Pub Date : 2012-12-24DOI: 10.1109/IROS.2012.6385810
I. Godage, D. Nanayakkara, D. Caldwell
This paper presents the kinematics, dynamics, and experimental results for a novel quadruped robot using continuum limbs. We propose soft continuum limbs as a new paradigm for robotic locomotion in unstructured environments due to their potential to generate a wide array of locomotion behaviors ranging from walking, trotting, crawling, and propelling to whole arm grasping as a means of negotiating difficult obstacles. A straightforward method to derive the kinematics and dynamics for the proposed quadruped has been demonstrated through numerical simulations. Initial experiments on a prototype continuum quadruped demonstrate the ability to stand up from a flat-belly stance, absorb external disturbances such as maintaining stability after dropping from a height and after being perturbed by a collision, and crawling on flat and cluttered environments. Experiment results provide evidence that locomotion with soft continuum limbs are feasible and usable in unstructured environments for variety of applications.
{"title":"Locomotion with continuum limbs","authors":"I. Godage, D. Nanayakkara, D. Caldwell","doi":"10.1109/IROS.2012.6385810","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385810","url":null,"abstract":"This paper presents the kinematics, dynamics, and experimental results for a novel quadruped robot using continuum limbs. We propose soft continuum limbs as a new paradigm for robotic locomotion in unstructured environments due to their potential to generate a wide array of locomotion behaviors ranging from walking, trotting, crawling, and propelling to whole arm grasping as a means of negotiating difficult obstacles. A straightforward method to derive the kinematics and dynamics for the proposed quadruped has been demonstrated through numerical simulations. Initial experiments on a prototype continuum quadruped demonstrate the ability to stand up from a flat-belly stance, absorb external disturbances such as maintaining stability after dropping from a height and after being perturbed by a collision, and crawling on flat and cluttered environments. Experiment results provide evidence that locomotion with soft continuum limbs are feasible and usable in unstructured environments for variety of applications.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 1","pages":"293-298"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79796147","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385915
M. S. Erden, Benoît Rosa, J. Szewczyk, G. Morel
This paper presents an approach for understanding the soft tissue behavior in surface contact with a hard object scanning the tissue. The application domain is confocal microlaparoscope imaging, mostly used for imaging the outer surface of the organs in the abdominal cavity. The probe (optic-head) is swept over the tissue to collect sequential images to obtain a large field of view with mosaicing. The problem we address is that the tissue also moves with the probe due to its softness; therefore the resulting mosaic is not in the same shape and dimension as traversed by the probe. Our approach inspires from the finger slip studies and adapts the idea of load-and-slip that explains the movement of the finger when dragged on a hard surface. We propose the concept of loading-distance and perform measurements with in total 84 experiments on beef liver and chicken breast tissues. Our results indicate that the loading-distance can be measured prior to a scan and be used during the scan in order to compensate the movement of the probe. In this way we can have an image-mosaic of the tissue surface in a desired shape.
{"title":"Understanding soft tissue behavior for microlaparoscopic surface scan","authors":"M. S. Erden, Benoît Rosa, J. Szewczyk, G. Morel","doi":"10.1109/IROS.2012.6385915","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385915","url":null,"abstract":"This paper presents an approach for understanding the soft tissue behavior in surface contact with a hard object scanning the tissue. The application domain is confocal microlaparoscope imaging, mostly used for imaging the outer surface of the organs in the abdominal cavity. The probe (optic-head) is swept over the tissue to collect sequential images to obtain a large field of view with mosaicing. The problem we address is that the tissue also moves with the probe due to its softness; therefore the resulting mosaic is not in the same shape and dimension as traversed by the probe. Our approach inspires from the finger slip studies and adapts the idea of load-and-slip that explains the movement of the finger when dragged on a hard surface. We propose the concept of loading-distance and perform measurements with in total 84 experiments on beef liver and chicken breast tissues. Our results indicate that the loading-distance can be measured prior to a scan and be used during the scan in order to compensate the movement of the probe. In this way we can have an image-mosaic of the tissue surface in a desired shape.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"56 1","pages":"2928-2934"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79823131","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385708
Katie M. Miller, A. Mahoney, T. Schmid, J. Abbott
The small intestine is the longest part of the gastrointestinal (GI) tract, but it is difficult to examine with traditional endoscopic procedures. To resolve this, swallowable capsules have been created that slowly pass through the entire GI tract taking images. Research is currently being done in magnetic actuation and localization to increase the speed and control of these smart pills. This paper focuses on a technique to more efficiently control a capsule endoscope based on proprioceptive sensing of the magnetic field. This sensing provides knowledge of the applied field in the frame of the capsule, and enables determination of its current state.
{"title":"Proprioceptive magnetic-field sensing for closed-loop control of magnetic capsule endoscopes","authors":"Katie M. Miller, A. Mahoney, T. Schmid, J. Abbott","doi":"10.1109/IROS.2012.6385708","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385708","url":null,"abstract":"The small intestine is the longest part of the gastrointestinal (GI) tract, but it is difficult to examine with traditional endoscopic procedures. To resolve this, swallowable capsules have been created that slowly pass through the entire GI tract taking images. Research is currently being done in magnetic actuation and localization to increase the speed and control of these smart pills. This paper focuses on a technique to more efficiently control a capsule endoscope based on proprioceptive sensing of the magnetic field. This sensing provides knowledge of the applied field in the frame of the capsule, and enables determination of its current state.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"140 1","pages":"1994-1999"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85138683","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 : 2012-12-24DOI: 10.1109/IROS.2012.6386088
S. Aoyagi, Y. Takaoki, Hiroki Takayanagi, Chih-hao Huang, Takahiro Tanaka, Masato Suzuki, Tomokazu Takahashi, T. Kanzaki, T. Matsumoto
The mosquito proboscis is composed of seven micro parts. Among them, labrum and maxillae play important roles in insertion. The labrum is a central needle which sucks blood; two maxillae are left/right needles aside the labrum, respectively. They cooperatively move, i.e., one maxilla goes forward, labrum goes forward, another maxilla goes forward, successively. We noticed that the maxilla has a jagged harpoon-like shape on its tip area, which has an anchoring effect. We proposed the easy insertion mechanism as follows: the equivalent stiffness, which is the ratio of the resistance force relative to the moving distance, is considered. The total stiffness in pushing out the central needle can be made smaller than zero due to the anchoring effect of the side needles. We named it as “negative stiffness mechanism.” Equivalent stiffness during pulling/pushing a fabricated needle was experimentally estimated, which indicated the validity of proposed mechanism.
{"title":"Equivalent negative stiffness mechanism using three bundled needles inspired by mosquito for achieving easy insertion","authors":"S. Aoyagi, Y. Takaoki, Hiroki Takayanagi, Chih-hao Huang, Takahiro Tanaka, Masato Suzuki, Tomokazu Takahashi, T. Kanzaki, T. Matsumoto","doi":"10.1109/IROS.2012.6386088","DOIUrl":"https://doi.org/10.1109/IROS.2012.6386088","url":null,"abstract":"The mosquito proboscis is composed of seven micro parts. Among them, labrum and maxillae play important roles in insertion. The labrum is a central needle which sucks blood; two maxillae are left/right needles aside the labrum, respectively. They cooperatively move, i.e., one maxilla goes forward, labrum goes forward, another maxilla goes forward, successively. We noticed that the maxilla has a jagged harpoon-like shape on its tip area, which has an anchoring effect. We proposed the easy insertion mechanism as follows: the equivalent stiffness, which is the ratio of the resistance force relative to the moving distance, is considered. The total stiffness in pushing out the central needle can be made smaller than zero due to the anchoring effect of the side needles. We named it as “negative stiffness mechanism.” Equivalent stiffness during pulling/pushing a fabricated needle was experimentally estimated, which indicated the validity of proposed mechanism.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"3 1","pages":"2295-2300"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83738074","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385960
Jürgen Hess, Gian Diego Tipaldi, Wolfram Burgard
In this paper we consider the problem of null space minimization in coverage path planning of 3D surfaces for redundant manipulators. Existing coverage solutions only focus on Euclidean cost functions and often return suboptimal paths with respect to the joint space. In the approach described here, we explicitly consider the null space by treating different inverse kinematics solutions as individual nodes in a graph and model the problem as a generalized traveling salesman problem (GTSP). The GTSP is a generalization of the TSP where the nodes of the graph are subdivided into clusters and at least one node in each cluster needs to be visited. We evaluate our approach using a PR2 robot and complex objects. Our results demonstrate that our method outperforms Euclidean coverage algorithms in terms of manipulation effort and completion time.
{"title":"Null space optimization for effective coverage of 3D surfaces using redundant manipulators","authors":"Jürgen Hess, Gian Diego Tipaldi, Wolfram Burgard","doi":"10.1109/IROS.2012.6385960","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385960","url":null,"abstract":"In this paper we consider the problem of null space minimization in coverage path planning of 3D surfaces for redundant manipulators. Existing coverage solutions only focus on Euclidean cost functions and often return suboptimal paths with respect to the joint space. In the approach described here, we explicitly consider the null space by treating different inverse kinematics solutions as individual nodes in a graph and model the problem as a generalized traveling salesman problem (GTSP). The GTSP is a generalization of the TSP where the nodes of the graph are subdivided into clusters and at least one node in each cluster needs to be visited. We evaluate our approach using a PR2 robot and complex objects. Our results demonstrate that our method outperforms Euclidean coverage algorithms in terms of manipulation effort and completion time.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"4 1","pages":"1923-1928"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83812181","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385770
Arren J. Glover, G. Wyeth
This paper is concerned with the unsupervised learning of object representations by fusing visual and motor information. The problem is posed for a mobile robot that develops its representations as it incrementally gathers data. The scenario is problematic as the robot only has limited information at each time step with which it must generate and update its representations. Object representations are refined as multiple instances of sensory data are presented; however, it is uncertain whether two data instances are synonymous with the same object. This process can easily diverge from stability. The premise of the presented work is that a robot's motor information instigates successful generation of visual representations. An understanding of self-motion enables a prediction to be made before performing an action, resulting in a stronger belief of data association. The system is implemented as a data-driven partially observable semi-Markov decision process. Object representations are formed as the process's hidden states and are coordinated with motor commands through state transitions. Experiments show the prediction process is essential in enabling the unsupervised learning method to converge to a solution - improving precision and recall over using sensory data alone.
{"title":"Robots move: Bootstrapping the development of object representations using sensorimotor coordination","authors":"Arren J. Glover, G. Wyeth","doi":"10.1109/IROS.2012.6385770","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385770","url":null,"abstract":"This paper is concerned with the unsupervised learning of object representations by fusing visual and motor information. The problem is posed for a mobile robot that develops its representations as it incrementally gathers data. The scenario is problematic as the robot only has limited information at each time step with which it must generate and update its representations. Object representations are refined as multiple instances of sensory data are presented; however, it is uncertain whether two data instances are synonymous with the same object. This process can easily diverge from stability. The premise of the presented work is that a robot's motor information instigates successful generation of visual representations. An understanding of self-motion enables a prediction to be made before performing an action, resulting in a stronger belief of data association. The system is implemented as a data-driven partially observable semi-Markov decision process. Object representations are formed as the process's hidden states and are coordinated with motor commands through state transitions. Experiments show the prediction process is essential in enabling the unsupervised learning method to converge to a solution - improving precision and recall over using sensory data alone.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"70 1","pages":"5145-5151"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83853709","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385803
A. Prete, F. Nori, G. Metta, L. Natale
This paper investigates the role of precise estimation of contact points in force control. This analysis is motivated by scenarios in which robots make contacts, either voluntarily or accidentally, with different parts of their body. Control paradigms that are usually implemented in robots with no tactile system, make the hypothesis that contacts occur at the end-effectors only. In this paper we try to investigate what happens when this assumption is not verified. First we consider a simple feedforward force control law, and then we extend it by introducing a proportional feedback term. For both controllers we find the error in the resulting contact force, that is induced by a hypothetic error in the estimation of the contact point. We show that, depending on the geometry of the contact, incorrect estimation of contact points can induce undesired joint accelerations. We validate the presented analysis with tests on a simulated robot arm. Moreover we consider a complex real world scenario, where most of the assumptions that we make in our analytical derivation do not hold. Through tests on the iCub humanoid robot we see how errors in contact localization affect the performance of a parallel force/position controller. In order to estimate contact points and contact forces on the forearm of the iCub we do not use any model of the environment, but we exploit its 6-axis force/torque sensor and its sensorized skin.
{"title":"Control of contact forces: The role of tactile feedback for contact localization","authors":"A. Prete, F. Nori, G. Metta, L. Natale","doi":"10.1109/IROS.2012.6385803","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385803","url":null,"abstract":"This paper investigates the role of precise estimation of contact points in force control. This analysis is motivated by scenarios in which robots make contacts, either voluntarily or accidentally, with different parts of their body. Control paradigms that are usually implemented in robots with no tactile system, make the hypothesis that contacts occur at the end-effectors only. In this paper we try to investigate what happens when this assumption is not verified. First we consider a simple feedforward force control law, and then we extend it by introducing a proportional feedback term. For both controllers we find the error in the resulting contact force, that is induced by a hypothetic error in the estimation of the contact point. We show that, depending on the geometry of the contact, incorrect estimation of contact points can induce undesired joint accelerations. We validate the presented analysis with tests on a simulated robot arm. Moreover we consider a complex real world scenario, where most of the assumptions that we make in our analytical derivation do not hold. Through tests on the iCub humanoid robot we see how errors in contact localization affect the performance of a parallel force/position controller. In order to estimate contact points and contact forces on the forearm of the iCub we do not use any model of the environment, but we exploit its 6-axis force/torque sensor and its sensorized skin.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"62 1","pages":"4048-4053"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84045829","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385969
Korbinian Schmid, Felix Ruess, M. Suppa, Darius Burschka
System state estimation is an essential part for robot navigation and control. A combination of Inertial Navigation Systems (INS) and further exteroceptive sensors such as cameras or laser scanners is widely used. On small robotic systems with limitations in payload, power consumption and computational resources the processing of exteroceptive sensor data often introduces time delays which have to be considered in the sensor data fusion process. These time delays are especially critical in the estimation of system velocity. In this paper we present a state estimation framework fusing an INS with time delayed, relative exteroceptive sensor measurements. We evaluate its performance for a highly dynamic flight system trajectory including a flip. The evolution of velocity and position errors for varying measurement frequencies from 15Hz to 1Hz and time delays up to 1s is shown in Monte Carlo simulations. The filter algorithm with key frame based odometry permits an optimal, local drift free navigation while still being computationally tractable on small onboard computers. Finally, we present the results of the algorithm applied to a real quadrotor by flying from inside a house out through the window.
{"title":"State estimation for highly dynamic flying systems using key frame odometry with varying time delays","authors":"Korbinian Schmid, Felix Ruess, M. Suppa, Darius Burschka","doi":"10.1109/IROS.2012.6385969","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385969","url":null,"abstract":"System state estimation is an essential part for robot navigation and control. A combination of Inertial Navigation Systems (INS) and further exteroceptive sensors such as cameras or laser scanners is widely used. On small robotic systems with limitations in payload, power consumption and computational resources the processing of exteroceptive sensor data often introduces time delays which have to be considered in the sensor data fusion process. These time delays are especially critical in the estimation of system velocity. In this paper we present a state estimation framework fusing an INS with time delayed, relative exteroceptive sensor measurements. We evaluate its performance for a highly dynamic flight system trajectory including a flip. The evolution of velocity and position errors for varying measurement frequencies from 15Hz to 1Hz and time delays up to 1s is shown in Monte Carlo simulations. The filter algorithm with key frame based odometry permits an optimal, local drift free navigation while still being computationally tractable on small onboard computers. Finally, we present the results of the algorithm applied to a real quadrotor by flying from inside a house out through the window.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"104 1","pages":"2997-3004"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80581075","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385663
David Zarrouk, R. Fearing
This paper proposes a novel dynamic gait of locomotion for hexapedal robots which enables them to crawl forward, backward, and rotate using a single actuator. The gait exploits the compliance difference between the two sides of the tripods, to generate clockwise or counter clockwise rotation by controlling the acceleration of the robot. The direction of turning depends on the configuration of the legs -tripod left of right- and the direction of the acceleration. Alternating acceleration in successive steps allows for continuous rotation in the desired direction. An analysis of the locomotion is presented as a function of the mechanical properties of the robot and the contact with the surface. A numerical simulation was performed for various conditions of locomotion. The results of the simulation and analysis were compared and found to be in excellent match.
{"title":"Compliance-based dynamic steering for hexapods","authors":"David Zarrouk, R. Fearing","doi":"10.1109/IROS.2012.6385663","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385663","url":null,"abstract":"This paper proposes a novel dynamic gait of locomotion for hexapedal robots which enables them to crawl forward, backward, and rotate using a single actuator. The gait exploits the compliance difference between the two sides of the tripods, to generate clockwise or counter clockwise rotation by controlling the acceleration of the robot. The direction of turning depends on the configuration of the legs -tripod left of right- and the direction of the acceleration. Alternating acceleration in successive steps allows for continuous rotation in the desired direction. An analysis of the locomotion is presented as a function of the mechanical properties of the robot and the contact with the surface. A numerical simulation was performed for various conditions of locomotion. The results of the simulation and analysis were compared and found to be in excellent match.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"14 1","pages":"3093-3098"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80388985","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385646
Timm Meyer, Jan Peters, Doris Brtz, T. Zander, B. Scholkopf, S. Soekadar, M. Grosse-Wentrup
Despite intensive efforts, no significant benefit of rehabilitation robotics in post-stroke motor-recovery has yet been demonstrated in large-scale clinical trials. The present work is based on the premise that future advances in rehabilitation robotics require an enhanced understanding of the neural processes involved in motor learning after stroke. We present a system that combines a Barret WAM™seven degree-of-freedom robot arm with neurophysiological recordings for the purpose of studying post-stroke motor learning. We used this system to conduct a pilot study on motor learning during reaching movements with two stroke patients. Preliminary results indicate that pre-trial brain activity in ipsilesional sensorimotor areas may be a neural correlate of the current state of motor learning. These results are discussed in terms of their relevance for future rehabilitation strategies that combine rehabilitation robotics with real-time analyses of neuro-physiological recordings.
{"title":"A brain-robot interface for studying motor learning after stroke","authors":"Timm Meyer, Jan Peters, Doris Brtz, T. Zander, B. Scholkopf, S. Soekadar, M. Grosse-Wentrup","doi":"10.1109/IROS.2012.6385646","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385646","url":null,"abstract":"Despite intensive efforts, no significant benefit of rehabilitation robotics in post-stroke motor-recovery has yet been demonstrated in large-scale clinical trials. The present work is based on the premise that future advances in rehabilitation robotics require an enhanced understanding of the neural processes involved in motor learning after stroke. We present a system that combines a Barret WAM™seven degree-of-freedom robot arm with neurophysiological recordings for the purpose of studying post-stroke motor learning. We used this system to conduct a pilot study on motor learning during reaching movements with two stroke patients. Preliminary results indicate that pre-trial brain activity in ipsilesional sensorimotor areas may be a neural correlate of the current state of motor learning. These results are discussed in terms of their relevance for future rehabilitation strategies that combine rehabilitation robotics with real-time analyses of neuro-physiological recordings.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"89 1","pages":"4078-4083"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80694137","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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