study, we develop an online recognition method of bimanual coordination modes (i.e., the directions and symmetries of right and left hand movements) using geometric descriptors of hand motion. We (1) develop this framework based on ideal trajectories obtained during virtual 2D bimanual path following tasks performed by human subjects operating Geomagic Touch haptic devices, (2) test the offline recognition accuracy of bi- manual direction and symmetry from human subject movement trials, and (3) evalaute how the framework can be used to characterize 3D trajectories of the da Vinci Surgical System’s surgeon-side manipulators during bimanual surgical training tasks. In the human subject trials, our geometric bimanual movement classification accuracy was 92.3% for movement direction (i.e., hands moving together, parallel, or away) and 86.0% for symmetry (e.g., mirror or point symmetry). We also show that this approach can be used for online classification of different bimanual coordination modes during needle transfer, making a C loop, and suture pulling gestures on the da Vinci system, with results matching the expected modes. Finally, we discuss how these online estimates are sensitive to task environment factors and surgeon expertise, and thus inspire future work that could leverage adaptive control strategies to enhance user skill during robot-assisted surgery. 

   more » « less
2. FES Cycling and Closed-Loop Feedback Control for Rehabilitative Human–Robot Interaction

   https://doi.org/10.3390/robotics10020061  

   Cousin, Christian ; Duenas, Victor ; Dixon, Warren ( June 2021 , Robotics)

   null (Ed.)

   For individuals with movement impairments due to neurological injuries, rehabilitative therapies such as functional electrical stimulation (FES) and rehabilitation robots hold vast potential to improve their mobility and activities of daily living. Combining FES with rehabilitation robots results in intimately coordinated human–robot interaction. An example of such interaction is FES cycling, where motorized assistance can provide high-intensity and repetitive practice of coordinated limb motion, resulting in physiological and functional benefits. In this paper, the development of multiple FES cycling testbeds and safeguards is described, along with the switched nonlinear dynamics of the cycle–rider system. Closed-loop FES cycling control designs are described for cadence and torque tracking. For each tracking objective, the authors’ past work on robust and adaptive controllers used to compute muscle stimulation and motor current inputs is presented and discussed. Experimental results involving both able-bodied individuals and participants with neurological injuries are provided for each combination of controller and tracking objective. Trade-offs for the control algorithms are discussed based on the requirements for implementation, desired rehabilitation outcomes and resulting rider performance. Lastly, future works and the applicability of the developed methods to additional technologies including teleoperated robotics are outlined. 

   more » « less
3. Engaging Students in Distance Learning of Science With Remote Labs 2.0

   https://doi.org/10.1109/TLT.2022.3153005  

   Xie, Charles ; Li, Chenglu ; Sung, Shannon H. ; Jiang, Rundong ( February 2022 , IEEE Transactions on Learning Technologies)

   During the COVID-19 pandemic, many students lost opportunities to explore science in labs due to school closures. Remote labs provide a possible solution to mitigate this loss. However, most remote labs to date are based on a somehow centralized model in which experts design and conduct certain types of experiments in well-equipped facilities, with a few options of manipulation provided to remote users. In this paper, we propose a distributed framework, dubbed remote labs 2.0, that offers the flexibility needed to build an open platform to support educators to create, operate, and share their own remote labs. Similar to the transformation of the Web from 1.0 to 2.0, remote labs 2.0 can greatly enrich experimental science on the Internet by allowing users to choose and contribute their subjects and topics. As a reference implementation, we developed a platform branded as Telelab. In collaboration with a high school chemistry teacher, we conducted remote chemical reaction experiments on the Telelab platform with two online classes. Pre/post-test results showed that these high school students attained significant gains (t(26)=8.76, p<0.00001) in evidence-based reasoning abilities. Student surveys revealed three key affordances of Telelab: live experiments, scientific instruments, and social interactions. All 31 respondents were engaged by one or more of these affordances. Students behaviors were characterized by analyzing their interaction data logged by the platform. These findings suggest that appropriate applications of remote labs 2.0 in distance education can, to some extent, reproduce critical effects of their local counterparts on promoting science learning. 

   more » « less
4. Experimental Evaluation of Human Motion Prediction Toward Safe and Efficient Human Robot Collaboration

   https://doi.org/10.23919/ACC45564.2020.9147277  

   Zhao, Weiye ; Sun, Liting ; Liu, Changliu ; Tomizuka, Masayoshi ( July 2020 , Experimental Evaluation of Human Motion Prediction Toward Safe and Efficient Human Robot Collaboration)

   null (Ed.)

   Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human-robot collaboration, but also enhance human safety in close proximity to robots. Although many prediction models have been proposed with various parameterization and identification approaches, some fundamental questions remain unclear: what is the necessary parameterization of a prediction model? Is online adaptation of models necessary? Can a prediction model help improve safety and efficiency during human-robot collaboration? These unaddressed questions result from the difficulty of quantitatively evaluating different prediction models in a closed-loop fashion in real human-robot interaction. This paper develops a method to evaluate the closed-loop performance of different prediction models. In particular, we compare models with different parameterizations and models with or without online parameter adaptation. Extensive experiments were conducted on a human-robot collaboration platform. The experimental results demonstrate that human motion prediction significantly enhance the collaboration efficiency and human safety. Adaptable prediction models that are parameterized by neural networks achieve better performance. 

   more » « less
5. Kinematic coordinations capture learning during human–exoskeleton interaction

   https://doi.org/10.1038/s41598-023-35231-3  

   Ghonasgi, Keya ; Mirsky, Reuth ; Bhargava, Nisha ; Haith, Adrian M. ; Stone, Peter ; Deshpande, Ashish D. ( June 2023 , Scientific Reports)

   Human–exoskeleton interactions have the potential to bring about changes in human behavior for physical rehabilitation or skill augmentation. Despite significant advances in the design and control of these robots, their application to human training remains limited. The key obstacles to the design of such training paradigms are the prediction of human–exoskeleton interaction effects and the selection of interaction control to affect human behavior. In this article, we present a method to elucidate behavioral changes in the human–exoskeleton system and identify expert behaviors correlated with a task goal. Specifically, we observe the joint coordinations of the robot, also referred to as kinematic coordination behaviors, that emerge from human–exoskeleton interaction during learning. We demonstrate the use of kinematic coordination behaviors with two task domains through a set of three human-subject studies. We find that participants (1) learn novel tasks within the exoskeleton environment, (2) demonstrate similarity of coordination during successful movements within participants, (3) learn to leverage these coordination behaviors to maximize success within participants, and (4) tend to converge to similar coordinations for a given task strategy across participants. At a high level, we identify task-specific joint coordinations that are used by different experts for a given task goal. These coordinations can be quantified by observing experts and the similarity to these coordinations can act as a measure of learning over the course of training for novices. The observed expert coordinations may further be used in the design of adaptive robot interactions aimed at teaching a participant the expert behaviors.

    

   more » « less