Pub Date : 2024-02-06DOI: 10.3389/frobt.2024.1281060
Shemonto Das, Vinicius Prado da Fonseca, Amilcar Soares
Accurate texture classification empowers robots to improve their perception and comprehension of the environment, enabling informed decision-making and appropriate responses to diverse materials and surfaces. Still, there are challenges for texture classification regarding the vast amount of time series data generated from robots’ sensors. For instance, robots are anticipated to leverage human feedback during interactions with the environment, particularly in cases of misclassification or uncertainty. With the diversity of objects and textures in daily activities, Active Learning (AL) can be employed to minimize the number of samples the robot needs to request from humans, streamlining the learning process. In the present work, we use AL to select the most informative samples for annotation, thus reducing the human labeling effort required to achieve high performance for classifying textures. We also use a sliding window strategy for extracting features from the sensor’s time series used in our experiments. Our multi-class dataset (e.g., 12 textures) challenges traditional AL strategies since standard techniques cannot control the number of instances per class selected to be labeled. Therefore, we propose a novel class-balancing instance selection algorithm that we integrate with standard AL strategies. Moreover, we evaluate the effect of sliding windows of two-time intervals (3 and 6 s) on our AL Strategies. Finally, we analyze in our experiments the performance of AL strategies, with and without the balancing algorithm, regarding f1-score, and positive effects are observed in terms of performance when using our proposed data pipeline. Our results show that the training data can be reduced to 70% using an AL strategy regardless of the machine learning model and reach, and in many cases, surpass a baseline performance. Finally, exploring the textures with a 6-s window achieves the best performance, and using either Extra Trees produces an average f1-score of 90.21% in the texture classification data set.
准确的纹理分类有助于机器人提高对环境的感知和理解能力，从而做出明智的决策，并对不同的材料和表面做出适当的反应。然而，从机器人传感器生成的大量时间序列数据来看，纹理分类仍面临挑战。例如，预计机器人在与环境互动时会利用人类的反馈，特别是在分类错误或不确定的情况下。由于日常活动中的物体和纹理多种多样，因此可以采用主动学习（AL）来尽量减少机器人需要向人类请求的样本数量，从而简化学习过程。在本作品中，我们利用主动学习技术选择信息量最大的样本进行标注，从而减少了人工标注的工作量，实现了纹理分类的高性能。我们还使用滑动窗口策略从实验中使用的传感器时间序列中提取特征。我们的多类数据集（例如 12 种纹理）对传统的 AL 策略提出了挑战，因为标准技术无法控制每个类别中需要标记的实例数量。因此，我们提出了一种新颖的类平衡实例选择算法，并将其与标准 AL 策略相结合。此外，我们还评估了两个时间间隔（3 秒和 6 秒）的滑动窗口对我们的 AL 策略的影响。最后，我们在实验中分析了使用和不使用平衡算法的 AL 策略在 f1 分数方面的性能，并观察到使用我们提出的数据管道对性能的积极影响。我们的结果表明，无论采用哪种机器学习模型，使用 AL 策略都能将训练数据减少到 70%，并达到基准性能，在很多情况下甚至超过基准性能。最后，在纹理分类数据集中，使用 6 秒窗口探索纹理取得了最佳性能，使用 Extra Trees 的平均 f1 分数为 90.21%。
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Pub Date : 2024-02-02DOI: 10.3389/frobt.2024.1341689
L. Mochurad
Introduction: Navigation satellite systems can fail to work or work incorrectly in a number of conditions: signal shadowing, electromagnetic interference, atmospheric conditions, and technical problems. All of these factors can significantly affect the localization accuracy of autonomous driving systems. This emphasizes the need for other localization technologies, such as Lidar. Methods: The use of the Kalman filter in combination with Lidar can be very effective in various applications due to the synergy of their capabilities. The Kalman filter can improve the accuracy of lidar measurements by taking into account the noise and inaccuracies present in the measurements. Results: In this paper, we propose a parallel Kalman algorithm in three-dimensional space to speed up the computational speed of Lidar localization. At the same time, the initial localization accuracy of the latter is preserved. A distinctive feature of the proposed approach is that the Kalman localization algorithm itself is parallelized, rather than the process of building a map for navigation. The proposed algorithm allows us to obtain the result 3.8 times faster without compromising the localization accuracy, which was 3% for both cases, making it effective for real-time decision-making. Discussion: The reliability of this result is confirmed by a preliminary theoretical estimate of the acceleration rate based on Ambdahl’s law. Accelerating the Kalman filter with CUDA for Lidar localization can be of significant practical value, especially in real-time and in conditions where large amounts of data from Lidar sensors need to be processed.
导言：导航卫星系统在多种情况下可能无法工作或工作不正确：信号阴影、电磁干扰、大气条件和技术问题。所有这些因素都会严重影响自动驾驶系统的定位精度。这就强调了对激光雷达等其他定位技术的需求。方法卡尔曼滤波器与激光雷达的结合使用在各种应用中都非常有效，这是因为二者的功能具有协同作用。卡尔曼滤波器可以考虑到测量中存在的噪声和不准确性，从而提高激光雷达测量的准确性。结果本文提出了一种三维空间并行卡尔曼算法，以加快激光雷达定位的计算速度。同时，保留了后者的初始定位精度。所提方法的一个显著特点是卡尔曼定位算法本身的并行化，而不是建立导航地图的过程。在不影响定位精度（两种情况都是 3%）的情况下，所提出的算法可使我们获得结果的速度提高 3.8 倍，从而使其在实时决策中发挥有效作用。讨论根据安姆达尔定律对加速率进行的初步理论估算证实了这一结果的可靠性。利用 CUDA 加速卡尔曼滤波器进行激光雷达定位具有重要的实用价值，尤其是在需要实时处理激光雷达传感器的大量数据的情况下。
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Pub Date : 2024-02-02DOI: 10.3389/frobt.2024.1341689
L. Mochurad
Introduction: Navigation satellite systems can fail to work or work incorrectly in a number of conditions: signal shadowing, electromagnetic interference, atmospheric conditions, and technical problems. All of these factors can significantly affect the localization accuracy of autonomous driving systems. This emphasizes the need for other localization technologies, such as Lidar. Methods: The use of the Kalman filter in combination with Lidar can be very effective in various applications due to the synergy of their capabilities. The Kalman filter can improve the accuracy of lidar measurements by taking into account the noise and inaccuracies present in the measurements. Results: In this paper, we propose a parallel Kalman algorithm in three-dimensional space to speed up the computational speed of Lidar localization. At the same time, the initial localization accuracy of the latter is preserved. A distinctive feature of the proposed approach is that the Kalman localization algorithm itself is parallelized, rather than the process of building a map for navigation. The proposed algorithm allows us to obtain the result 3.8 times faster without compromising the localization accuracy, which was 3% for both cases, making it effective for real-time decision-making. Discussion: The reliability of this result is confirmed by a preliminary theoretical estimate of the acceleration rate based on Ambdahl’s law. Accelerating the Kalman filter with CUDA for Lidar localization can be of significant practical value, especially in real-time and in conditions where large amounts of data from Lidar sensors need to be processed.
导言：导航卫星系统在多种情况下可能无法工作或工作不正确：信号阴影、电磁干扰、大气条件和技术问题。所有这些因素都会严重影响自动驾驶系统的定位精度。这就强调了对激光雷达等其他定位技术的需求。方法卡尔曼滤波器与激光雷达的结合使用在各种应用中都非常有效，这是因为二者的功能具有协同作用。卡尔曼滤波器可以考虑到测量中存在的噪声和不准确性，从而提高激光雷达测量的准确性。结果本文提出了一种三维空间并行卡尔曼算法，以加快激光雷达定位的计算速度。同时，保留了后者的初始定位精度。所提方法的一个显著特点是卡尔曼定位算法本身的并行化，而不是建立导航地图的过程。在不影响定位精度（两种情况都是 3%）的情况下，所提出的算法可使我们获得结果的速度提高 3.8 倍，从而使其在实时决策中发挥有效作用。讨论根据安姆达尔定律对加速率进行的初步理论估算证实了这一结果的可靠性。利用 CUDA 加速卡尔曼滤波器进行激光雷达定位具有重要的实用价值，尤其是在需要实时处理激光雷达传感器的大量数据的情况下。
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Pub Date : 2024-01-25DOI: 10.3389/frobt.2024.1320261
Go Sakayori, G. Ishigami
A planetary exploration rover has been employed for scientific endeavors or as a precursor for upcoming manned missions. Predicting rover traversability from its wheel slip ensures safe and efficient autonomous operations of rovers on deformable planetary surfaces; path planning algorithms that reduce slips by considering wheel-soil interaction or terrain data can minimize the risk of the rover becoming immobilized. Understanding wheel-soil interaction in transient states is vital for developing a more precise slip ratio prediction model, while path planning in the past assumes that slips generated at the path is a series of slip ratio in steady state. In this paper, we focus on the transient slip, or slip rate the time derivative of slip ratio, to explicitly address it into the cost function of path planning algorithm. We elaborated a regression model that takes slip rate and traction force as inputs and outputs slip ratio, which is employed in the cost function to minimize the rover slip in path planning phase. Experiments using a single wheel testbed revealed that even with the same wheel traction force, the slip ratio varies with different slip rates; we confirmed that the smaller the absolute value of the slip rate, the larger the slip ratio for the same traction force. The statistical analysis of the regression model confirms that the model can estimate the slip ratio within an accuracy of 85% in average. The path planning simulation with the regression model confirmed a reduction of 58% slip experienced by the rover when driving through rough terrain environments. The dynamics simulation results insisted that the proposed method can reduce the slip rate in rough terrain environments.
{"title":"Modeling of slip rate-dependent traversability for path planning of wheeled mobile robot in sandy terrain","authors":"Go Sakayori, G. Ishigami","doi":"10.3389/frobt.2024.1320261","DOIUrl":"https://doi.org/10.3389/frobt.2024.1320261","url":null,"abstract":"A planetary exploration rover has been employed for scientific endeavors or as a precursor for upcoming manned missions. Predicting rover traversability from its wheel slip ensures safe and efficient autonomous operations of rovers on deformable planetary surfaces; path planning algorithms that reduce slips by considering wheel-soil interaction or terrain data can minimize the risk of the rover becoming immobilized. Understanding wheel-soil interaction in transient states is vital for developing a more precise slip ratio prediction model, while path planning in the past assumes that slips generated at the path is a series of slip ratio in steady state. In this paper, we focus on the transient slip, or slip rate the time derivative of slip ratio, to explicitly address it into the cost function of path planning algorithm. We elaborated a regression model that takes slip rate and traction force as inputs and outputs slip ratio, which is employed in the cost function to minimize the rover slip in path planning phase. Experiments using a single wheel testbed revealed that even with the same wheel traction force, the slip ratio varies with different slip rates; we confirmed that the smaller the absolute value of the slip rate, the larger the slip ratio for the same traction force. The statistical analysis of the regression model confirms that the model can estimate the slip ratio within an accuracy of 85% in average. The path planning simulation with the regression model confirmed a reduction of 58% slip experienced by the rover when driving through rough terrain environments. The dynamics simulation results insisted that the proposed method can reduce the slip rate in rough terrain environments.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"52 15","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139598945","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-01-24DOI: 10.3389/frobt.2024.1308958
Dorian Verdel, Anaïs Farr, Thibault Devienne, N. Vignais, B. Berret, Olivier Bruneau
Active upper limb exoskeletons are a potentially powerful tool for neuromotor rehabilitation. This potential depends on several basic control modes, one of them being transparency. In this control mode, the exoskeleton must follow the human movement without altering it, which theoretically implies null interaction efforts. Reaching high, albeit imperfect, levels of transparency requires both an adequate control method and an in-depth evaluation of the impacts of the exoskeleton on human movement. The present paper introduces such an evaluation for three different “transparent” controllers either based on an identification of the dynamics of the exoskeleton, or on force feedback control or on their combination. Therefore, these controllers are likely to induce clearly different levels of transparency by design. The conducted investigations could allow to better understand how humans adapt to transparent controllers, which are necessarily imperfect. A group of fourteen participants were subjected to these three controllers while performing reaching movements in a parasagittal plane. The subsequent analyses were conducted in terms of interaction efforts, kinematics, electromyographic signals and ergonomic feedback questionnaires. Results showed that, when subjected to less performing transparent controllers, participants strategies tended to induce relatively high interaction efforts, with higher muscle activity, which resulted in a small sensitivity of kinematic metrics. In other words, very different residual interaction efforts do not necessarily induce very different movement kinematics. Such a behavior could be explained by a natural human tendency to expend effort to preserve their preferred kinematics, which should be taken into account in future transparent controllers evaluation.
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Pub Date : 2024-01-18DOI: 10.3389/frobt.2023.1330496
E. Navas, R. Shamshiri, V. Dworak, Cornelia Weltzien, Roemi Fernández
Agriculture 4.0 presents several challenges for the automation of various operations, including the fundamental task of harvesting. One of the crucial aspects in the automatic harvesting of high value crops is the grip and detachment of delicate fruits without spoiling them or interfering with the environment. Soft robotic systems, particularly soft grippers, offer a promising solution for this problem, as they can operate in unstructured environments, manipulate objects delicately, and interact safely with humans. In this context, this article presents a soft gripper design for harvesting as well as for pick-and-place operations of small and medium-sized fruits. The gripper is fabricated using the 3D printing technology with a flexible thermoplastic elastomer filament. This approach enables the production of an economical, compact, easily replicable, and interchangeable gripper by utilizing soft robotics principles, such as flexible structures and pneumatic actuation.
农业 4.0 为各种操作的自动化带来了诸多挑战，其中包括收割这一基本任务。自动收获高价值作物的一个关键环节是抓取和分离娇嫩的水果，同时不损坏水果或干扰环境。软体机器人系统，特别是软体抓手，为这一问题提供了一个前景广阔的解决方案，因为它们可以在非结构化环境中运行，对物体进行精细操作，并能安全地与人类互动。在此背景下，本文介绍了一种软机械手的设计，用于中小型水果的收获和拾放操作。该机械手采用 3D 打印技术，使用柔性热塑性弹性纤维丝制造而成。这种方法利用软机器人原理（如柔性结构和气动驱动），能够制造出经济、紧凑、易于复制和可互换的抓手。
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Pub Date : 2024-01-18DOI: 10.3389/frobt.2024.1224216
Chapa Sirithunge, Huijiang Wang, Fumiya Iida
Soft robots are characterized by their mechanical compliance, making them well-suited for various bio-inspired applications. However, the challenge of preserving their flexibility during deployment has necessitated using soft sensors which can enhance their mobility, energy efficiency, and spatial adaptability. Through emulating the structure, strategies, and working principles of human senses, soft robots can detect stimuli without direct contact with soft touchless sensors and tactile stimuli. This has resulted in noteworthy progress within the field of soft robotics. Nevertheless, soft, touchless sensors offer the advantage of non-invasive sensing and gripping without the drawbacks linked to physical contact. Consequently, the popularity of soft touchless sensors has grown in recent years, as they facilitate intuitive and safe interactions with humans, other robots, and the surrounding environment. This review explores the emerging confluence of touchless sensing and soft robotics, outlining a roadmap for deployable soft robots to achieve human-level dexterity.
{"title":"Soft touchless sensors and touchless sensing for soft robots","authors":"Chapa Sirithunge, Huijiang Wang, Fumiya Iida","doi":"10.3389/frobt.2024.1224216","DOIUrl":"https://doi.org/10.3389/frobt.2024.1224216","url":null,"abstract":"Soft robots are characterized by their mechanical compliance, making them well-suited for various bio-inspired applications. However, the challenge of preserving their flexibility during deployment has necessitated using soft sensors which can enhance their mobility, energy efficiency, and spatial adaptability. Through emulating the structure, strategies, and working principles of human senses, soft robots can detect stimuli without direct contact with soft touchless sensors and tactile stimuli. This has resulted in noteworthy progress within the field of soft robotics. Nevertheless, soft, touchless sensors offer the advantage of non-invasive sensing and gripping without the drawbacks linked to physical contact. Consequently, the popularity of soft touchless sensors has grown in recent years, as they facilitate intuitive and safe interactions with humans, other robots, and the surrounding environment. This review explores the emerging confluence of touchless sensing and soft robotics, outlining a roadmap for deployable soft robots to achieve human-level dexterity.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"123 34","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139616007","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In the development of dialogue systems for android robots, the goal is to achieve human-like communication. However, subtle differences between android robots and humans are noticeable, leading even human-like android robots to be perceived differently. Understanding how humans accept android robots and optimizing their behavior is crucial. Generally, human customers have various expectations and anxieties when interacting with a robotic salesclerk instead of a human. Asymmetric communication arises when android robots treat customers like humans while customers treat robots as machines. Focusing on human-robot interaction in a tourist guide scenario, In this paper, we propose an asymmetric communication strategy that does not use estimation technology for preference information, but instead performs changing the agent’s character in order to pretend to tailor to the customer. In line with this, we prepared an experimental method to evaluate asymmetric communication strategies, using video clips to simulate dialogues. Participants completed questionnaires without prior knowledge of whether the salesclerk was human-like or robotic. The method allowed us to assess how participants treated the salesclerk and the effectiveness of the asymmetric communication strategy. Additionally, during our demonstration in a dialogue robot competition, 29 visitors had a positive impression of the android robot’s asymmetric communication strategy and reported a high level of satisfaction with the dialogue.
{"title":"Asymmetric communication: cognitive models of humans toward an android robot","authors":"Daisuke Kawakubo, Masaki Shuzo, Hiroaki Sugiyama, Eisaku Maeda","doi":"10.3389/frobt.2023.1267560","DOIUrl":"https://doi.org/10.3389/frobt.2023.1267560","url":null,"abstract":"In the development of dialogue systems for android robots, the goal is to achieve human-like communication. However, subtle differences between android robots and humans are noticeable, leading even human-like android robots to be perceived differently. Understanding how humans accept android robots and optimizing their behavior is crucial. Generally, human customers have various expectations and anxieties when interacting with a robotic salesclerk instead of a human. Asymmetric communication arises when android robots treat customers like humans while customers treat robots as machines. Focusing on human-robot interaction in a tourist guide scenario, In this paper, we propose an asymmetric communication strategy that does not use estimation technology for preference information, but instead performs changing the agent’s character in order to pretend to tailor to the customer. In line with this, we prepared an experimental method to evaluate asymmetric communication strategies, using video clips to simulate dialogues. Participants completed questionnaires without prior knowledge of whether the salesclerk was human-like or robotic. The method allowed us to assess how participants treated the salesclerk and the effectiveness of the asymmetric communication strategy. Additionally, during our demonstration in a dialogue robot competition, 29 visitors had a positive impression of the android robot’s asymmetric communication strategy and reported a high level of satisfaction with the dialogue.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"1 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139438148","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A basic assumption in most approaches to simultaneous localization and mapping (SLAM) is the static nature of the environment. In recent years, some research has been devoted to the field of SLAM in dynamic environments. However, most of the studies conducted in this field have implemented SLAM by removing and filtering the moving landmarks. Moreover, the use of several robots in large, complex, and dynamic environments can significantly improve performance on the localization and mapping task, which has attracted many researchers to this problem more recently. In multi-robot SLAM, the robots can cooperate in a decentralized manner without the need for a central processing center to obtain their positions and a more precise map of the environment. In this article, a new decentralized approach is presented for multi-robot SLAM problems in dynamic environments with unknown initial correspondence. The proposed method applies a modified Fast-SLAM method, which implements SLAM in a decentralized manner by considering moving landmarks in the environment. Due to the unknown initial correspondence of the robots, a geographical approach is embedded in the proposed algorithm to align and merge their maps. Data association is also embedded in the algorithm; this is performed using the measurement predictions in the SLAM process of each robot. Finally, simulation results are provided to demonstrate the performance of the proposed method.
大多数同步定位和绘图（SLAM）方法的基本假设是环境的静态性质。近年来，一些研究致力于动态环境中的 SLAM 领域。不过，该领域的大多数研究都是通过移除和过滤移动地标来实现 SLAM 的。此外，在大型、复杂和动态环境中使用多个机器人可以显著提高定位和绘图任务的性能，这也吸引了许多研究人员最近开始关注这一问题。在多机器人 SLAM 中，机器人可以通过分散的方式进行合作，而无需中央处理中心来获取它们的位置和更精确的环境地图。本文针对未知初始对应关系的动态环境中的多机器人 SLAM 问题，提出了一种新的分散式方法。所提出的方法采用了改进的快速 SLAM 方法，通过考虑环境中的移动地标，以分散的方式实现 SLAM。由于机器人的初始对应关系未知，建议的算法中嵌入了一种地理方法来对齐和合并它们的地图。算法中还嵌入了数据关联；这是利用每个机器人在 SLAM 过程中的测量预测来实现的。最后，还提供了模拟结果，以证明所提方法的性能。
{"title":"Simultaneous localization and mapping in a multi-robot system in a dynamic environment with unknown initial correspondence","authors":"Hadiseh Malakouti-Khah, Nargess Sadeghzadeh-Nokhodberiz, Allahyar Montazeri","doi":"10.3389/frobt.2023.1291672","DOIUrl":"https://doi.org/10.3389/frobt.2023.1291672","url":null,"abstract":"A basic assumption in most approaches to simultaneous localization and mapping (SLAM) is the static nature of the environment. In recent years, some research has been devoted to the field of SLAM in dynamic environments. However, most of the studies conducted in this field have implemented SLAM by removing and filtering the moving landmarks. Moreover, the use of several robots in large, complex, and dynamic environments can significantly improve performance on the localization and mapping task, which has attracted many researchers to this problem more recently. In multi-robot SLAM, the robots can cooperate in a decentralized manner without the need for a central processing center to obtain their positions and a more precise map of the environment. In this article, a new decentralized approach is presented for multi-robot SLAM problems in dynamic environments with unknown initial correspondence. The proposed method applies a modified Fast-SLAM method, which implements SLAM in a decentralized manner by considering moving landmarks in the environment. Due to the unknown initial correspondence of the robots, a geographical approach is embedded in the proposed algorithm to align and merge their maps. Data association is also embedded in the algorithm; this is performed using the measurement predictions in the SLAM process of each robot. Finally, simulation results are provided to demonstrate the performance of the proposed method.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"15 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139438815","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-01-10DOI: 10.3389/frobt.2023.1273631
Jonah Boutin, Jafer Kamoonpuri, Reza Faieghi, Joon Chung, Sandrine de Ribaupierre, R. Eagleson
Smart haptic gloves are a new technology emerging in Virtual Reality (VR) with a promise to enhance sensory feedback in VR. This paper presents one of the first attempts to explore its application to surgical training for neurosurgery trainees using VR-based surgery simulators. We develop and evaluate a surgical simulator for External Ventricular Drain Placement (EVD), a common procedure in the field of neurosurgery. Haptic gloves are used in combination with a VR environment to augment the experience of burr hole placement, and flexible catheter manipulation. The simulator was integrated into the training curriculum at the 2022 Canadian Neurosurgery Rookie Bootcamp. Thirty neurosurgery residents used the simulator where objective performance metrics and subjective experience scores were acquired. We provide the details of the simulator development, as well as the user study results and draw conclusions on the benefits added by the haptic gloves and future directions.
{"title":"Smart haptic gloves for virtual reality surgery simulation: a pilot study on external ventricular drain training","authors":"Jonah Boutin, Jafer Kamoonpuri, Reza Faieghi, Joon Chung, Sandrine de Ribaupierre, R. Eagleson","doi":"10.3389/frobt.2023.1273631","DOIUrl":"https://doi.org/10.3389/frobt.2023.1273631","url":null,"abstract":"Smart haptic gloves are a new technology emerging in Virtual Reality (VR) with a promise to enhance sensory feedback in VR. This paper presents one of the first attempts to explore its application to surgical training for neurosurgery trainees using VR-based surgery simulators. We develop and evaluate a surgical simulator for External Ventricular Drain Placement (EVD), a common procedure in the field of neurosurgery. Haptic gloves are used in combination with a VR environment to augment the experience of burr hole placement, and flexible catheter manipulation. The simulator was integrated into the training curriculum at the 2022 Canadian Neurosurgery Rookie Bootcamp. Thirty neurosurgery residents used the simulator where objective performance metrics and subjective experience scores were acquired. We provide the details of the simulator development, as well as the user study results and draw conclusions on the benefits added by the haptic gloves and future directions.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"70 7","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139440779","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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