Tracking permanent magnets represents a low-footprint and passive approach to monitoring objects or human motion by attaching or embedding magnets therein. Recent tracking techniques achieved high-bandwidth detection considering a simplified model for the magnetic sources, i.e., the dipole model. Nonetheless, such a model can lead to inaccurate results any time a non-spherical magnet approaches the sensor array. Here, we present a novel tracking algorithm based on an analytical model for permanent magnet cylinders with uniform arbitrary magnetization. By means of a physical system mounting 20 magnetometers, we compared the tracking accuracy obtained with our algorithm vs. results obtained by using the dipole model and with respect to a ground-truth reference. With a single magnetic target, our algorithm can significantly lower position (up to 0.68 mm) and orientation errors (up to 2.5°) while enabling online tracking (computation time below 19 ms). We also accurately tracked two magnets, by obtaining a reduction in position error (up to 0.92 mm) vs. the dipole-based algorithm. These findings broaden the applicability of accurate magnetic tracking to real-time applications, facilitating the tracking of multiple magnetic targets in proximity of the magnetic sensors. This advancement opens avenues for applications in wearable devices, advancing the field of motion detection beyond traditional inertial measurement units.
{"title":"Preliminary Assessment of Accurate Motion Detection via Magnetic Tracking Toward Wearable Technologies","authors":"Federico Masiero;Valerio Ianniciello;Roberto Raeli;Edoardo Sinibaldi;Lorenzo Masia;Christian Cipriani","doi":"10.1109/TMRB.2024.3504003","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3504003","url":null,"abstract":"Tracking permanent magnets represents a low-footprint and passive approach to monitoring objects or human motion by attaching or embedding magnets therein. Recent tracking techniques achieved high-bandwidth detection considering a simplified model for the magnetic sources, i.e., the dipole model. Nonetheless, such a model can lead to inaccurate results any time a non-spherical magnet approaches the sensor array. Here, we present a novel tracking algorithm based on an analytical model for permanent magnet cylinders with uniform arbitrary magnetization. By means of a physical system mounting 20 magnetometers, we compared the tracking accuracy obtained with our algorithm vs. results obtained by using the dipole model and with respect to a ground-truth reference. With a single magnetic target, our algorithm can significantly lower position (up to 0.68 mm) and orientation errors (up to 2.5°) while enabling online tracking (computation time below 19 ms). We also accurately tracked two magnets, by obtaining a reduction in position error (up to 0.92 mm) vs. the dipole-based algorithm. These findings broaden the applicability of accurate magnetic tracking to real-time applications, facilitating the tracking of multiple magnetic targets in proximity of the magnetic sensors. This advancement opens avenues for applications in wearable devices, advancing the field of motion detection beyond traditional inertial measurement units.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 1","pages":"59-65"},"PeriodicalIF":3.4,"publicationDate":"2024-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10759804","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143529895","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-11-21DOI: 10.1109/TMRB.2024.3503992
Joaquin Palacios;Alexandra Deli-Ivanov;Ava Chen;Lauren Winterbottom;Dawn M. Nilsen;Joel Stein;Matei Ciocarlie
Individuals with hand paralysis resulting from a C6-C7 spinal cord injury (SCI) frequently rely on tenodesis for grasping. However, tenodesis generates limited grasping force and demands constant exertion to maintain a grasp, leading to fatigue and sometimes pain. We introduce the MyHand-SCI, a wearable robot that provides grasping assistance through motorized exotendons. Our user-driven device enables independent, ipsilateral operation via a novel control method, Throttle-based Wrist Angle (TWA), that allows users to maintain grasps without requiring continued wrist extension. A pilot case study with a person with C6 SCI shows an improvement in functional grasping and grasping force, as well as a preserved ability to modulate grasping force while using our device, thus improving their ability to manipulate everyday objects. This research is a step towards developing effective and intuitive assistive devices for individuals with hand impairments after SCI.
{"title":"Grasp Force Assistance via Throttle-Based Wrist Angle Control on a Robotic Hand Orthosis for C6-C7 Spinal Cord Injury","authors":"Joaquin Palacios;Alexandra Deli-Ivanov;Ava Chen;Lauren Winterbottom;Dawn M. Nilsen;Joel Stein;Matei Ciocarlie","doi":"10.1109/TMRB.2024.3503992","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3503992","url":null,"abstract":"Individuals with hand paralysis resulting from a C6-C7 spinal cord injury (SCI) frequently rely on tenodesis for grasping. However, tenodesis generates limited grasping force and demands constant exertion to maintain a grasp, leading to fatigue and sometimes pain. We introduce the MyHand-SCI, a wearable robot that provides grasping assistance through motorized exotendons. Our user-driven device enables independent, ipsilateral operation via a novel control method, Throttle-based Wrist Angle (TWA), that allows users to maintain grasps without requiring continued wrist extension. A pilot case study with a person with C6 SCI shows an improvement in functional grasping and grasping force, as well as a preserved ability to modulate grasping force while using our device, thus improving their ability to manipulate everyday objects. This research is a step towards developing effective and intuitive assistive devices for individuals with hand impairments after SCI.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 1","pages":"149-155"},"PeriodicalIF":3.4,"publicationDate":"2024-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143529900","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}
Over the past decade, considerable steps have been made in designing wearable assistive devices that reduce the metabolic cost of walking. As the field continues to advance, a growing emphasis is extending to human running, driven by the goal of improving efficiency and reducing metabolic strain. In our study, we developed a portable active exosuit to support hip extension during endurance running. The exosuit, featuring custom linear actuators and a control system synchronous with the wearer’s kinematics, initially underwent bench testing and, finally, a field evaluation with users running at their self-selected pace on an athletics track. Results from seven participants showed a significant reduction in the metabolic cost of transport when the exosuit was active. Specifically, we observed a 9.6% decrease with respect to the unpowered condition, with a 4.3% net saving compared to not wearing the device. Additionally, kinematic assessments revealed no alteration of the participants’ motion after toe-off, indicating transparency to physiological movement pattern during hip flexion. These findings highlight the potential of the exosuit to enhance athletic performance, opening new possibilities for running assistance in real-world scenarios.
{"title":"Design and Overground Testing of a Portable Hip Exosuit for Enhancing Running Efficiency","authors":"Alessandro Ciaramella;Tommaso Bagneschi;Enrica Tricomi;Francesco Missiroli;Xiaohui Zhang;Antonio Frisoli;Lorenzo Masia","doi":"10.1109/TMRB.2024.3503905","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3503905","url":null,"abstract":"Over the past decade, considerable steps have been made in designing wearable assistive devices that reduce the metabolic cost of walking. As the field continues to advance, a growing emphasis is extending to human running, driven by the goal of improving efficiency and reducing metabolic strain. In our study, we developed a portable active exosuit to support hip extension during endurance running. The exosuit, featuring custom linear actuators and a control system synchronous with the wearer’s kinematics, initially underwent bench testing and, finally, a field evaluation with users running at their self-selected pace on an athletics track. Results from seven participants showed a significant reduction in the metabolic cost of transport when the exosuit was active. Specifically, we observed a 9.6% decrease with respect to the unpowered condition, with a 4.3% net saving compared to not wearing the device. Additionally, kinematic assessments revealed no alteration of the participants’ motion after toe-off, indicating transparency to physiological movement pattern during hip flexion. These findings highlight the potential of the exosuit to enhance athletic performance, opening new possibilities for running assistance in real-world scenarios.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 1","pages":"33-42"},"PeriodicalIF":3.4,"publicationDate":"2024-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10759839","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143529898","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-11-21DOI: 10.1109/TMRB.2024.3503999
Faizan Ahmad;Waheed Ahmad;Jing Xiong;Zeyang Xia
Augmented Reality (AR) and Mixed Reality (MR) are cutting-edge technologies that are substantially impacting digital dentistry. These innovations not only propel dentistry into the digital age, but also introduce novel, non-invasive, and immersive treatment methodologies. This review collates and summarizes the latest developments and applications of AR and MR in digital dentistry. In contemporary practice, digital information, such as CT scans, is predominantly used for presurgical verification. However, integrating patients digital 3D information into real-world environments through AR and MR allows dental professionals to visualize diagnostic and therapeutic data using a Head-Mounted Display (HMD). This integration enhances not only efficiency and safety, but also elevates surgical training. Despite these benefits, further enhancements are required for these technologies to achieve broader acceptance in clinical dentistry. In this review, we have dedicated a separate section discussing the prospective applications and future directions of AR and MR, including optimizing HMD technology, developing intraoperative feedback navigation technology, advancing human-machine interaction (HMI) technology, and improving soft-tissue visualization technology. The literature suggests that AR and MR applications are particularly advantageous in dentistry, despite some limitations. With ongoing developments in areas such as haptics and robotics, it is expected that AR and MR will become increasingly integral to dental practices in the near future.
{"title":"AR and MR in Dentistry: Developments, Applications, and Prospects","authors":"Faizan Ahmad;Waheed Ahmad;Jing Xiong;Zeyang Xia","doi":"10.1109/TMRB.2024.3503999","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3503999","url":null,"abstract":"Augmented Reality (AR) and Mixed Reality (MR) are cutting-edge technologies that are substantially impacting digital dentistry. These innovations not only propel dentistry into the digital age, but also introduce novel, non-invasive, and immersive treatment methodologies. This review collates and summarizes the latest developments and applications of AR and MR in digital dentistry. In contemporary practice, digital information, such as CT scans, is predominantly used for presurgical verification. However, integrating patients digital 3D information into real-world environments through AR and MR allows dental professionals to visualize diagnostic and therapeutic data using a Head-Mounted Display (HMD). This integration enhances not only efficiency and safety, but also elevates surgical training. Despite these benefits, further enhancements are required for these technologies to achieve broader acceptance in clinical dentistry. In this review, we have dedicated a separate section discussing the prospective applications and future directions of AR and MR, including optimizing HMD technology, developing intraoperative feedback navigation technology, advancing human-machine interaction (HMI) technology, and improving soft-tissue visualization technology. The literature suggests that AR and MR applications are particularly advantageous in dentistry, despite some limitations. With ongoing developments in areas such as haptics and robotics, it is expected that AR and MR will become increasingly integral to dental practices in the near future.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 1","pages":"171-188"},"PeriodicalIF":3.4,"publicationDate":"2024-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143529899","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}
KineticoMyoGraphy (KMG) is an emerging sensor technology offering innovative solutions for tracking amputees’ fine muscle movements, promising better hand gesture recognition with greater sustainability than existing methods. The primary challenge in KMG technology lies in the required number and placement of magnetic sensors to balance accuracy, sustainability, and cost-efficiency for practical hand gesture interpretation. To tackle this issue, we propose a Stochastic Sequential Strategy for Magnetic Sensory Selection (S3MSS). We apply this strategy to a configuration of 16 magnetic sensors surrounding surgically implanted magnets in a patient’s forearm. The method uses an Error-Correcting Output Codes (ECOC) framework with Multiclass Linear Discriminant Analysis (MCLDA) and Multiclass Support Vector Machines (MCSVM). Our approach emphasizes robust sensory selection and consistent performance through time-based seeding and K-fold cross-validation. Clinical results indicate consistency in sensory selection across two independent trials, underlining this factor as crucial for reliability. Statistical significance test confirms the superiority of the MCLDA over the MCSVM approach, achieving a 93% accuracy in the classification of Fingers, Wrist, and Thumb gestures using only five sensors near the magnets’ motion range. This underscores our strategy’s effectiveness in accurately detecting hand movements, highlighting its potential for clinical application and improving amputees’ quality of life.
{"title":"Stochastic Sequential Sensory Selection for Gesture Recognition in KineticoMyoGraphy Guided Bionic Hands","authors":"Arman Abasian;Hamed Rafiei;Mohammad-R. Akbarzadeh-T.;Alireza Akbarzadeh;Ali Moradi;Amir-M. Naddaf-Sh","doi":"10.1109/TMRB.2024.3503993","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3503993","url":null,"abstract":"KineticoMyoGraphy (KMG) is an emerging sensor technology offering innovative solutions for tracking amputees’ fine muscle movements, promising better hand gesture recognition with greater sustainability than existing methods. The primary challenge in KMG technology lies in the required number and placement of magnetic sensors to balance accuracy, sustainability, and cost-efficiency for practical hand gesture interpretation. To tackle this issue, we propose a Stochastic Sequential Strategy for Magnetic Sensory Selection (S3MSS). We apply this strategy to a configuration of 16 magnetic sensors surrounding surgically implanted magnets in a patient’s forearm. The method uses an Error-Correcting Output Codes (ECOC) framework with Multiclass Linear Discriminant Analysis (MCLDA) and Multiclass Support Vector Machines (MCSVM). Our approach emphasizes robust sensory selection and consistent performance through time-based seeding and K-fold cross-validation. Clinical results indicate consistency in sensory selection across two independent trials, underlining this factor as crucial for reliability. Statistical significance test confirms the superiority of the MCLDA over the MCSVM approach, achieving a 93% accuracy in the classification of Fingers, Wrist, and Thumb gestures using only five sensors near the magnets’ motion range. This underscores our strategy’s effectiveness in accurately detecting hand movements, highlighting its potential for clinical application and improving amputees’ quality of life.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 1","pages":"325-336"},"PeriodicalIF":3.4,"publicationDate":"2024-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143521349","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 : 2024-11-21DOI: 10.1109/TMRB.2024.3503917
Joel J. Way;Silvia Buscaglione;Giorgia Giovannetti;Domenico Formica
Despite the increased use of electronic devices for communication, handwriting remains an essential skill. Research suggests that children’s development is affected by handwriting ability, as such improvement at an early age is critical. This paper presents the design and the preliminary validation of a device for supporting handwriting teaching and learning by implementing haptic communication between two users. The device uses two planar five revolute (5R) parallel mechanisms and establishes a mechanical connection between them through gears and shafts. This work includes the design, testing of the working area and connection stiffness, and a proof of concept of its actual use in a handwriting trial with a couple of adults.
{"title":"Design and Testing of a Planar Device for Haptic Interactions During Handwriting Teaching and Learning","authors":"Joel J. Way;Silvia Buscaglione;Giorgia Giovannetti;Domenico Formica","doi":"10.1109/TMRB.2024.3503917","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3503917","url":null,"abstract":"Despite the increased use of electronic devices for communication, handwriting remains an essential skill. Research suggests that children’s development is affected by handwriting ability, as such improvement at an early age is critical. This paper presents the design and the preliminary validation of a device for supporting handwriting teaching and learning by implementing haptic communication between two users. The device uses two planar five revolute (5R) parallel mechanisms and establishes a mechanical connection between them through gears and shafts. This work includes the design, testing of the working area and connection stiffness, and a proof of concept of its actual use in a handwriting trial with a couple of adults.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 1","pages":"108-113"},"PeriodicalIF":3.4,"publicationDate":"2024-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143529874","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 : 2024-11-12DOI: 10.1109/TMRB.2024.3487341
{"title":"IEEE Transactions on Medical Robotics and Bionics Publication Information","authors":"","doi":"10.1109/TMRB.2024.3487341","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3487341","url":null,"abstract":"","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"C2-C2"},"PeriodicalIF":3.4,"publicationDate":"2024-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10750882","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600329","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-11-12DOI: 10.1109/TMRB.2024.3487343
{"title":"IEEE Transactions on Medical Robotics and Bionics Society Information","authors":"","doi":"10.1109/TMRB.2024.3487343","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3487343","url":null,"abstract":"","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"C3-C3"},"PeriodicalIF":3.4,"publicationDate":"2024-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10750863","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600103","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-11-12DOI: 10.1109/TMRB.2024.3484068
Alan Kuntz;Blake Hannaford;Robert J. Webster
{"title":"Guest Editorial Special section on the Hamlyn Symposium 2023—Immersive Tech: The Future of Medicine","authors":"Alan Kuntz;Blake Hannaford;Robert J. Webster","doi":"10.1109/TMRB.2024.3484068","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3484068","url":null,"abstract":"","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1298-1299"},"PeriodicalIF":3.4,"publicationDate":"2024-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10750893","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600140","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-11-12DOI: 10.1109/TMRB.2024.3487345
{"title":"IEEE Transactions on Medical Robotics and Bionics Information for Authors","authors":"","doi":"10.1109/TMRB.2024.3487345","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3487345","url":null,"abstract":"","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"C4-C4"},"PeriodicalIF":3.4,"publicationDate":"2024-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10750886","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600364","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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